无人机飞行模拟仿真平台设计

为提高飞行控制算法的研发效率，降低研发成本，基于数字孪生技术设计一个无人机硬件在环飞行模拟仿真平台。从几何、物理和行为3个方面研究无人机数字模型构建方法，将物理实体以数字化方式呈现。设计一种多元融合场景建模法，依据属性相似归一原则进行建筑物划分，编制建模规则，研究曲面数量优化方法，在虚幻4引擎(unreal engine 4,UE4)中整合建筑物模型和高程图，创建真实地形地貌的三维可视化飞行场景。以四旋翼无人机F450为例，与飞行试验的对比结果表明，该平台满足了飞行模拟的实时性和稳定性要求，跟踪曲线误差小于2%,对后续控制算法优化和复杂应用场景试飞具有重要的应用价值。

Design of UAV Flight Simulation Platform

In order to improve the research efficiency of the flight control algorithm and reduce its cost, the hardware-in-the-loop flight simulation platform for a UAV (Unmanned Aerial Vehicle) was designed based on digital twin technology. The method of building UAV digital model from three aspects of geometry, physics and behavior was studied. A multivariate fusion scene modeling method was developed. The image segmentation of buildings was carried out according to the principle of attribute similarity and normalization. The modeling rules and optimization method of surface quantity were studied. Building model and elevation map were integrated in UE4 (Unreal Engine 4) to create a three-dimensional visual flight scene of real terrain and landform. Comparison with F450 UAV flight test results shows that the proposed platform satisfied the flight simulation requirements in real-time and stability, and it is valuable for further optimization of the flight control and flight test in complex application scenarios.