Research On Development Of Real-time Simulation Software For Uav

The real-time simulation of UAV(Unmanned Aircraft Vehicle) plays an important role in the validation of the flight control system.The design and realization technology of the real-time simulation software running on Windows and the simulation software based on Win32 Mutithread are presented.This paper firstly discusses the structure of the simulation system of UAV flight control system and makes detailed analysis of the structure of software and handware in simulation computer.On this basis,considering that Windows is the most universal and usable Operating System,and also tracking the latest technology, a new way of R&D simulation software has been demonstrated, which takes the RTOS32 and RTOS32Win as the technical basis.Besides that,a different way of the communication between simulation software and interface software has been presented, this new simulation software called DeviceWin.As a component of RTOS32, RTTarget-32 supplies an extensible subset of the Win32 API. According to this, a new kind of simulation software based on Win32 Multithreading runing on PC has been designed. The man-machine interface software(called Desk) has been developed by Tilcon Real-Time Developer(TRTD) on Windows XP operating system. Then, the simulation of all on board sensors according to their interface properties has been realized,furthermore the real-time communication variable length protocol based on ASCII code and the common format for UAV mathematics model has also been realized.Finally, the half physical real-time simulation experiment with the integrated real-time simulation device for sample UAV has been carried out, the result shows that the simulation software based on RTOS32 and RTOS32Win is conscientiously feasible in project.And the DeviceWin software has also been proved correct by experiment.