CN-121995898-A - Unmanned aerial vehicle hardware in-loop simulation test system and method

CN121995898ACN 121995898 ACN121995898 ACN 121995898ACN-121995898-A

Abstract

The invention provides an unmanned aerial vehicle hardware-in-the-loop simulation test system and method, the system comprises a simulation environment, a working condition simulation, a flight control simulation, a sensor simulation, a data interaction and protocol conversion and edge calculation module. The system comprises a simulation environment module, a flight control simulation module, a sensor simulation module, a data interaction and protocol conversion module, an edge calculation module and a flight control simulation module, wherein the simulation environment module is used for generating flight control state data based on unmanned plane state data containing wind field environment effects, the sensor simulation module is integrated in the simulation environment module and used for generating sensor data with fault characteristics according to fault control signals sent by a fault injection unit, the data interaction and protocol conversion module is used for carrying out protocol and hardware interface format conversion on the flight control state data and the sensor data, the edge calculation module is used for processing the converted data and generating control instructions, and the flight control simulation module is used for outputting flight control signals to the simulation environment module according to the converted control instructions. The comprehensive closed loop verification of the industrial unmanned aerial vehicle edge computing software under the conditions of multi-source data input, complex working condition simulation and flexible hardware butt joint is realized.

Inventors

LI LINJIE
REN JIANXIN
Zhou Shuangjiu
XIA JUNWEI
WEI ZHAOYANG

Assignees

交控航空科技(深圳)有限公司

Dates

Publication Date: 20260508
Application Date: 20251215

Claims (10)

