Simulation Technology Research Of Unmanned Aerial Vehicle Multi-sources Navigation System Based On FMI

During the flight and mission execution of UAV,the navigation system plays a vital role in providing accurate information such as posture,speed,location and so on.In order to ensure the stability and reliability of the system,the inertial navigation,satellite navigation,astronomical navigation and other navigation methods are combined in engineering and each navigation sensor sets more than three degrees,thus forming a multi-source navigation system.Since the UAV multi-source navigation system has a complex structure and different units of researchers have used a variety of tools for joint development led to a variety of modules,which makes it difficult to achieve the joint simulation of the entire system.In view of this situation,this thesis studies the simulation technology of UAV multi-source navigation system based on the characteristics of universality and extensibility of Functional Mock-up Interface(FMI)standard that to overcome the difficulty of joint simulation of multi-source model in system development process.Based on the analysis of the simulation requirements of UAV multi-source navigation system,this thesis studies and compares three kinds of multi-domain modeling and simulation methods based on the original software interface,based on the high-level architecture and based on FMI standard.Considering with the current development trends in related fields at home and abroad,the FMI standard is used as the basic theory to study the simulation of UAV multi-source navigation system by this thesis,and thus designs the technical program and route.According to the UAV multi-source navigation system architecture provided by the practice unit,this thesis constructs the subsystem models in Simulink,VS and SCADE environment thus provides the initial model for the follow-up research process.The technical scheme of multi-format model encapsulation into Functional Mock-up Uint(FMU)model is studied and realized at the same time.In this thesis,the complex model topology processing method is studied to simplify the system model topology and reduce the scheduling difficulty of FMU model during simulation of UAV multi-source navigation system.In order to complete the system simulation correctly,the scheduling strategy of multiple FMU model interaction is analyzed,and the simulation scheduling algorithm of UAV multi-source navigation system is designed and implemented by this thesis.In addition,the Lagrangian and Newton algorithms are studied to solve the numerical estimation of model data interaction in the simulation process.Finally,the simulation of the above algorithm is carried out.On the premise of the research of UAV multi-source navigation system modeling,simulation technology based on FMI standard,simulation scheduling algorithm and numerical estimation algorithm,this thesis designs and develops a simulation platform for UAV multi-source navigation system based on FMI which realizes the joint simulation and data analysis of the whole UAV multi-source navigation system that to verify the correctness and engineering practicability of the research program of FMI-based UAV multi-source navigation system simulation technology.