A hardware-in-the-loop real-time simulation experiment system for multi-UAV distributed collaboration

Abstract

The invention relates to a real-time simulation experiment system of multi-unmanned plane distributed synergetic hardware in a loop, and belongs to the technical field of cooperative control of multiple autonomous bodies. A link analog computer and n unmanned plane analog computers are in the same local network A, the link analog computer can intercommunicate with any one of the n unmanned plane analog computer, at the same time, the n unmanned plane analog computers can intercommunicate, the link analog computer and n automatic pilots are in the other local network B, and the link analog computer can intercommunicate with any one of the n automatic pilots. The unmanned plane analog computers and the automatic pilots are in one-to-one correspondence; and each automatic pilot adopts a distributed control mode to control the corresponding unmanned plane analog computer. The real-time simulation experiment system of the multi-unmanned plane distributed synergetic hardware in the loop uses mature commercial flight simulator software to simulate unmanned planes, reduces experiment cost and complexity, and can obtain simulation precision as high as possible, and the automatic pilots in the simulation loop can make up for a defect of large deviation of pure software simulation from engineering practice.

Description

technical field [0001] The invention relates to a hardware-in-the-loop real-time simulation experiment system for distributed coordination of multiple unmanned aerial vehicles, belonging to the technical field of multi-autonomous cooperative control. Background technique [0002] At present, the application of drones in various fields is more and more extensive. But in reality, many drones are "fighting independently" and have no information sharing with each other. With the rapid increase in the number of drones, the airspace will become crowded, and the distributed collaborative control of multiple drones is becoming more and more important. On the one hand, it can reduce the workload of the operator, allowing the operator to issue instructions to a group of drones instead of giving instructions to individual drones one by one. On the other hand, some complex tasks can be completed more efficiently through the cooperation between multiple UAVs. Multi-UAV distributed coo...

AI Technical Summary

Problems solved by technology

[0003] Achieving collaboration among multiple UAVs requires the development of corresponding collaborative control algorithms, and the algorithm needs to be verified. The most direct way is to use multiple UAVs in the real world for verification. This method can directly verify the effectiveness of the algorithm. , but the implementation process is complicated, and the experimental cost is extremely high. For example, the multi-quadrotor formation flight system of the GRASP Laboratory of Pennsylvania State University, the image positioning equipment alone is worth a lot

Another method is to simulate through pure software. Although the implementation process is relatively simple and the cost is low, it is difficult to accurately simulate the entire hardware system, which is suitable for the initial research of the algorithm.

Images