Research On Simulation Technology Of UAV Based On Collaboration Among Distributed Functions

Due to the complicated feature of the simulation objects,the simulation system developed in the traditional stand-alone mode which has low extensibility is difficult to meet the need of simulation.Therefore,considering that part modules of the UAV simulation system have fixed functions,function configurable multi-nodal co-simulation software is designed with the advantage of maintenance,easy extensibility and high reusability.The main contributions of this article are as follows:(1)The object simulation system model is constructed including the UAV’s mathematical model,the wind disturbance model,the airborne sensor models and the actuator models,which realize the UAV’s dynamics and kinematics characteristics simulation in the real flight environment.(2)To solve the problems that the simulation software is difficult to maintenance caused by the coupling relationship among tasks,hierarchical software architecture is designed to realize the loose coupling of different software layer.Combining with the modular development and rapid prototyping technology,the application layer is divided into several function modules with standard interfaces,which improve the reusability and maintainability of the simulation software.(3)In order to realize the management of the function modules and the data interaction among nodes,the simulation supporting environment is established to realize the functions of data distribution and clock synchronization,which enable function modules can directly operate on the supporting environment with standard interfaces.Therefore,the reusability of functional modules and the transparent design requirements of the hardware resources are achieved,improving the maintainability of the simulation software.(4)Aim at the real-time task scheduling in the same layer or among different layers,task partitioning and priority dispatching are adopted in this paper.The intra-node and inter-node resource access strategies are designed with the method of mutual exclusion and bus timing,solving the problem of resource competition and guaranting reliability of the cooperative operation between nodes.The semi-physical simulation results show that the real-time collaborative simulation software has the advantages of easy maintenance,easy expansion and high reliability while satisfying the functional requirements.