CN102566441A - Visual simulation test system for unmanned aerial vehicle (UAV) - Google Patents
Visual simulation test system for unmanned aerial vehicle (UAV) Download PDFInfo
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Abstract
The invention provides a visual simulation test system for an unmanned aerial vehicle (UAV), and aims to provide a visual simulation test system which has a changeable visual angle and a visual display parameter, is zoomable, is clear in details and can reliably perform a simulation test. According to the technical scheme, the system comprises a real-time three-dimensional imaging computer system, a cylindrical screen imaging system, and visual display equipment, an inertial navigation/global positioning system (GPS)/magnetometer simulator, a gyro simulator, a ground detection simulator and a telecontrol telemetering simulator which are connected with one another through Ethernet and simultaneously connected with an integrated control cabinet respectively, a UAV mathematical model simulator which is electrically connected through an Ethernet router, and an air data computer/radio altimeter simulator, a total static pressure simulator (ADC) and a radio echo simulator (RA) which are electrically connected with the integrated control cabinet through the mathematical model simulator, wherein each simulator and each sensor send a signal to a flight control computer via the control cabinet through a respective electrical interface, and a UAV three-dimensional model and flight data thereof are displayed in real time.
Description
Technical field
The invention relates to the visual emulation test system that is used for unmanned plane, the vision display system during especially about the unmanned unmanned aerial vehicle l-G simulation test of autonomous landing formula.
Background technology
In the flight simulation pilot system, the what comes into a driver's display system is one of output pathway of analog result, and for there being the people to drive unmanned plane, institute's images displayed generally is that the image that drive simulating person aloft sees carries out.But for unmanned unmanned plane, need not be confined to this, the general requirement has a plurality of visual angles, can observe the integral body flight situation of unmanned plane and the state of thin parts, like flap, undercarriage etc.
In the existing emulation test system, the shortcoming of what comes into a driver's display system mainly contains:
A) can only show substantially situation of unmanned plane, can not convergent-divergent or show details;
B) message transmission rate is low, occurs image saltus step or frame losing easily;
C) can only use as showing, can't write down and playback of data;
D) there is man-machine visual system traditional being used to, and the visual angle is confined to the pulpit visual angle, can not change;
The present invention is based on the further improvement and the development of prior art.
Summary of the invention:
The objective of the invention is to overcome the weak point of above-mentioned prior art, a kind of variable visual angle is provided, scalable, clarity of detail, display parameter are directly perceived, can be used for the visual emulation test system of unmanned aerial vehicle of l-G simulation test reliably.
The technical solution adopted for the present invention to solve the technical problems is; A kind of visual emulation test system that is used for unmanned plane; Comprise; Real-time three-dimensional tomography computer system; Cylindricality screen imaging system and the integrated control cabinet that links to each other with flight control computer; It is characterized in that: it also comprises; Link to each other through Ethernet between the emulator and connect respectively simultaneously integrated control cabinet what comes into a driver's display device, inertial navigation/GPS/ magnetometer emulator, gyroscope simulation device, examine emulator, remote-control romote-sensing emulator, and the mathematical model that is electrically connected through ethernet router and atmospheric environment emulator (unmanned plane mathematical model simulation device) and be electrically connected the high table of atmospheric engine/nothings emulator of above-mentioned integrated control cabinet, the total analogue system of static pressure simulator (ADC), radioecho simulator (RA) through said mathematical model simulation device, wherein; With the unmanned plane mathematical model simulation device of flight control computer rudder face steering order as the control surface deflection angle; Except that carrying out the resolving of real-time full dose nonlinear equation, also result of calculation is mail to inertial navigation/GPS/ magnetometer emulator, gyroscope simulation device, atmospheric engine/nothing high table emulator and each sensor, the electric interfaces through separately mails to flight control computer with signal through above-mentioned integrated control cabinet; Demonstrate each system state of unmanned plane and data in real time, the three-dimensional model and the important flying quality of unmanned plane is presented on the what comes into a driver's display device in real time.
