CN110928200B - Virtual-real linkage simulation test system and method for unmanned aerial vehicle - Google Patents
Virtual-real linkage simulation test system and method for unmanned aerial vehicle Download PDFInfo
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- CN110928200B CN110928200B CN201911304927.3A CN201911304927A CN110928200B CN 110928200 B CN110928200 B CN 110928200B CN 201911304927 A CN201911304927 A CN 201911304927A CN 110928200 B CN110928200 B CN 110928200B
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Abstract
The embodiment of the invention discloses a virtual-real linkage simulation test system and method for an unmanned aerial vehicle, wherein the system comprises the following steps: the physical terminal is used for identifying target information in a real environment; sending the target information to a ground station; receiving a decision instruction sent by a ground station to control the running state of the physical unmanned aerial vehicle; the ground station is used for receiving target information sent by the real object end; sending the target information to a simulation end; receiving a decision instruction sent by a simulation end; sending the decision instruction to an entity end; the simulation terminal is used for receiving target information sent by the ground station; adjusting the autonomous system and the related algorithm according to the target information; calculating target information to obtain a decision instruction so as to control the running state of the simulation unmanned aerial vehicle; and sending the decision instruction to the ground station. The embodiment of the invention effectively reduces the test period of the physical test, reduces the consumption of the calculation performance of the physical end processor, reduces the influence of insufficient calculation performance of the physical end processor on the test, and improves the accuracy of the physical test.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle simulation tests, in particular to an unmanned aerial vehicle-oriented virtual-real linkage simulation test system and method.
Background
With the development of unmanned aerial vehicle technology and the demand of diversified applications, an autonomous unmanned aerial vehicle executing multiple tasks in a complex environment becomes an important trend in unmanned aerial vehicle development in recent years. The requirement of autonomy puts forward higher requirement to unmanned aerial vehicle autonomous control strategy, and in view of the limited preplanning ability of unmanned aerial vehicle user, the automatic control strategy based on procedure can not satisfy the multitask requirement of future autonomy unmanned aerial vehicle under the complex environment.
At present, system emulation is a main approach for research and realization of an unmanned aerial vehicle autonomous control system and related algorithms thereof. Simulation of the unmanned aerial vehicle autonomous control system is mainly divided into digital simulation and semi-physical simulation. No matter digital simulation or semi-physical simulation, relevant achievements of the simulation are required to be tested, verified and applied in a physical unmanned aerial vehicle. In the existing method, a corresponding control system and a related algorithm are transplanted to a processor (such as a raspberry pi or an odroid) of the physical unmanned aerial vehicle, and the autonomous control system and the related algorithm are adjusted according to the test effect of the physical test to perform the iterative physical test again. This causes two major problems: on one hand, the iterative one-time physical test consumes a lot of time, simulation adjustment and verification are needed firstly, and then system algorithm transplantation is carried out, the physical test has high environmental sensitivity, different test results of different tests can be different under different environments, and the system and the algorithm cannot be adjusted in real time according to the environments; on the other hand, the general unmanned aerial vehicle processor has poor calculation performance, and the test effect cannot truly reflect the performance of the system and the related algorithm.
Disclosure of Invention
Because the existing method has the problems, the embodiment of the invention provides a virtual-real linkage simulation test system and method for an unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle-oriented virtual-real linkage simulation test system, including: the system comprises an entity end, a ground station and a simulation end; the physical end and the simulation end are in communication connection with the ground station respectively;
the physical terminal is used for identifying target information in a real environment; sending the target information to the ground station; receiving a decision instruction sent by the ground station to control the running state of the physical unmanned aerial vehicle;
the ground station is used for receiving the target information sent by the object end; sending the target information to the simulation end; receiving the decision instruction sent by the simulation end; sending the decision instruction to the physical end;
the simulation terminal is used for receiving the target information sent by the ground station; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction so as to control the running state of the simulation unmanned aerial vehicle; and sending the decision instruction to the ground station.
