面向教学实践的多无人机任务仿真系统

Multi UAV Mission Simulation System for Teaching Practice

多无人机协同任务实飞验证难度大、成本高,为此设计一套基于机器人操作系统和开源飞控的多无人机任务仿真系统。该系统将在三维场景下对协同规划任务进行的仿真测试,测试成功后只需简单设置即可进行实飞验证。系统主要包含协同规划、地面站、机载逻辑任务、执行、场景显示及飞行参数设置/数据显示等模块。结果表明,基于该系统的仿真验证结果与实飞结果具有较高的吻合性,既适用于相关专业的教学过程,也可为多种复杂任务实现提供支撑。

Aiming at the problem of real flight verification for multi-UAV(unmanned aerial vehicle)collaboration mission,a multi-UAV mission simulation system based on robot operating system and PX4 is designed.The collaborative mission planning results are simulated and tested in the 3D scenario,which can be verified by real flight after successful simulation with only simple settings.The system mainly consists of five parts:collaborative planning module,ground station module,on-board logical task module,execution module,scene display module and flight parameter setting/data display module.The testing results show that the simulation verification based on the system has a high agreement with the real flight results,which is applicable to the teaching process of related majors,and can also provide support for the realization of many complex tasks.