CN114063474B - Simulation method of semi-physical simulation system based on unmanned aerial vehicle cluster - Google Patents
Simulation method of semi-physical simulation system based on unmanned aerial vehicle cluster Download PDFInfo
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Abstract
The invention relates to a simulation method of a semi-physical simulation system based on an unmanned aerial vehicle cluster, wherein the semi-physical simulation system comprises the following steps: the cluster ground station computer performs control instruction interaction with the unmanned aerial vehicle cluster of the semi-physical simulation; each unmanned aerial vehicle in the cluster includes: a real-time digital plane simulation computer, a flight control computer, a task computer, a single-machine ground station computer and a visual simulation computer; the real-time digital aircraft simulation computer is used for building a real-time digital aircraft simulating a real unmanned aerial vehicle; the flight control computer is used as a flight control module of the real unmanned aerial vehicle, the task computer is used as a cooperative control module of the real unmanned aerial vehicle, and a cooperative control system is constructed to realize autonomous formation flight, dynamic reconfiguration and automatic attack of the unmanned aerial vehicle cluster; and the visual simulation computer is used for visually displaying the flight attitude. According to the invention, the real-time digital plane simulation computer of each unmanned plane simulating the plane is realized, the state variable information is obtained according to the flight attitude control information and is sent to the corresponding visual simulation computer for visual display, the communication between unmanned planes in the unmanned plane cluster can be simulated, the reliability and the flexibility are realized, and the development period of a real cluster system is greatly shortened.
Description
Technical Field
The invention relates to a cluster simulation technology, in particular to a simulation method of a semi-physical simulation system based on an unmanned aerial vehicle cluster.
Background
Compared with a small four-rotor unmanned aerial vehicle which starts to be hot a few years ago, the small fixed-wing unmanned aerial vehicle is in the brand-new dew angle in unmanned aerial vehicle research and application by virtue of excellent endurance. The small-sized fixed wing unmanned aerial vehicle has the characteristics of low precision, imperfect functions, low cost, short development period and the like, and the simulation verification of the small-sized fixed wing unmanned aerial vehicle depends on physical simulation, and the test data are obtained by directly using physical flight. However, with the development of aviation technology and hardware technology, small unmanned aerial vehicles play an increasingly important role in reconnaissance, monitoring, mapping, topographic exploration, cluster networking and other aspects. The small fixed wing is not an aircraft with low cost, simple task and low precision, but develops towards high precision and intellectualization, and has very high cost if the current physical simulation verification method for the small fixed wing unmanned aerial vehicle system is adopted. In order to reduce the system development period, reduce the development cost, increase accuracy and reliability and the like, it is particularly important to design and develop a semi-physical simulation platform for a small-sized fixed wing unmanned aerial vehicle.
Semi-physical simulation, also known as hardware-in-loop simulation (Hardwareintheloop Simulation), is a test mode in which physical equipment is connected into a simulation loop. The semi-physical simulation test has the characteristics of reality, economy and high efficiency, has incomparable advantages of mathematical simulation and physical test, and can greatly improve the product quality, reduce the development risk, shorten the development period and reduce the physical test times.
The existing simulation systems based on the fixed wing unmanned aerial vehicle are three, wherein the first simulation system can only verify a single-machine flight control law by single-machine simulation, but can not be used for cluster system simulation to verify a multi-machine cooperative control law; the second simulation system realizes the simulation of the cluster system, but the simulation is all-digital simulation, and in order to ensure that a plurality of operations of the system can be normally operated and processed on a server, a certain real-time performance is lost, and the third simulation system realizes the multi-machine collaborative semi-physical simulation, but the simulation system only supports the multi-machine formation simulation, and the unmanned aerial vehicle cannot directly communicate.
In view of this, there is a need for a semi-physical simulation system for a drone cluster that can enable communication between drones within the cluster.