Optionally, the physical end includes: the system comprises an observation node, a physical communication sending node, a physical communication receiving node and a physical flight control system;
the observation node is used for identifying the target information in a real environment and sending the target information to the physical communication sending node;
the real object communication sending node is used for receiving the target information sent by the observation node and sending the target information to the ground station;
the real object communication receiving node is used for receiving the decision instruction sent by the ground station and sending the decision instruction to the real object flight control system;
and the real object flight control system is used for receiving the decision instruction sent by the real object communication receiving node so as to control the running state of the real object unmanned aerial vehicle.
Optionally, the physical end further comprises: a real object information conversion module;
the real object information conversion module is used for converting the target information in the Rostopic format sent by the real object communication sending node to the ground station into the target information in the FastTrps format; and converting the decision instruction in the FastTrps format sent by the ground station to the physical communication receiving node into a decision instruction in the Rostopic format.
Optionally, the emulation end includes: the system comprises a simulation communication receiving node, a decision node, a simulation communication sending node and a simulation flight control system;
the simulation communication receiving node is used for receiving the target information sent by the ground station and sending the target information to the decision node;
the decision node is used for receiving the target information sent by the simulation communication receiving node; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction; sending the decision instruction to the simulation communication sending node and the simulation flight control system;
the simulation communication sending node is used for receiving the decision instruction sent by the decision node and sending the decision instruction to the ground station;
and the simulation flight control system is used for receiving the decision instruction sent by the decision node so as to control the running state of the simulation unmanned aerial vehicle.
Optionally, the emulation end further includes: a simulation information conversion module;
the simulation information conversion module is configured to convert the target information in the fastrps format, which is sent by the ground station to the simulation communication receiving node, into the target information in the rostoplac format; and converting the decision instruction in the rostopic format sent by the simulation communication sending node to the ground station into the decision instruction in the FastTrps format.
Optionally, the target information includes: at least one of position information, obstacle avoidance information, environmental information, and threat area information of the hit target.
Optionally, the decision instruction includes: at least one of target hit, obstacle avoidance, environment detection, and threat area avoidance.
Optionally, the object end is wirelessly connected to the ground station.
Optionally, the simulation terminal is connected with the ground station by a wire.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle-oriented virtual-real linkage simulation test method, including:
the object end identifies target information in a real environment and sends the target information to the ground station;
the ground station receives the target information sent by the physical end and sends the target information to the simulation end;
the simulation terminal receives the target information sent by the ground station; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction; and sending the decision instruction to the ground station;
the ground station receives the decision instruction sent by the simulation end and sends the decision instruction to the physical end;
and the physical terminal receives a decision instruction sent by the ground station.
According to the technical scheme, the real object end is responsible for recognizing the target information in the real environment and transmitting the target information, the simulation end is responsible for calculating and deciding, and the virtual and real division of labor is clear. The simulation end can receive the target information in real time and adjust the autonomous system and the related algorithm according to the target information; the physical end does not need to be adjusted, new test iteration can be quickly carried out for verification after the simulation end is adjusted, and the test period of the physical test is effectively shortened. In the whole test process, the physical end is only responsible for identifying target information in a real environment, transmitting the target information and receiving a decision instruction to perform related actions, and an autonomous system and a related algorithm with high computing resource consumption are placed at the simulation end, so that the consumption of the computing performance of the physical end processor is reduced, the influence of insufficient computing performance of the physical end processor on the test is reduced, and the accuracy of the physical test is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle-oriented virtual-real linkage simulation test system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a virtual-real linkage simulation test specific implementation scheme for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a virtual-real linkage simulation test method for an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
With the development of unmanned aerial vehicle technology and the demand of diversified applications, an autonomous unmanned aerial vehicle executing multiple tasks in a complex environment becomes an important trend in unmanned aerial vehicle development in recent years. Automatic control strategies based on programs have not been able to meet the multi-tasking requirements of future autonomous drones in complex environments. The improvement of the autonomous flight control capability will be a main target of the future unmanned aerial vehicle flight control system development.
The unmanned aerial vehicle is controlled autonomously, which means that external situations can be sensed online, and decisions can be made in flight according to a preset mission and principle and tasks can be executed autonomously. Due to the high dynamics, uncertainty and complexity of executing tasks of the real flight environment of the unmanned aerial vehicle, real-time and on-site decision and control problems become the main technical challenges for autonomous unmanned aerial vehicle system development.
Fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle-oriented virtual-real linkage simulation test system provided in this embodiment, including: a physical end 11, a ground station 12 and a simulation end 13; the physical end 11 and the simulation end 13 are respectively in communication connection with the ground station 12;
the physical terminal 11 is used for identifying target information in a real environment; sending the target information to the ground station 12; receiving a decision instruction sent by the ground station 12 to control the running state of the physical unmanned aerial vehicle;
the ground station 12 is configured to receive the target information sent by the entity terminal 11; sending the target information to the simulation terminal 13; receiving the decision instruction sent by the simulation terminal 13; sending the decision instruction to the physical terminal 11;
the simulation terminal 13 is configured to receive the target information sent by the ground station 12; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction so as to control the running state of the simulation unmanned aerial vehicle; the decision instructions are sent to the ground station 12.
In the embodiment of the invention, the virtual in the unmanned aerial vehicle-oriented virtual-real linkage simulation test system is the simulation end 13, and the real is the real end 11.
In the embodiment of the present invention, the ground station 12 is in communication connection with the physical terminal 11 (i.e., a physical unmanned aerial vehicle) and the simulation terminal 13 (i.e., a simulation unmanned aerial vehicle), respectively, so that the ground station 12 can perform data transmission with the physical terminal 11 and the simulation terminal 13, respectively.
After identifying target information in a real environment, the entity terminal 11 sends the target information to the ground station 12. After receiving the target information sent by the entity end 11, the ground station 12 sends the target information to the simulation end 13. After receiving the target information sent by the ground station 12, the simulation terminal 13 adjusts an autonomous system and a related algorithm according to the target information; and calculating the target information to obtain the decision instruction, so as to control the running state of the simulation unmanned aerial vehicle, and sending the decision instruction to the ground station 12. After receiving the decision instruction sent by the simulation terminal 13, the ground station 12 sends the decision instruction to the entity terminal 11. And the physical terminal 11 receives a decision instruction sent by the ground station 12 so as to control the running state of the physical unmanned aerial vehicle.
In the embodiment of the invention, the real object end 11 is responsible for identifying the target information in the real environment and transmitting the target information, the simulation end 13 is responsible for calculating and deciding, and the division of virtual and real work is clear. The simulation terminal 13 can receive the target information in real time and adjust the autonomous system and the related algorithm according to the target information; the physical end 11 does not need to be adjusted, and after the simulation end 13 is adjusted, new test iteration can be performed quickly for verification, so that the test period of the physical test is effectively shortened. In the whole test process, the entity end 11 is only responsible for identifying target information in a real environment, transmitting the target information and receiving a decision instruction to perform related actions, and an autonomous system and related algorithms with high computing resource consumption are placed at the simulation end 13, so that the consumption of the computing performance of the processor of the entity end 11 is reduced, the influence of insufficient computing performance of the processor of the entity end on the test is reduced, and the accuracy of the entity test is improved.
It should be noted that, in the embodiment of the present invention, the same operating system is selected for both virtual and real ends. The physical quad-rotor drone odroid processor installs the linux operating system and ros (robotic operating system) in the linux. The same operating system is installed on the computer client, a ros-carried three-dimensional simulation engine gazebo is adopted for simulation, and a sector four-rotor unmanned aerial vehicle package in the gazebo is adopted for a simulation model. The model has dynamic performance similar to that of a real object, and the real object unmanned aerial vehicle and the simulation unmanned aerial vehicle both adopt a speed point guide flight control system.
Further, on the basis of the above system embodiment, the physical end 11 includes: the system comprises an observation node, a physical communication sending node, a physical communication receiving node and a physical flight control system;
the observation node is used for identifying the target information in a real environment and sending the target information to the physical communication sending node;
the real object communication sending node is used for receiving the target information sent by the observation node and sending the target information to the ground station;
the real object communication receiving node is used for receiving the decision instruction sent by the ground station and sending the decision instruction to the real object flight control system;
and the real object flight control system is used for receiving the decision instruction sent by the real object communication receiving node so as to control the running state of the real object unmanned aerial vehicle.
