首页|基于Pixhawk飞控的硬件在环仿真系统设计

基于Pixhawk飞控的硬件在环仿真系统设计

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  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
  • 维普
Pixhawk飞控在民用无人机(UAV)领域得到广泛应用.为了在 Pixhawk飞控上实现硬件在环仿真功能以达到验证飞控飞行性能的目的,设计了基于Pixhawk飞控的四旋翼无人机硬件在环仿真系统.通过构建四旋翼机体模型,实现模型在电机转速信号的驱动下输出位姿数据;位姿数据传输到飞控并重构为模拟传感器数据,飞控内核对传感器数据处理后输出电机转速信号驱动模型飞行,由此构成飞控硬件在环的仿真环路.在测试中使用相同航线进行了仿真飞行与真实飞行,并计算2 种飞行模式数据的相关系数,系数普遍高于0.85,表明获得了较为逼真的仿真效果.
Design of hardware-in-the-loop simulation system based on Pixhawk flight control system
Pixhawk flight control has been widely applied in the field of civilian unmanned aerial vehicle(UAV).In or-der to realize hardware-in-the-loop simulation function on Pixhawk flight control system to verify the flight control performance,a quadrotor UAV hardware-in-the-loop simulation system based on Pixhawk flight control system is designed.By constructing a quadrotor airframe model,the model outputs position and attitude data driven by motor speed signals.The position and attitude data are transmitted to the flight control system and reconstructed into the analog sensor data.The flight control system processes the sensor data and outputs the motor speed signal to drive the UAV model to fly.In the experiment,the same route is used for simulation flight and real flight,and the corre-lation coefficient of the data of the two flight modes are calculated.The coefficient is generally higher than 0.85,indicating that a more realistic simulation effect is obtained.

unmanned aerial vehicle(UAV)simulationhardware-in-the-loopPixhawk flight control sys-temvirtual sensor

吴和龙、向政蓉、高宇航、杨剑锋、蔡茗茜、吴其琦

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工业和信息化部电子第五研究所 广州 511370

广西科技师范学院机械与电气工程学院 来宾 546199

广西科技大学自动化学院 柳州 545006

无人机(UAV)仿真 硬件在环 Pixhawk飞控 模拟传感器

广西科技师范学院青年科研基金广州市科技计划工信部电子第五研究所专项工信部电子第五研究所专项广东省重点领域研发计划

GXKS2022QN0272023A04J026323Z0722Z172020B0404020002

2024

10.3772/j.issn.1002-0470.2024.01.005

高技术通讯
中国科学技术信息研究所

高技术通讯

CSTPCD北大核心
影响因子：0.19
ISSN：1002-0470
年,卷(期)：2024.34(1)
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