Disclosure of Invention
First, the technical problem to be solved
Aiming at the defects of the prior art, the embodiment of the invention provides a simulation method of a semi-physical simulation system based on an unmanned aerial vehicle cluster, which solves the defect that the existing unmanned aerial vehicle semi-physical simulation system cannot support multi-machine cluster ad hoc network simulation, greatly simplifies the cluster control test flow and reduces the test cost.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
in a first aspect, an embodiment of the present invention provides a simulation method of a semi-physical simulation system based on an unmanned aerial vehicle cluster, where,
the semi-physical simulation system includes:
the cluster ground station computer is used for configuring cooperative parameters for the unmanned aerial vehicle clusters adopting the semi-physical simulation, acquiring cooperative information and formation information of the unmanned aerial vehicle clusters, and interacting control instructions with the unmanned aerial vehicle clusters;
each unmanned aerial vehicle in the unmanned aerial vehicle cluster adopting the semi-physical simulation comprises:
a real-time digital airplane simulation computer, a flight control computer, a task computer, a single-machine ground station computer and a visual simulation computer;
the real-time digital aircraft simulation computer is used for building a real-time digital aircraft simulating a real unmanned aerial vehicle, and respectively interacting state information and control information with the flight control computer, the task computer and the visual simulation computer through IO hardware channels to simulate the running process of the real aircraft;
the flight control computer is used as a flight control module of the real unmanned aerial vehicle, and the flight control module is used for respectively communicating with the real-time digital aircraft simulation computer and the task computer to realize the flight control of the real-time digital aircraft and the flight control of the reconstruction formation;
the task computer is used as a cooperative control module of a real unmanned aerial vehicle, and the cooperative control module is used for interacting with the cooperative control modules of other unmanned aerial vehicles in the cluster to construct a cooperative control system, so as to realize the autonomous formation flight, dynamic reconfiguration and automatic attack of the unmanned aerial vehicle cluster by physical simulation;
the visual simulation computer is used for resolving the flight attitude of the real-time digital aircraft in real time and visually displaying the real-time resolved flight attitude in the current flight environment in an animation simulation mode;
the stand-alone ground station computer is used for running a ground station program on a Windows system, interacting with the flight control computer to monitor the attitude information of the unmanned aerial vehicle in real time, and interacting with the task computer to realize the sending of planned waypoint task information;
the method comprises the following steps:
s01, before the unmanned aerial vehicle cluster takes off by adopting physical simulation, a cluster ground station computer sends respective configuration information and task information to a task computer to which each real-time digital aircraft belongs;
s02, each task computer is configured according to the received configuration information and interacts with a single ground station computer corresponding to the task computer, so that the single ground station computer preloads a default flight route for the corresponding task computer based on the task information;
s03, each simulated unmanned aerial vehicle in the unmanned aerial vehicle cluster flies according to a respective default flight route, and each task computer receives a formation instruction sent by a cluster ground station computer;
s04, unmanned aerial vehicles of the simulation long machine in the unmanned aerial vehicle cluster fly along the preassembled route, and a task computer to which the unmanned aerial vehicle of the simulation long machine belongs sends networking information to the unmanned aerial vehicles of the rest simulation plane through an ad hoc network link;
s05, receiving networking information by a task computer of each unmanned plane of the analog plane, and calculating respective control information for formation flight according to the networking information;
s06, the task computer of each unmanned plane of the analog plane transmits the control information to the corresponding flight control computer, and the flight control computer calculates based on the control information and acquires flight attitude control information;
s07, a flight control computer to which an unmanned plane of each analog plane belongs transmits the flight attitude control information to the real-time digital plane simulation computer;
s08, the real-time digital plane simulation computer of each simulation assistant unmanned plane obtains state variable information according to the flight attitude control information and sends the state variable information to the corresponding visual simulation computer for visual display.
Optionally, the method further comprises:
s09, receiving the state variable information by the FlightGear program in each visual simulation computer and performing three-dimensional visual display; and
and the real-time digital airplane simulation computer sends the state variable information to a corresponding flight control computer so that the flight control computer can calculate based on the control information and the state variable information.
Optionally, the configuration information sent by the clustered ground station computer includes one or more of:
long plane, bureau, scale, formation, pitch and transmission interval;
the enqueue instruction includes one or more of: long machine position, target longitude, target latitude and target altitude;
the flight attitude control information includes one or more of the following: roll control amount, pitch control amount, throttle control amount, and course control amount;
the state variable information includes one or more of the following: current triaxial angle, triaxial angular rate, warp and weft heights, triaxial speed and triaxial acceleration.
Optionally, the unmanned aerial vehicle cluster adopts a 'dynamic centralized' architecture, wherein one unmanned aerial vehicle is a long machine, the other unmanned aerial vehicles are plane, and fly along with the long machine according to a specified formation;
in the flight process, if the long machine fails, a pre-configured updating strategy is realized through respective task computers of the long machine and the auxiliary machine, a new long machine is automatically determined in the unmanned aerial vehicle cluster, and a coordination and formation scheme of the unmanned aerial vehicle cluster system is dynamically adjusted.
Optionally, the visual simulation computer is specifically used for
And running a flight view simulation program on a Windows operating system, resolving the attitude information of the real-time digital aircraft in real time by using a Simulation Workbench unmanned aerial vehicle dynamic model, and transmitting the resolved attitude information to the flight view simulation program to realize real-time display of the flight attitude of the unmanned aerial vehicle, the movement conditions of all parts of the unmanned aerial vehicle and the flight environment in an animation mode.