The present invention has following beneficial effect than prior art:
Visual system is connected through gigabit Ethernet with unmanned plane mathematical model and atmospheric environment emulator, transfer rate higher (resolve speed and can reach 0.8ms, exceeded the discernmible flicker frequency of human eye); Image is not prone to frame losing; And if frame losing since when showing three-dimensional model, adopt the interpolation processing technology (if frame losing is arranged, then the former frame and the data of back one frame are carried out weighted mean after; As lost frames output), image can not produce the saltus step that human eye can be awared yet;
Visual system receives by unmanned plane mathematical model and the flying quality (can reach per second 50 times) of atmospheric environment emulator transmission and the flight path of recording level and vertical direction through Ethernet (ICP/IP protocol 20ms/ frame) in real time; Can about 30 important flying qualities be presented on the what comes into a driver's screen in real time, and can playback history data;
The variable observation of visual system visual angle (8 angles) becomes visual field (stepless zooming) and shows;
Visual system can accurately demonstrate the details motion process of unmanned plane assembly, and like the switching of undercarriage control process, rudder face, testing crew can be observed intuitively;
The test key parameter shortens the lead time greatly effectively fully, and the quickening progress reduces risk.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Fig. 1 is the composition block scheme of the visual emulation test system of the present invention.
Fig. 2 is a what comes into a driver's display system electrical connection diagram of the present invention.
Fig. 3 is what comes into a driver's display system physical arrangement figure of the present invention.
Embodiment
Consult Fig. 1.The visual emulation test system of the unmanned plane of describing; Mainly comprise real-time three-dimensional tomography computer system; Cylindricality screen imaging system; Mathematical model and atmospheric environment emulator, inertial navigation/GPS/ magnetometer emulator, gyroscope simulation device, the high table of atmospheric engine/nothing emulator, remote-control romote-sensing emulator, examine emulator, total static pressure simulator, radioecho simulator (RA), integrated control cabinet, flight control computer.All above-mentioned emulators link to each other with integrated control cabinet through the RS422/232/485 serial line interface; Link to each other through Ethernet between each sensor Simulation device; Be connected through Ethernet between each sensor Simulation device and the mathematical model simulation device, radioecho simulator (RA) and total static pressure simulator are also linked integrated control cabinet through RS422.
In said system; Mathematical model and atmospheric environment emulator real time execution unmanned plane dynamics and kinematics mathematical model, power system model, brake system model and atmospheric environment model; Through steering engine controller control frame, engine electric operation dispatching system control frame and the brake system control frame that obtains by the switch board serial line interface; And user interface input; Carry out each mathematical model and resolve, the motion state information and the corresponding control information of output unmanned plane are sent, and its result of calculation is mail to inertial navigation/GPS emulator, vertical gyro/rate gyro emulator, air data computer/radio altimeter emulator through Ethernet; The relevant device status signal is sent to flight control computer through switch board, and on the what comes into a driver's display device, shows unmanned plane real-time three-dimensional model and important flying quality.
Inertial navigation/GPS/ magnetometer emulator is according to position, speed and the attitude information of digital unmanned plane output, and the data frame structure of simulation inertial navigation sends to flight control computer through RS422; According to the result of calculation of position, velocity information, the data frame structure of simulating GPS sends to flight control computer through RS422; Calculate the result according to three magnetic flux of digital unmanned plane, the data frame structure of simulation magnetometer sends to flight control computer through RS485.
According to the result of calculation of the angle of pitch of digital unmanned plane, roll angle, angle of pitch speed, roll angle speed, yawrate, the data of simulation vertical gyro and rate gyro send to flight control computer through D/A to the gyroscope simulation device in real time.
According to the result of calculation of height, air speed and the rising or falling speed of digital unmanned plane, the data of analog radio height indicator and air data computer send to flight control computer through the RS422 serial ports to the high table of atmospheric engine/nothing emulator in real time.
The remote control telemetering system emulator provides telemetry according to the output result of digital aircraft, and gathers the control system remote signal in real time, issues flight control computer, realizes the control to unmanned plane.Can simulated aircraft control model selection instruction, the aircraft steering order, provide that the aircraft control model shows, airplane information shows, equipment state shows, the remote measurement reported information shows.
The ground detection analogue system is accomplished the simulates real preceding detection of last electro-detection, flight and the maintenance of surface detection system on the spot and is detected according to the electric interfaces characteristic of actual ground detection system.
Total static pressure simulator is to fly the dynamic simulation that control subsystem emulation provides atmosphere data, utilizes this equipment can the high table of atmospheric engine/nothing emulator be introduced analogue system.
The radioecho simulator is that radio altimeter is done dynamic height emulation, utilizes this equipment can the high table of atmospheric engine/nothing emulator be introduced analogue system.
The what comes into a driver's display device adopts the advanced real-time generation technique of Computerized three-dimensional image, on the hardware computing platform based on PC, shows through high brightness, high-resolution column type screen prjection, realizes the real-time generation and the demonstration of high-quality three-dimensional image.System is input as the data that mathematical model and atmospheric environment emulator transmit through Ethernet, can receive unmanned plane information in real time, shows aspect and basic atural object, writes down about 30 important flight parameters and shows in real time.
