Research On Hardware-in-the-loop Simulation Platform Based On Embedded Real-time Linux For UAV

Hardware-in-the-loop simulation (HILS) technology plays the role of unreplacement on the analysis, design, development and test of flight control systems. However, the development of high-fidelity simulators is a challenging task requiring integration of several hardware and software components. In this paper, basing on embedded real-time linux and the bus of PC/104, a HILS platform is constructed; basing on the thought of design patterns, simulation software is developed.The main research content and research results of this paper are as follows. Firstly, HILS platform was built. It was constitute by monitoring computer and simulating computer. Basing on the bus of PC/104, it was constructed, including CPU board, DAQ board, multi serial port board and so on. In the HILS loop, there contain embedded simulation system, actuator, flight control computer, etc.Secondly, embedded real-time Linux was developed. Using Linux kernel 2.6 and RTAI, this operation system was built on CF card for simulating computer. The device drivers of DAQ boards were developed. Each indicator of real-time performance is at 0.8us ~ 70us. It meets the requirements of flight simulation.Thirdly, the architecture of flight simulation software was researched by using the thought of design patterns. And flight simulation software was development. Lastly, the development of simulation software was accomplished by using the real-time programme of RTAI. It was composed of flight simulation, GPS simulation and interface software of serial port and DAQ.In this paper, it is built the HILS platform of UAV with the features of miniaturizaion, generalizaion and portable. Using this HILS platform, it can be significantly reduced the time, cost and risk involved with the development of flight control systems.