Optionally, the real-time digital aircraft simulation computer is specifically configured to:
building a system architecture of an upper computer-lower computer based on a Links-RT semi-physical simulation platform;
the upper computer runs on a Windows operating system, acquires a real-time digital plane simulating the real unmanned aerial vehicle by means of configuration information input by a user and a kinematic and mechanical mathematical model of the unmanned aerial vehicle,
the lower computer operates on a VxWorks operating system, calculates a kinematic and mechanical mathematical model of the unmanned aerial vehicle in real time, acquires gesture information of a real-time digital airplane for outputting to external equipment, and receives control information transmitted by the external equipment to adjust the gesture of the real-time digital airplane;
the external device includes: the flight control computer, the task computer and the visual simulation computer.
Optionally, the real-time digital aircraft simulation computer is particularly used for
Interacting with a user in an upper computer based on a Simulink program;
in the Simulink program, calling a coded automatic generation tool according to configuration information input by a user, and converting the kinematic and mechanical mathematical model into a binary executable program; the configuration is carried out in an RTSimPlus management environment, and the configured kinematics and mechanics mathematical model with executable programs is used as a real-time digital plane to be transmitted to a lower computer;
and the lower computer interacts with the external equipment through IO hardware based on the gesture information of the configured kinematics and mechanics mathematical model of the executable program.
Optionally, firmware developed based on a Chibios real-time operating system and C++ code is integrated in the flight control computer;
the firmware comprises a sensor parameter analysis module, a control module and a navigation module;
and the firmware realizes navigation according to the task scheduling information in the flight control computer and outputs control information to the real-time digital airplane simulation computer and/or the task computer.
Optionally, the stand-alone ground station computer uses a Mavlink protocol to bidirectionally communicate with a task computer and a flight control computer to which each real-time digital aircraft belongs by means of a data transmission station;
the task computer of each real-time digital airplane realizes serial port two-way communication with the corresponding flight control computer through an RS422 protocol;
the flight control computer of each real-time digital airplane is in bidirectional communication with the corresponding real-time digital airplane simulation computer through an RS232 protocol;
the real-time digital aircraft simulation computer is in one-way communication with the affiliated visual simulation computer through the Ethernet UDP/IP;
all the task computers corresponding to the real-time digital aircrafts are mutually communicated through an ad hoc network link, and the clustered ground station computer is communicated with the task computer to which each real-time digital aircrafts belongs by means of a data transmission station based on a Mavlink protocol.
(III) beneficial effects
According to the semi-physical simulation system provided by the invention, a real-time digital airplane simulation computer is built through a Simulink and Links-RT general semi-physical simulation platform; the semi-physical simulation method of the clustered unmanned aerial vehicle is realized based on a dynamic centralized architecture, and meanwhile, the visual display is driven by a dynamic model in a digital aircraft based on an external mode FlightGear; and a task computer and a cluster ground station computer are designed for each unmanned aerial vehicle, so that the simulation of the ad hoc network is realized, the development period of the unmanned aerial vehicle cluster system is greatly shortened, and the development cost of the unmanned aerial vehicle cluster system is reduced.
Drawings
Fig. 1 is a schematic diagram of a semi-physical simulation system of an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a functional module of the unmanned aerial vehicle cluster system;
FIG. 3 is a schematic diagram of a communication process of a semi-physical simulation system of a cluster of unmanned aerial vehicles;
FIG. 4 is a schematic diagram of a cluster co-ordination information flow;
FIG. 5 is a schematic diagram of a "dynamic centralized" architecture.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
Example 1
As shown in fig. 1, fig. 1 shows a flow chart of a semi-physical simulation system of an unmanned aerial vehicle cluster according to an embodiment of the present invention, where the semi-physical simulation system of the present embodiment includes: a clustered ground station computer and an unmanned aerial vehicle cluster employing semi-physical simulation.
The cluster ground station computer is used for configuring cooperative parameters for the unmanned aerial vehicle clusters adopting the semi-physical simulation, acquiring cooperative information and formation information of the unmanned aerial vehicle clusters, and interacting control instructions with the unmanned aerial vehicle clusters; for example, the cluster ground station computer is configured to configure coordination parameters for the unmanned aerial vehicle cluster, including information such as an address (for identifying an identity) of each unmanned aerial vehicle, configuration of a long plane, configuration of a flat plane, formation, spacing, emission interval, attack interval, and the like, so as to determine a coordination and formation scheme of the unmanned aerial vehicle cluster.
In a specific application, the clustered ground station computer is used for interacting with a task computer serving as a cooperative control module of the real unmanned aerial vehicle, so as to realize ad hoc network formation and mutual communication.
