| In this thesis, a simulation platform is built for the research of quad-rotor UAV control. The simulation platform can do a lot of testing research conducted in a labo- ratory environment, such as research of flight pattern and assessment of the flight performance, in order to control the UAV better and reduce flight risk and cost.Because of its new shape, excellent performance and unique control mode, quad- rotor UAV attracted the attention of many scientists and engineers, and became a new hotspot in UAV research and development. In this thesis, a full-motion, full-featured flight simulation platform is built based on the quad-rotor UAV dynamic model and OpenGL technology.Firstly, the thesis introduces the background and status about the quad-rotor UAV and 3D visual simulation technology, and gives a summary on the 3D visual scene generation technology. Then, this thesis makes a complex description about the FlightGear simulator, including its components, framework and program flow. Based on the OpenGL technology principles, a 3D quad-rotor UAV model is designed using the AC3D software. Then the thesis describes how to use the data from the dynamic model drive the flight simulator, including the loading and location of the aircraft model, the processing of data and the communication process between FlightGear and the dynamic model. It also introduces the method of developing the communication module with C++ programming language in detail. Combined with the related chara- cteristics of FlightGear, the integration of communication module and FlightGear is completed. Finally, the thesis gives the introduction about the hardware and software environment needed in the system, the implementation procedure, and how to use FlightGear to complete the flight log records and video playback.Generalize from the program's running result, the system reaches expected results. The development of quad-rotor UAV 3D visual simulation system using FlightGear is feasible. |
PDF Full Text Request