In the embodiment of the present invention, the observation node, the physical communication transmission node, the physical communication reception node, and the physical flight control system are an observation node, a communication transmission node, a communication reception node, and a flight control system in the physical terminal 11 shown in fig. 2, respectively.
In the embodiment of the invention, after the observation node identifies the target information in the real environment, the observation node sends the target information to the physical communication sending node; after the object communication sending node receives the target information sent by the observation node, the object communication sending node sends the target information to the ground station; after receiving the decision instruction sent by the ground station, the real object communication receiving node sends the decision instruction to the real object flight control system; and after the real object flight control system receives the decision instruction sent by the real object communication receiving node, controlling the running state of the real object unmanned aerial vehicle.
In the embodiment of the invention, the physical end 11 is only responsible for identifying the target information in the real environment, transmitting the target information and receiving the decision instruction to perform related actions, and the autonomous system and related algorithm with higher computing resource consumption are placed at the simulation end 13, so that the consumption of the computing performance of the processor of the physical end 11 is reduced, the influence of insufficient computing performance of the processor of the physical end on the test is reduced, and the accuracy of the physical test is improved.
Further, on the basis of the above system embodiment, the physical end further includes: a real object information conversion module;
the real object information conversion module is used for converting the target information in the Rostopic format sent by the real object communication sending node to the ground station into the target information in the FastTrps format; and converting the decision instruction in the FastTrps format sent by the ground station to the physical communication receiving node into a decision instruction in the Rostopic format.
In the embodiment of the present invention, the internal information types of the real object end 11 and the simulation end 13 are both transmitted and received in a rostoplac information type, and the virtual and real ends (i.e., the real object end 11 and the simulation end 13) adopt a FastRtps communication mode. And simultaneously, a real object information conversion module capable of converting the FastTrtps information format and the Rostopic information format is designed at the real object end 11 and the simulation end 13.
In the embodiment of the present invention, the physical information conversion module converts target information in a Rostopic format, which is sent by the physical communication sending node to the ground station, into target information in a FastTrps format; and converting the decision instruction in the FastTrps format sent by the ground station to the physical communication receiving node into a decision instruction in the Rostopic format.
According to the embodiment of the invention, the object information in the Rostopic format can be converted into the object information in the FastTrps format through the real object information conversion module, the object information in the FastTrps format can also be converted into the object information in the Rostopic format, the object information can be converted into the required format according to the actual requirement, and the information transmission is facilitated.
Further, on the basis of the above system embodiment, the simulation terminal includes: the system comprises a simulation communication receiving node, a decision node, a simulation communication sending node and a simulation flight control system;
the simulation communication receiving node is used for receiving the target information sent by the ground station and sending the target information to the decision node;
the decision node is used for receiving the target information sent by the simulation communication receiving node; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction; sending the decision instruction to the simulation communication sending node and the simulation flight control system;
the simulation communication sending node is used for receiving the decision instruction sent by the decision node and sending the decision instruction to the ground station;
and the simulation flight control system is used for receiving the decision instruction sent by the decision node so as to control the running state of the simulation unmanned aerial vehicle.
In the embodiment of the present invention, the simulation communication receiving node, the decision node, the simulation communication sending node, and the simulation flight control system are respectively a communication receiving node, a decision node, a communication sending node, and a flight control system in the simulation end 13 shown in fig. 2.
In the embodiment of the invention, after receiving the target information sent by the ground station, the simulation communication receiving node sends the target information to the decision node; after the decision node receives the target information sent by the simulation communication receiving node, an autonomous system and a related algorithm are adjusted according to the target information, the target information is calculated to obtain a decision instruction, and the decision instruction is sent to the simulation communication sending node and the simulation flight control system; the simulation communication sending node receives the decision instruction sent by the decision node and sends the decision instruction to the ground station; and after receiving the decision instruction sent by the decision node, the simulation flight control system controls the running state of the simulation unmanned aerial vehicle.