Specifically, each unmanned aerial vehicle in the unmanned aerial vehicle cluster adopting the semi-physical simulation in the embodiment includes: a real-time digital aircraft simulation computer 10, a flight control computer 20, a task computer 30, a stand-alone ground station computer 40, and a visual simulation computer 50;
the real-time digital aircraft simulation computer 10 is used for building a real-time digital aircraft simulating a real unmanned aerial vehicle, and respectively interacting state information and control information with the flight control computer, the task computer and the visual simulation computer through IO hardware channels to realize the operation process of simulating the real aircraft.
Specifically, the real-time digital aircraft simulation computer 10 is specifically configured to build a system architecture of an upper computer and a lower computer based on a Links-RT semi-physical simulation platform;
the upper computer runs on a Windows operating system, and acquires a real-time digital airplane simulating the real unmanned aerial vehicle by means of configuration information input by a user and a kinematic and mechanical mathematical model of the unmanned aerial vehicle, for example, functions of model development/compiling, simulation test running management, data post-processing and the like.
It can be understood that the embodiment interacts with the user based on the Simulink program in the upper computer; in the Simulink program, calling a coded automatic generation tool according to configuration information input by a user, and converting the kinematic and mechanical mathematical model into a binary executable program; and the configuration is carried out in an RTSIMIMP lus management environment, and the configured kinematic and mechanical mathematical model with executable programs is transmitted to a lower computer as a real-time digital airplane.
The lower computer operates on a VxWorks operating system, calculates a kinematic and mechanical mathematical model of the unmanned aerial vehicle in real time, acquires gesture information of a real-time digital airplane for outputting to external equipment, and receives control information transmitted by the external equipment to adjust the gesture of the real-time digital airplane; the external devices are the flight control computer, the task computer and the visual simulation computer. That is, the lower computer interacts with the external device through the IO hardware based on the posture information of the kinematic and mechanical mathematical model of the configured executable program.
The flight control computer 20 is used as a flight control module of a real unmanned aerial vehicle, and the flight control module is used for respectively communicating with the real-time digital aircraft simulation computer and the task computer to realize the flight control of the real-time digital aircraft and the flight control of the reconstruction formation.
The flight control computer of the embodiment is integrated with firmware developed based on a Chibios real-time operating system and C++ codes; the firmware comprises a sensor parameter analysis module, a control module and a navigation module; and the firmware realizes navigation according to the task scheduling information in the flight control computer and outputs control information to the real-time digital airplane simulation computer and/or the task computer. The flight control computer is used for completing the core functions of flight information acquisition, control instruction settlement, measurement and control instruction processing and the like.
The task computer 30 is used as a cooperative control module of a real unmanned aerial vehicle, and the cooperative control module is used for interacting with cooperative control modules of other unmanned aerial vehicles in the cluster to construct a cooperative control system, so as to realize autonomous formation flight, dynamic reconfiguration and automatic attack of the unmanned aerial vehicle cluster by physical simulation.
The task computer 30 mainly performs swarm flight management, cooperative instruction processing, formation algorithm calculation, attack route generation and autonomous attack control, and realizes autonomous cooperative flight and cooperative attack of the swarm. The design of the task computer enables the cooperative formation and cooperative attack functions and the single-machine flight control function to be mutually isolated, reduces the influence on the single-machine flight control system and ensures the flight safety of the aircraft platform; meanwhile, the task computer 30 is used as a cooperative special device, so that unmanned aerial vehicles of different models can be quickly added into formation or withdrawn from formation, a cooperative unmanned aerial vehicle cluster system can be quickly constructed, and the dynamic reconfiguration capability and the expansion capability of the unmanned aerial vehicle cluster system can be improved.
The visual simulation computer 50 is configured to calculate a flight attitude of the real-time digital aircraft in real time, and visually display the flight attitude calculated in real time in a current flight environment in an animation simulation manner;
the view simulation computer 50 of the present embodiment is specifically configured to run a flight view simulation program such as flightgear on a Windows operating system, calculate, in real time, attitude information (pitch angle, yaw angle, roll angle) and position information of the real-time digital aircraft using a Simulation Workbench unmanned aerial vehicle dynamic model, and transmit the calculated attitude information and position information to the flight view simulation program such as flightgear, so as to realize displaying, in real time, the flight attitude of the unmanned aerial vehicle, the movement status (such as aileron, elevator, rudder, etc.) of each component of the unmanned aerial vehicle, and the flight environments such as weather, geography, etc. in the form of animation. The three-dimensional real-time visual display of the unmanned aerial vehicle flight attitude and the geographic environment in the flight simulation is realized.
