Design And Realization Of Quadrotor UAV Simulation Training System Based On Unity3D

Quadrotor UAV has the advantages of free hovering,good motion performance and small volume,which makes it widely used in the areas of intelligence reconnaissance,traffic supervision,weather detection and pipeline inspection.In this paper,the design and implementation of the quadrotor UAV simulation training system are carried out for the difficult operation of the quadrotor UAV,the need of flight training and other issues.Combining with flight simulation training system and visual simulation technology development status in domestic and foreign,according to the application demand of quadrotor UAV simulation training system,this paper analyses flight,detection,tracking process of the simulation training system based on modular design,and propose the overall design scheme of simulation training system.This paper analyzes the thrust and torque control of quadrotor UAV generation principle,according to the attitude and position of quadrotor UAV dynamics and kinematics rules,it establishes flight control model including PID controller which is based on three channel decoupling and PD controller which is based on quaternion feedback linearization.At the same time,based on the Untiy3 D platform,the flight control software is developed.This paper simulates the quadrotor UAV PTZ(Pan-Tilt-Zoom)camera? function of target searching and tracking.Combined with the actual tracking effect,a slight tracking model,speed control model and tracking error correction method are designed.Based on Visual Studio 2013,the PTZ camera control software is developed.This paper makes the terrain by elevation and satellite images,designs the typical 3D model,and completes the design and development of visual simulation software and integrated control software.The flight simulation of quadrotor UAV and the training task control function are realized.