ROS-based simulation method for autopilot of fixed-wing unmanned aerial vehicle

Abstract

The invention discloses an ROS-based simulation method for an autopilot of a fixed-wing unmanned aerial vehicle, and the method comprises the steps: building an environment model in Gazebo, or manufacturing a digital elevation model and a satellite image, and importing the digital elevation model and the satellite image into the Gazebo for use. A modular design is adopted for an automatic drivingsystem of a single fixed-wing unmanned aerial vehicle. A whole system comprises a sensor module, a state estimation module, an unmanned aerial vehicle flight control module, a path following module, apath management module and a path planning module. The method comprises the following steps of importing the constructed model of the single fixed-wing unmanned aerial vehicle into the Gazebo, and starting to perform analogue simulation on the autopilot of the single fixed-wing unmanned aerial vehicle; based on the ROS platform, converting traditional fixed-wing unmanned aerial vehicle simulationinto modular open type robot system simulation, and providing the possibility of multi-vehicle simulation by the distributivity of the ROS platform. By utilizing a Gazebo three-dimensional physical simulation platform, the problems that a traditional simulation mode is poor in simulation visual effect, low in simulation degree and unreal in physical simulation effect are solved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle flight, in particular to a simulation method for an autopilot of a fixed-wing unmanned aerial vehicle based on ROS. Background technique [0002] ROS is the English abbreviation of Robot Operating System. It provides services designed for heterogeneous computer clusters, such as hardware abstraction, low-level device control, implementation of commonly used functions, message passing between processes, and package management. ROS provides packages to integrate ROS with the Gazebo simulator. Among them, Gazebo is an open source 3D robot simulator that integrates ODE physics engine, OpenGL rendering and supporting code for sensor simulation and actuator control, which provides realistic environment rendering, including high-quality lighting, shadows and textures. [0003] Drones are playing an increasingly important role in defense plans and defense strategies worldwide. It has a ...

AI Technical Summary

Problems solved by technology

[0004] With the expansion of the application range of UAVs and more complex tasks, the closed design method adopted by the traditional UAV control system, which tightly couples software and hardware for specific types of UAVs, has been unable to meet the needs of the current era.

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