The stand-alone ground station computer 40 is configured to run a ground station program on a Windows system, interact with the flight control computer to monitor the attitude information of the unmanned aerial vehicle in real time, and interact with the task computer to implement the sending of planned waypoint task information. The stand-alone ground station computer 40 runs the open source flight control ground station software session Planner developed using c# on a Windows system to monitor the status of stand-alone flight, plan waypoint tasks, and view and analyze telemetry logs, etc. in real time.
The stand-alone ground station computer 40 communicates bi-directionally with the mission computer and flight control computer to which each real-time digital aircraft belongs by means of a data transfer station using the Mavlink protocol.
The task computer of each real-time digital airplane realizes serial port two-way communication with the corresponding flight control computer through an RS422 protocol;
the flight control computer of each real-time digital airplane is in bidirectional communication with the corresponding real-time digital airplane simulation computer through an RS232 protocol;
the real-time digital aircraft simulation computer is in one-way communication with the affiliated visual simulation computer through the Ethernet UDP/IP;
all the task computers corresponding to the real-time digital aircrafts are mutually communicated through an ad hoc network link, and the clustered ground station computer is communicated with the task computer to which each real-time digital aircrafts belongs by means of a data transmission station based on a Mavlink protocol.
The semi-physical simulation system of the embodiment builds a real-time digital airplane simulation computer through a Simulink and Links-RT general semi-physical simulation platform; driving a visual display using a dynamic model in a digital aircraft based on an external mode FlightGear; and a task computer and a cluster ground station computer are designed for each unmanned aerial vehicle, so that the simulation of the ad hoc network is realized, the development period of the unmanned aerial vehicle cluster system is greatly shortened, and the development cost of the unmanned aerial vehicle cluster system is reduced.
In addition, as shown in fig. 1 and 2, functionally understood, the semi-physical simulation system of the unmanned aerial vehicle cluster mainly includes: and the cooperative control module and the flight control module. The cooperative control module is used for constructing a cooperatively controlled unmanned aerial vehicle cluster system, carrying out unmanned aerial vehicle cluster management, formation control calculation and autonomous cooperative attack control, realizing formation flight, dynamic reconstruction and autonomous attack of the unmanned aerial vehicle cluster, and the functions are mainly realized by each task computer in the simulation system. The flight control module is used for completing the flight control of a single machine in the cluster, ensuring that each unmanned aerial vehicle can quickly follow a cooperative formation control instruction, ensuring the flight safety of the single machine and the quick formation of the cluster, and the function is mainly realized by each flight control computer in the simulation system.
Example two
In order to better understand the semi-physical simulation system of the above embodiment, in practical application, the construction steps are as follows:
the first step: the method comprises the steps of building a digital simulation airplane, firstly, building a kinematic and dynamic mathematical model of the unmanned aerial vehicle in an upper computer based on Simulink, and preliminarily verifying the model through digital simulation under the Simulink. And adding IO hardware, and establishing a semi-physical simulation model containing hardware communication. And then, automatically generating codes, and calling a code generation tool to convert the Simulink model into C codes and compiling the C codes into binary executable programs after the user finishes the parameter setting of the semi-physical model. Then, a simulation project is established in an RTSIMIMPlus management environment, the properties of a simulation machine are set, and the monitoring and the variable storage are configured. And finally, downloading the codes into a lower computer, wherein the unmanned aerial vehicle cluster system and the real equipment interact through IO hardware and run in real time.
And a second step of: communication connection of each part: for each simulation unmanned aerial vehicle of the unmanned aerial vehicle cluster, a single-machine ground station computer, a task computer, a flight control computer, a real-time digital airplane simulation computer and a visual simulation computer are configured. The stand-alone ground station computer is communicated with the task computer through the data transmission radio station based on a Mavlink protocol, the task computer is communicated with the flight control computer through an RS422 protocol in a serial port mode, the flight control computer is communicated with the real-time digital airplane simulation computer through an RS232 protocol, and the real-time digital airplane simulation computer is communicated with the visual simulation computer through an Ethernet UDP/IP. For the whole cluster, the task computers communicate with each other through an ad hoc network link, and the cluster ground station computer communicates with the task computers through a data transmission station based on a Mavlink protocol, as shown in fig. 3 and fig. 4.
And a third step of: and (3) designing a cluster simulation collaborative scheme: by adopting a 'dynamic centralized' architecture, one unmanned aerial vehicle in the cluster is a long machine, the whole cluster is piloted, and the rest unmanned aerial vehicles are plane-oriented, and fly along with the long machine according to a specified formation. In the flight process, if the long machine fails, a new long machine is automatically determined in the cluster through a long machine and a assistant machine updating strategy, and the collaborative system architecture is dynamically adjusted, so that the influence of single-point failure of the long machine on the system is avoided. The 'dynamic centralized' architecture takes advantage of the centralized structure, and compensates for the single point of failure problem, so that the unmanned aerial vehicle cluster system has reliability and flexibility, and has feasibility in engineering application, as shown in fig. 5.