Image shows to have following function:
A)Become observation station, comprising: on left front, right front on, left back on, right back on, left front down, right front down, left back down, right back down;
B)Become big small field of view, adjustable continuously as required;
C)But show in real time and the record-setting flight track, be divided into horizontal flight track and vertical flight track, but also 3-D display;
D)Switch close shot and distant view, close shot can show undercarriage control and rudder face motion process;
E)Has the image reproducing function;
F)Interchannel real-time online edge merges and color balance, makes the visual effect of picture complete, harmony;
G)There is not visual geometry deformation in the real-time geometry correction of whole image;
H)The triple channel picture can show a complete scene simultaneously, also can show different content (like curve, data, the local real time kinematics of controlling rudder face of aircraft etc.) respectively.
Consult Fig. 2.System is made up of following two parts:
1) real time 3-D image generates part: comprise that image generates three in computing machine, one of control computer, one of matrix switcher, one of hub, rack and all kinds of stube cable;
2) Projection Display part: comprise three of projectors, Three Degree Of Freedom is regulated suspension bracket three covers, column type display screen (containing steel structure support etc.);
After tomography computer received the real-time simulation flying quality through gigabit Ethernet, through the software computing, No. 4 machine output general images were to image display, and the 1-3 machine is exported triple channel image to three projector respectively.
Consult Fig. 3,, can make the triple channel image piece together integral body and be presented on the column screen, 44 ° of every passage angulars field of view, 130 ° at total visual angle through adjusting each projector's angle.
Claims (5)
1. visual emulation test system that is used for unmanned plane; Comprise; Real-time three-dimensional tomography computer system; Cylindricality screen imaging system and the integrated control cabinet that links to each other with flight control computer; It is characterized in that: it also comprises; Link to each other through Ethernet between the emulator and connect respectively simultaneously integrated control cabinet what comes into a driver's display device, inertial navigation/GPS/ magnetometer emulator, gyroscope simulation device, examine emulator, remote-control romote-sensing emulator, and the mathematical model that is electrically connected through ethernet router and atmospheric environment emulator (unmanned plane mathematical model simulation device) and be electrically connected the high table of atmospheric engine/nothings emulator of above-mentioned integrated control cabinet, always static pressure simulator (ADC), radioecho simulator (RA) analogue system through said mathematical model simulation device, wherein; With the unmanned plane mathematical model simulation device of flight control computer rudder face steering order as the control surface deflection angle; Except that carrying out the resolving of real-time full dose nonlinear equation, also result of calculation is mail to inertial navigation/GPS/ magnetometer emulator, gyroscope simulation device, atmospheric engine/nothing high table emulator and each sensor, the electric interfaces through separately mails to flight control computer with signal through above-mentioned integrated control cabinet; Demonstrate each system state of unmanned plane and data in real time, the three-dimensional model and the important flying quality of unmanned plane is presented on the what comes into a driver's display device in real time.
2. the visual emulation test system that is used for unmanned plane as claimed in claim 1; It is characterized in that; The gyroscope simulation device is in real time according to the result of calculation of the angle of pitch of aircraft, roll angle, angle of pitch speed, roll angle speed, yawrate; The data of simulation vertical gyro and rate gyro send to flight control computer through D/A.
3. the visual emulation test system that is used for unmanned plane as claimed in claim 1; It is characterized in that; Atmospheric engine/radio altimeter emulator is in real time according to the result of calculation of height, air speed and the rising or falling speed of digital aircraft; The data frame structure of analog radio height indicator and air data computer sends to flight control computer through the RS422 serial ports.
4. the visual emulation test system that is used for unmanned plane as claimed in claim 1; It is characterized in that; Unmanned plane mathematical model and atmospheric environment emulator operation unmanned plane mathematical model; Through receiving the operation information of relevant devices such as switch board and steering wheel loading bench, the real-time flying quality and the corresponding control information of output unmanned plane are sent to flight control computer, each sensor Simulation device and tomography computer.
5. the visual emulation test system that is used for unmanned plane as claimed in claim 1; It is characterized in that; Inertial navigation/GPS/ magnetometer emulator is according to position, speed and the attitude information of digital aircraft output, and the data frame structure of simulation inertial navigation sends to flight control computer through RS422.
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| CN113917854A (en) * | 2021-10-18 | 2022-01-11 | 北京航空航天大学 | Semi-physical simulation platform of flight control system for large and medium-sized unmanned aerial vehicle |
| CN113917854B (en) * | 2021-10-18 | 2024-04-12 | 北京航空航天大学 | Flight control system semi-physical simulation platform for large and medium unmanned aerial vehicle |
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Application publication date: 20120711 |