Design And Implementation Of Ground Simulator For Unmanned Helicopter Attitude And Trajectory Motion

Unmanned helicopter is playing an important role in various fields. More and more attention has been paid on it's control system. The navigation information, including position and attitude, can be obtained by visual algorithm, which can be used to navigate autonomous flight and landing of unmanned helicopter. Visual algorithm has good application prospects. A series of systematic research are being investigated in our country and overseas. Implementing stable by using flight control system is very difficult. The riskiness of flight test is high. The riskiness could be reduced and the development and verification time could be shorted when simulation technology is adopted.Unmanned Helicopter attitude and trajectory motion can be reproduced by ground simulator. Ground simulator can be used to study vision-guided flying and landing system of unmanned helicopter. Ground simulator was designed with a camera and image processing system, which can capture the real-time target image. Image processing algorithm is used to obtain the simulator's attitude and position information which are obtained by other methods. The correctness of vision algorithm can be verified. For this purpose, the ground simulator is designed and developed for unmanned helicopter attitude and trajectory motion. This motion simulator is composed of the lower layer which used to simulate the translational motion and upper layer which is used to simulate rotational attitude simulation. The lower layer was controlled by the DC servo motor. The heading rotational motion of the lower layer was driven by the stepper motor. The upper layer is driven by the stepper motor control. The upper layer motion can simulate not only the characteristics of attitude motion, but also the characteristics of pitch operation. The horizontal translational movement of the lower layer and up-down movement of the upper layer was used to simulate the trajectory motion of unmanned helicopter. The rotational movement of the lower layer and tilt movement of the upper layer was used to simulate the attitude motion of unmanned helicopter. The attitude and trajectory motion of ground simulator were implemented with the output of the unmanned helicopter flight dynamics model. The simulation calculation of flight dynamics model is completed by using Matlab language program. The result of calculation was used to driving the simulator directly. A ground control station software of the ground simulator was designed and developed with the hybrid technology of C# and Matlab. The ground simulator was integrated and tested.