Example III
The embodiment of the invention also provides a simulation method of any half of the physical simulation system, and the simulation method of the embodiment is only used as an example, and in practical application, fault simulation or other specific content simulation can be performed, and the following description is given by taking off and formation content. The simulation method of the embodiment comprises the following steps:
and S01, before the unmanned aerial vehicle cluster takes off by adopting physical simulation, the cluster ground station computer sends respective configuration information and task information to a task computer to which each real-time digital aircraft belongs.
For example, the configuration information sent by the clustered ground station computers includes one or more of the following: long plane, bureau, scale, formation, pitch, launch interval.
S02, each task computer is configured according to the received configuration information and interacts with the single ground station computer corresponding to the task computer, so that the single ground station computer preloads a default flight route for the corresponding task computer based on the task information.
That is, the cluster ground station computer performs initial cluster configuration for the unmanned aerial vehicle cluster through each task computer simulating the unmanned aerial vehicle, including long machine, a plane, a scale, formation, interval, emission interval and the like, and distributes attack targets for each unmanned aerial vehicle single machine. The single-machine ground station computer preloads a default flight route for each corresponding unmanned aerial vehicle.
S03, each simulated unmanned aerial vehicle in the unmanned aerial vehicle cluster flies according to a respective default flight route, and each task computer receives a formation instruction sent by a cluster ground station computer.
The enqueue instruction includes one or more of: long machine location, target longitude, target latitude, target altitude.
Specifically, all unmanned aerial vehicles take off to the specified altitude in sequence according to the default flight route and fly at the specified altitude, and wait for the formation instruction of the cluster ground station computer.
S04, unmanned aerial vehicles of the simulation long machine in the unmanned aerial vehicle cluster fly along the preassembled route, and the task computer of the unmanned aerial vehicle of the simulation long machine sends networking information to unmanned aerial vehicles of other simulation plane through an ad hoc network link.
For example, after each task computer receives the formation instruction, the long aircraft flies along the preassembled route, the task computer of the long aircraft sends information such as own position, speed and the like to each wing aircraft through an ad hoc network link, each wing aircraft runs a formation algorithm in the task computer, and according to the position of the long aircraft, the position of the long aircraft and the position of the long aircraft in the formation, the formation flight control instruction (namely control information) of the long aircraft is calculated, and the flight of the long aircraft is controlled.
And S05, receiving networking information by a task computer of each unmanned plane simulating the plane, and calculating respective control information for formation flight according to the networking information.
S06, the task computer of each unmanned plane simulating the plane transmits the control information to the corresponding flight control computer, and the flight control computer calculates based on the control information and acquires flight attitude control information.
For example, each unmanned aerial vehicle sends the formation flight control instruction (such as long machine position, target longitude, target latitude, target altitude, etc.) calculated by its own task computer to the flight control computer, and the flight control computer calculates actual flight attitude control information (such as roll control amount, pitch control amount, throttle control amount, route control amount, etc.) according to the formation flight control instruction and the current state of the unmanned aerial vehicle and sends the actual flight attitude control information to the real-time digital aircraft simulation computer.
S07, the flight control computer of each unmanned plane simulating the plane transmits the flight attitude control information to the real-time digital plane simulation computer.
For example, the flight attitude control information includes one or more of the following: roll control amount, pitch control amount, throttle control amount, course control amount.
S08, the real-time digital plane simulation computer of each simulation assistant unmanned plane obtains state variable information according to the flight attitude control information and sends the state variable information to the corresponding visual simulation computer for visual display.
That is, the real-time digital aircraft simulation computer calculates the current three-axis angle, three-axis angular rate, longitude and latitude height, three-axis speed, three-axis acceleration and other state variables of the unmanned aerial vehicle through the aircraft kinematics model and the dynamics model, and the state variables are transmitted back to the flight control computer on one hand and transmitted to the visual simulation computer on the other hand, and the FlightGear software in the visual simulation computer receives the unmanned aerial vehicle dynamics model data information from the outside and drives the visual display according to the state of the unmanned aerial vehicle.
In practical applications, the above simulation method may further include the following step S09:
s09, receiving the state variable information by the FlightGear program in each visual simulation computer and performing three-dimensional visual display; and
and the real-time digital airplane simulation computer transmits the state variable information to a corresponding flight control computer so that the flight control computer can calculate based on the control information and the state variable information.