The simulation terminal 13 of the embodiment of the invention can receive the target information in real time and adjust the autonomous system and the related algorithm according to the target information; the physical end 11 does not need to be adjusted, and after the simulation end 13 is adjusted, new test iteration can be performed quickly for verification, so that the test period of the physical test is effectively shortened.
Further, on the basis of the above system embodiment, the simulation terminal further includes: a simulation information conversion module;
the simulation information conversion module is configured to convert the target information in the fastrps format, which is sent by the ground station to the simulation communication receiving node, into the target information in the rostoplac format; and converting the decision instruction in the rostopic format sent by the simulation communication sending node to the ground station into the decision instruction in the FastTrps format.
In the embodiment of the present invention, a simulation information conversion module capable of converting the fastrps information format and the rostopic information format is designed at the material object end 11 and the simulation end 13.
In this embodiment of the present invention, the simulation information conversion module converts the target information in the fastrps format, which is sent by the ground station to the simulation communication receiving node, into the target information in the rostopic format; and converting the decision instruction in the rostopic format sent by the simulation communication sending node to the ground station into the decision instruction in the FastTrps format.
The embodiment of the invention can convert the target information in the Rostopic format into the target information in the FastTrps format through the simulation information conversion module, can also convert the target information in the FastTrps format into the target information in the Rostopic format, can convert the target information into a required format according to actual requirements, and is favorable for information transmission.
Further, on the basis of the above system embodiment, the target information includes: at least one of position information, obstacle avoidance information, environmental information, and threat area information of the hit target.
In an embodiment of the present invention, the target information includes: at least one of position information, obstacle avoidance information, environmental information, and threat area information of the hit target.
The target information in the embodiment of the present invention is a basis for the simulation end 13 to calculate the decision instruction. The physical terminal 11 is only responsible for identifying target information in a real environment, transmitting the target information and receiving a decision instruction, so that the consumption of the calculation performance of the physical terminal processor is reduced, the influence of insufficient calculation performance of the physical terminal processor on a test is reduced, and the accuracy of a physical test is improved.
Further, on the basis of the above system embodiment, the decision instruction includes: at least one of target hit, obstacle avoidance, environment detection, and threat area avoidance.
In an embodiment of the present invention, the decision instruction includes: at least one of target hit, obstacle avoidance, environment detection, and threat area avoidance.
The embodiment of the invention controls the running states of the simulation unmanned aerial vehicle and the physical unmanned aerial vehicle through the decision instruction.
Further, on the basis of the system embodiment, the object end is wirelessly connected with the ground station.
In the embodiment of the present invention, the physical terminal 11 is wirelessly connected to the ground station 12.
In the embodiment of the present invention, the physical terminal 11 is wirelessly connected to the ground station 12 for data transmission.
Further, on the basis of the above system embodiment, the simulation terminal is connected with the ground station by wire.
In the embodiment of the present invention, the simulation terminal 13 is connected to the ground station 12 by wire.
In the embodiment of the present invention, the simulation terminal 12 is connected to the ground station 12 by a wire for data transmission.
Fig. 3 shows a schematic flow chart of a virtual-real linkage simulation test method for an unmanned aerial vehicle provided in this embodiment, including:
s31, the real object side identifies target information in a real environment and sends the target information to the ground station;
s32, the ground station receives the target information sent by the physical terminal and sends the target information to the simulation terminal;
s33, the simulation terminal receives the target information sent by the ground station; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction; and sending the decision instruction to the ground station;
s34, the ground station receives the decision instruction sent by the simulation end and sends the decision instruction to the physical end;
and S35, the physical terminal receives the decision instruction sent by the ground station.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle-oriented virtual-real linkage simulation test system which characterized in that includes: the system comprises an entity end, a ground station and a simulation end; the physical end and the simulation end are in communication connection with the ground station respectively;
the physical terminal is used for identifying target information in a real environment; sending the target information to the ground station; receiving a decision instruction sent by the ground station to control the running state of the physical unmanned aerial vehicle;
the ground station is used for receiving the target information sent by the object end; sending the target information to the simulation end; receiving the decision instruction sent by the simulation end; sending the decision instruction to the physical end;
the simulation terminal is used for receiving the target information sent by the ground station; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction so as to control the running state of the simulation unmanned aerial vehicle; sending the decision instruction to the ground station;
wherein the target information includes: at least one of position information, obstacle avoidance information, environmental information, and threat area information of the hit target.
