Design And Implementation Of Hil Simulation Platform For Uav Magnetic Anomaly Detection

With the development of UAV performance,UAV began to undertake the task of magnetic anomaly detecting.The UAV is equipped with magnetic detection equipment,flies according to a predetermined track and measures the earth’s magnetic field signal,and then judges whether there is an object that causes a magnetic anomaly in the target area according to signal detection algorithms.Due to the high cost of actual UAV magnetic detecting experiments and the inability to quickly obtain relevant experimental data,the development of a hardware-in-the-loop simulation platform for UAV magnetic detecting is beneficial to research of magnetic detecting algorithms and UAV flight rules.The main research work of this paper includes:First,it models the object simulated by the UAV magnetic detecting platform.It analyzes the force of fixed-wing UAV to establish the six-degree-of-freedom motion equation of the UAV to simulate the flight motion of the UAV.And it analyzes the working principle of the sensors required for flight,and establish the mathematical model of GPS,IMU and other sensors to simulate data measured by sensors.And it studies the magnetic field signal components measured by the UAV platform magnetometer,and uses a suitable physical model to equivalently generate the mechanism of each interference field to simulate the data measured by magnetometer.Then,it analyzes the requirements of the UAV magnetic exploration platform from the aspects of function and performance,configures the corresponding hardware and software according to the characteristics of real-time simulation to realize the basic functions of the platform,and studied the PX4 flight control firmware,MAVLink communication protocol,etc.Finally,the architecture design and operation process of the UAV magnetic detection hardware-in-the-loop simulation platform are given.Finally,according to the designed platform architecture,the corresponding algorithm is developed for the model established by each simulation object,the expansion of the platform function is completed,and the configuration process of the platform is introduced in detail.It is tested based on the development of the UAV magnetic detection hardware-in-the-loop simulation platform,and corresponding standards are set to verify the authenticity of the platform’s simulation data.The experimental results and evaluation indicators show that the UAV magnetic detection platform has good confidence.