Wherein the state variable information may include one or more of the following: current triaxial angle, triaxial angular rate, warp and weft heights, triaxial speed and triaxial acceleration.
The unmanned aerial vehicle cluster in the embodiment adopts a 'dynamic centralized' architecture, wherein one unmanned aerial vehicle is a long machine, the other unmanned aerial vehicles are plane, and fly along with the long machine according to a specified formation, so that a semi-physical simulation method of the unmanned aerial vehicle cluster is realized;
in the flight process, if the long machine fails, a pre-configured updating strategy is realized through respective task computers of the long machine and the auxiliary machine, a new long machine is automatically determined in the unmanned aerial vehicle cluster, and a coordination and formation scheme of the unmanned aerial vehicle cluster system is dynamically adjusted.
The simulation method of the embodiment can realize real-time semi-physical unmanned aerial vehicle cluster simulation. The flight control computer and the task computer can be actually mounted on a real unmanned plane; in order to ensure the real-time performance of data transmission, the real flight situation is simulated as much as possible. Particularly, the formation of the embodiment can realize the mutual communication of task computers of multiple unmanned aerial vehicles, namely, the formation of an ad hoc network.
The simulation method of the simulation system can effectively realize semi-physical simulation of the unmanned aerial vehicle cluster, provides a good test basis for the actual unmanned aerial vehicle cluster, saves cost and accelerates the research and development period.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art upon learning the basic inventive concepts. Therefore, the appended claims should be construed to include preferred embodiments and all such variations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention should also include such modifications and variations provided that they come within the scope of the following claims and their equivalents.
Claims (9)
1. Simulation method of a semi-physical simulation system based on unmanned aerial vehicle clusters, wherein the semi-physical simulation system comprises:
the cluster ground station computer is used for configuring cooperative parameters for the unmanned aerial vehicle clusters adopting the semi-physical simulation, acquiring cooperative information and formation information of the unmanned aerial vehicle clusters, and interacting control instructions with the unmanned aerial vehicle clusters;
each unmanned aerial vehicle in the unmanned aerial vehicle cluster adopting the semi-physical simulation comprises:
a real-time digital airplane simulation computer, a flight control computer, a task computer, a single-machine ground station computer and a visual simulation computer;
the real-time digital aircraft simulation computer is used for building a real-time digital aircraft simulating a real unmanned plane, and respectively interacting state information and control information with the flight control computer, the task computer and the visual simulation computer to simulate the running process of the real aircraft;
the flight control computer is used as a flight control module of the real unmanned aerial vehicle, and the flight control module is used for respectively communicating with the real-time digital aircraft simulation computer and the task computer to realize the flight control of the real-time digital aircraft and the flight control of the reconstruction formation;
the task computer is used as a cooperative control module of a real unmanned aerial vehicle, and the cooperative control module is used for interacting with the cooperative control modules of other unmanned aerial vehicles in the cluster to construct a cooperative control system, so as to realize the autonomous formation flight, dynamic reconfiguration and automatic attack of the unmanned aerial vehicle cluster by physical simulation;
the visual simulation computer is used for resolving the flight attitude of the real-time digital aircraft in real time and visually displaying the real-time resolved flight attitude;
the stand-alone ground station computer is used for running a ground station program, interacting with the flight control computer to monitor the attitude information of the unmanned aerial vehicle in real time and interacting with the task computer to realize the sending of planned waypoint task information;
it is characterized in that the method comprises the steps of,
s01, before the unmanned aerial vehicle cluster takes off by adopting physical simulation, a cluster ground station computer sends respective configuration information and task information to a task computer to which each real-time digital aircraft belongs;
s02, each task computer is configured according to the received configuration information and interacts with a single ground station computer corresponding to the task computer, so that the single ground station computer preloads a default flight route for the corresponding task computer based on the task information;
s03, each simulated unmanned aerial vehicle in the unmanned aerial vehicle cluster flies according to a respective default flight route, and each task computer receives a formation instruction sent by a cluster ground station computer;
s04, unmanned aerial vehicles of the simulation long machine in the unmanned aerial vehicle cluster fly along the preassembled route, and a task computer to which the unmanned aerial vehicle of the simulation long machine belongs sends networking information to the unmanned aerial vehicles of the rest simulation plane through an ad hoc network link;
s05, receiving networking information by a task computer of each unmanned plane of the analog plane, and calculating respective control information for formation flight according to the networking information;
s06, the task computer of each unmanned plane of the analog plane transmits the control information to the corresponding flight control computer, and the flight control computer calculates based on the control information and acquires flight attitude control information;
s07, a flight control computer to which an unmanned plane of each analog plane belongs transmits the flight attitude control information to the real-time digital plane simulation computer;
s08, the real-time digital plane simulation computer of each simulation assistant unmanned plane obtains state variable information according to the flight attitude control information and sends the state variable information to the corresponding visual simulation computer for visual display.