2. The unmanned-aerial-vehicle-oriented virtual-real linkage simulation test system of claim 1, wherein the real end comprises: the system comprises an observation node, a physical communication sending node, a physical communication receiving node and a physical flight control system;
the observation node is used for identifying the target information in a real environment and sending the target information to the physical communication sending node;
the real object communication sending node is used for receiving the target information sent by the observation node and sending the target information to the ground station;
the real object communication receiving node is used for receiving the decision instruction sent by the ground station and sending the decision instruction to the real object flight control system;
and the real object flight control system is used for receiving the decision instruction sent by the real object communication receiving node so as to control the running state of the real object unmanned aerial vehicle.
3. The unmanned aerial vehicle-oriented virtual-real linkage simulation test system of claim 2, wherein the real end further comprises: a real object information conversion module;
the real object information conversion module is used for converting the target information in the Rostopic format sent by the real object communication sending node to the ground station into the target information in the FastTrps format; and converting the decision instruction in the FastTrps format sent by the ground station to the physical communication receiving node into a decision instruction in the Rostopic format.
4. The unmanned aerial vehicle-oriented virtual-real linkage simulation test system of claim 1, wherein the simulation end comprises: the system comprises a simulation communication receiving node, a decision node, a simulation communication sending node and a simulation flight control system;
the simulation communication receiving node is used for receiving the target information sent by the ground station and sending the target information to the decision node;
the decision node is used for receiving the target information sent by the simulation communication receiving node; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain the decision instruction; sending the decision instruction to the simulation communication sending node and the simulation flight control system;
the simulation communication sending node is used for receiving the decision instruction sent by the decision node and sending the decision instruction to the ground station;
and the simulation flight control system is used for receiving the decision instruction sent by the decision node so as to control the running state of the simulation unmanned aerial vehicle.
5. The unmanned aerial vehicle-oriented virtual-real linkage simulation test system of claim 4, wherein the simulation end further comprises: a simulation information conversion module;
the simulation information conversion module is used for converting target information in a FastTrps format sent by the ground station to the simulation communication receiving node into target information in a rostoplac format; and converting the decision instruction in the rostopic format sent by the simulation communication sending node to the ground station into the decision instruction in the FastTrps format.
6. The unmanned-aerial-vehicle-oriented virtual-real linkage simulation test system of any one of claims 1-5, wherein the decision instructions comprise: at least one of target hit, obstacle avoidance, environment detection, and threat area avoidance.
7. The unmanned-aerial-vehicle-oriented virtual-real linkage simulation test system of claim 1, wherein the real end is wirelessly connected to the ground station.
8. The unmanned-aerial-vehicle-oriented virtual-real linkage simulation test system of claim 1, wherein the simulation terminal is in wired connection with the ground station.
9. An unmanned aerial vehicle-oriented virtual-real linkage simulation test method is characterized by comprising the following steps:
the real object side identifies target information in a real environment and sends the target information to the ground station;
the ground station receives the target information sent by the physical end and sends the target information to the simulation end;
the simulation terminal receives the target information sent by the ground station; adjusting an autonomous system and a related algorithm according to the target information; calculating the target information to obtain a decision instruction; and sending the decision instruction to the ground station;
the ground station receives the decision instruction sent by the simulation end and sends the decision instruction to the physical end;
the physical terminal receives a decision instruction sent by the ground station;
wherein the target information includes: at least one of position information, obstacle avoidance information, environmental information, and threat area information of the hit target.
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| CN111735826A (en) * | 2020-06-03 | 2020-10-02 | 武汉精立电子技术有限公司 | Simulation system and method for panel detection |
| CN111783224B (en) * | 2020-06-22 | 2024-01-02 | 中国人民解放军军事科学院国防科技创新研究院 | Deep reinforcement learning model unmanned aerial vehicle deployment test method and system |
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