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首页> 外文期刊>Aerospace science and technology >RFlySim: Automatic test platform for UAV autopilot systems with FPGA-based hardware-in-the-loop simulations
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RFlySim: Automatic test platform for UAV autopilot systems with FPGA-based hardware-in-the-loop simulations

机译：RFLYSIM：具有基于FPGA的硬件型模拟的UAV自动驾驶仪系统的自动测试平台

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摘要

Autopilot systems on unmanned aerial vehicles (UAVs) are safety-critical systems whose requirements on reliability and safety are ever-increasing. However, testing a complex autopilot control system is an expensive and time-consuming task, which requires massive outdoor flight tests during the whole development stage. This paper presents an indoor automatic test platform for autopilot systems aiming to significantly improve the development efficiency and safety level of UAVs. First, a unified modeling framework is proposed for different types of aerial vehicles to make it convenient to share common modeling experience and failure modes. Then, a real-time simulation platform is developed by using automatic code generation and FPGA-based hardware-in-the-loop simulation methods to ensure simulation credibility on software and hardware levels. Finally, an automatic test framework is proposed to traverse test cases during real-time flight simulation and assess the test results. In the verification part, the accuracy and credibility of the simulation platform are verified by comparing the obtained results with experimental results, and several successful applications on multicopters demonstrate the practicability of the proposed platform. (C) 2021 Elsevier Masson SAS. All rights reserved.
机译：无人驾驶飞行器（无人机）的自动驾驶仪系统是安全关键系统，其可靠性和安全的要求是不断增长的。然而，测试复杂的自动驾驶仪控制系统是一种昂贵且耗时的任务，这在整个开发阶段需要大量的户外飞行测试。本文为自动驾驶仪系统提供了一个室内自动测试平台，旨在显着提高无人机的开发效率和安全水平。首先，为不同类型的航空车提出了一个统一的建模框架，使其方便共享常见的建模体验和失效模式。然后，通过使用自动代码生成和基于FPGA的硬件在线仿真方法来开发实时仿真平台，以确保对软件和硬件级别的模拟可信度。最后，建议在实时飞行模拟期间进行自动测试框架来遍历测试用例并评估测试结果。在验证部分中，通过将获得的结果与实验结果进行比较来验证模拟平台的准确性和可信度，以及多个在多变频器上的成功应用展示了所提出的平台的实用性。 （c）2021 Elsevier Masson SAS。版权所有。

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  • 来源
    《Aerospace science and technology》 |2021年第7期|106727.1-106727.15|共15页
  • 作者

    Dai Xunhua; Ke Chenxu; Quan Quan; Cai Kai-Yuan;

  • 作者单位

    Cent South Univ Sch Comp Sci & Engn Changsha 410000 Peoples R China;

    Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China;

    Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China;

    Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Automatic test; Safety; Autopilot; HIL; UAV; Simulation;

    机译：自动测试;安全;自动驾驶仪;HIL;UAV;模拟;

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