2. The simulation method according to claim 1, further comprising:
s09, receiving the state variable information by the FlightGear program in each visual simulation computer and performing three-dimensional visual display; and
and the real-time digital airplane simulation computer sends the state variable information to a corresponding flight control computer so that the flight control computer can calculate based on the control information and the state variable information.
3. A simulation method according to claim 1, wherein,
the configuration information sent by the clustered ground station computers includes one or more of the following:
long plane, bureau, scale, formation, pitch and transmission interval;
the enqueue instruction includes one or more of: long machine position, target longitude, target latitude and target altitude;
the flight attitude control information includes one or more of the following: roll control amount, pitch control amount, throttle control amount, and course control amount;
the state variable information includes one or more of the following: current triaxial angle, triaxial angular rate, warp and weft heights, triaxial speed and triaxial acceleration.
4. A simulation method according to any one of claim 1 to 3, wherein,
the unmanned aerial vehicle cluster adopts a 'dynamic centralized' architecture, wherein one unmanned aerial vehicle is a long machine, the other unmanned aerial vehicles are plane machines, and fly along with the long machine according to a specified formation;
in the flight process, if the long machine fails, a pre-configured updating strategy is realized through respective task computers of the long machine and the auxiliary machine, a new long machine is automatically determined in the unmanned aerial vehicle cluster, and a coordination and formation scheme of the unmanned aerial vehicle cluster system is dynamically adjusted.
5. A simulation method according to claim 1, characterized in that the view simulation computer is in particular adapted to
And running a flight view simulation program on a Windows operating system, resolving the attitude information of the real-time digital aircraft in real time by using a Simulation Workbench unmanned aerial vehicle dynamic model, and transmitting the resolved attitude information to the flight view simulation program to realize real-time display of the flight attitude of the unmanned aerial vehicle, the movement conditions of all parts of the unmanned aerial vehicle and the flight environment in an animation mode.
6. Simulation method according to claim 1, characterized in that said real-time digital aircraft simulation computer is in particular adapted to:
building a system architecture of an upper computer-lower computer based on a Links-RT semi-physical simulation platform;
the upper computer runs on a Windows operating system, acquires a real-time digital plane simulating the real unmanned aerial vehicle by means of configuration information input by a user and a kinematic and mechanical mathematical model of the unmanned aerial vehicle,
the lower computer operates on a VxWorks operating system, calculates a kinematic and mechanical mathematical model of the unmanned aerial vehicle in real time, acquires gesture information of a real-time digital airplane for outputting to external equipment, and receives control information transmitted by the external equipment to adjust the gesture of the real-time digital airplane;
the external device includes: the flight control computer, the task computer and the visual simulation computer.
7. Simulation method according to claim 6, characterized in that the real-time digital aircraft simulation computer is in particular used for
Interacting with a user in an upper computer based on a Simulink program;
in the Simulink program, calling a coded automatic generation tool according to configuration information input by a user, and converting the kinematic and mechanical mathematical model into a binary executable program; the configuration is carried out in an RTSimPlus management environment, and the configured kinematics and mechanics mathematical model with executable programs is used as a real-time digital plane to be transmitted to a lower computer;
and the lower computer interacts with the external equipment through IO hardware based on the gesture information of the configured kinematics and mechanics mathematical model of the executable program.
8. The simulation method according to claim 1, wherein firmware developed based on a chip real-time operating system and c++ code is integrated in the flight control computer;
the firmware comprises a sensor parameter analysis module, a control module and a navigation module;
and the firmware realizes navigation according to the task scheduling information in the flight control computer and outputs control information to the real-time digital airplane simulation computer and/or the task computer.
9. A simulation method according to claim 1, wherein,
the stand-alone ground station computer uses a Mavlink protocol to bidirectionally communicate with a task computer and a flight control computer to which each real-time digital aircraft belongs by means of a data transmission station;
the task computer of each real-time digital airplane realizes serial port two-way communication with the corresponding flight control computer through an RS422 protocol;
the flight control computer of each real-time digital airplane is in bidirectional communication with the corresponding real-time digital airplane simulation computer through an RS232 protocol;
the real-time digital aircraft simulation computer is in one-way communication with the affiliated visual simulation computer through the Ethernet UDP/IP;
all the task computers corresponding to the real-time digital aircrafts are mutually communicated through an ad hoc network link, and the clustered ground station computer is communicated with the task computer to which each real-time digital aircrafts belongs by means of a data transmission station based on a Mavlink protocol.
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