开源APM模拟器在测绘无人机中的应用

Application of Open Source APM Simulator in Mapping UAV

为了获取一款适用于铁路勘察行业无人机研发需要的模拟器,进而减少无人机研发过程中的试飞频次,提高研发效率,基于目前开源市场较为流行的无人机固件系统Ardupilot和地面站软件MissionPlanner,在Fmuv3框架基础上,把铁路勘察设计行业对无人机的需求植入到开源无人机固件程序算法,从而实现铁路勘察行业技术要素与开源无人机固件程序的融合。研究表明,开源APM模拟器能够模拟出实测飞行的各种数据(如速度、加速度、姿态、硬件状态等),模拟飞行日志可用于验证铁路无人机二次开发中硬件的实用性和软件逻辑的可行性。研究结果表明,开源APM模拟器能够减少大量外场实测飞行的工作量,节约研发成本,提高整个研发团队的工作效率。

Focusing on the development of a simulator for the UAV in the area of design and survey,and reduce the frequency of flight test and improve the research efficiency,based on popular open-source software Ardupilot and on ground software Missinplanner,UAV needs for design and survey were planted into the open-source software calculation algorithm in the frame of Fmuv3 to the combination of railway survey needs and UAV software application.The research shows that,the open-source APM simulator can simulate various flight data of the measured flight through simulated flight,and generate simulated flight logs such as speed,acceleration,attitude,hardware status,etc.The data could be adopted to verify the feasibility of hardware practicality and software logic in the secondary development of railway UAV.The results show that the method could reduce workload of field measurement flight,R&D costs,and improve the work efficiency of the entire R&D team.