1. An unmanned aerial vehicle hardware-in-the-loop simulation test system, comprising: the simulation environment module is used for simulating the unmanned aerial vehicle and the sensor and running the physical engine; The system comprises a working condition simulation module, a wind disturbance unit, a wind field configuration parameter generation module and a wind field simulation module, wherein the working condition simulation module comprises a fault injection unit and the wind disturbance unit, the fault injection unit is in communication connection with the sensor simulation module and is used for sending a fault control signal to the sensor simulation module; the flight control simulation module is in communication connection with the simulation environment module and is used for receiving the unmanned aerial vehicle state data and generating flight control state data based on the unmanned aerial vehicle state data; The sensor simulation module is integrated in the simulation environment module and is used for generating sensor data with fault characteristics according to the fault control signals sent by the fault injection unit; the data interaction and protocol conversion module is respectively in communication connection with the flight control simulation module, the sensor simulation module and the edge calculation module and is used for receiving the flight control state data and the sensor data with fault characteristics, carrying out protocol and hardware interface format conversion, and sending the converted data to the edge calculation module; The edge calculation module is used for receiving and processing the converted data and generating a control instruction; The data interaction and protocol conversion module is further used for receiving the control instruction generated by the edge calculation module, converting a protocol and an interface format of the control instruction, and sending the converted control instruction to the flight control simulation module, wherein the flight control simulation module is used for outputting a flight control signal to the simulation environment module according to the converted control instruction, and the flight control signal is used for driving a simulation unmanned aerial vehicle model in the simulation environment module.
2. The unmanned aerial vehicle hardware-in-the-loop simulation test system according to claim 1, wherein the data interaction and protocol conversion module comprises a flight control data interaction unit, a laser radar data interaction unit, a camera data interaction unit and a cradle head data interaction unit; The flight control data interaction unit is used for receiving the flight control state data through a first communication interface, sending the flight control state data to the edge calculation module through a first hardware interface, receiving the control instruction through the first hardware interface, and sending the control instruction to the flight control simulation module through a second communication interface; the laser radar data interaction unit is used for receiving laser radar point cloud data through a third communication interface and sending the laser radar point cloud data to the edge calculation module through a second hardware interface; The camera data interaction unit is used for receiving camera video stream data through a fourth communication interface and sending the camera video stream data to the edge calculation module through a third hardware interface; the cradle head data interaction unit is used for receiving a cradle head control instruction through a fourth hardware interface and converting the cradle head control instruction into a control signal which can be executed by the simulation cradle head, receiving feedback gesture data of the simulation cradle head and sending the feedback gesture data to the edge calculation module through the fourth hardware interface.
3. The unmanned aerial vehicle hardware-in-the-loop simulation test system of claim 2, wherein the first communication interface and the second communication interface are UDP ports, the flight control state data and the control instructions are packaged by adopting MAVLink protocols, and the first hardware interface is a USB-to-serial port.
4. The unmanned aerial vehicle hardware-in-the-loop simulation test system of claim 1, wherein the fault injection unit is configured to generate an adjustable data packet loss instruction, and the sensor simulation module randomly discards data packets according to a specified proportion when generating lidar point cloud data according to the data packet loss instruction.
5. The unmanned aerial vehicle hardware-in-the-loop simulation test system of claim 1, wherein the wind disturbance unit is configured to generate wind field configuration parameters including wind speed, wind direction and turbulence model parameters, wherein the physical engine of the simulation environment module simulates an acting force applied by a wind field to a simulation unmanned aerial vehicle according to the wind field configuration parameters, and calculates a motion state of the simulation unmanned aerial vehicle based on the acting force, and outputs unmanned aerial vehicle state data including wind field disturbance effects.
6. The unmanned aerial vehicle hardware-in-the-loop simulation test system according to claim 1, wherein a laser radar simulation unit, a camera simulation unit and a cradle head simulation unit in the sensor simulation module communicate through an ROS node, and realize timing synchronization of data generation by subscribing and publishing ROS topics under the same time reference.
7. The unmanned aerial vehicle hardware-in-the-loop simulation test system of claim 1, further comprising a visual monitoring module communicatively coupled to the flight control simulation module to receive and display unmanned aerial vehicle status data and communicatively coupled to the edge calculation module to receive and display data processing results.
8. A method for in-loop simulation testing of unmanned aerial vehicle hardware, characterized in that an unmanned aerial vehicle hardware in-loop simulation testing system according to any of claims 1 to 7 is used, the method comprising: The system comprises a sensor simulation module, a wind field configuration module, a fault injection unit, a wind field configuration parameter, a wind field simulation module and a wind field simulation module, wherein the sensor simulation module is used for simulating a wind field environment according to the wind field configuration parameter, and a fault injection unit in the working condition simulation module is used for sending a fault control signal to the sensor simulation module and sending a wind field configuration parameter to a physical engine of the simulation environment module through a wind disturbance unit; the flight control simulation module receives the unmanned aerial vehicle state data and generates flight control state data based on the unmanned aerial vehicle state data; The data interaction and protocol conversion module receives the flight control state data and the sensor data with fault characteristics, performs protocol and hardware interface format conversion, and sends the converted data to the edge calculation module; the edge computing module receives and processes the converted data and generates a control instruction; The data interaction and protocol conversion module receives the control instruction generated by the edge calculation module, carries out protocol and interface format conversion on the control instruction, and sends the converted control instruction to the flight control simulation module; and the flight control simulation module outputs a flight control signal to the simulation environment module according to the converted control instruction, wherein the flight control signal is used for driving a simulation unmanned aerial vehicle model in the simulation environment module.
9. The unmanned aerial vehicle hardware-in-the-loop simulation test method of claim 8, wherein the physical engine of the simulation environment module simulates a wind farm environment according to the wind farm configuration parameters, comprising: And the physical engine of the simulation environment module simulates acting force applied by the wind field to the simulation unmanned aerial vehicle according to wind field configuration parameters comprising wind speed, wind direction and turbulence model parameters, and calculates the motion state of the simulation unmanned aerial vehicle based on the acting force.
10. The unmanned aerial vehicle hardware-in-the-loop simulation test method of claim 8, wherein the fault control signal and the wind farm configuration parameters are saved as test case templates, and wherein the test case templates are invoked to configure the operating mode simulation module when a test is performed.

Description

Unmanned aerial vehicle hardware in-loop simulation test system and method Technical Field The invention relates to the technical field of unmanned aerial vehicle simulation test, in particular to an unmanned aerial vehicle hardware-in-the-loop simulation test system and method. Background In the application of unmanned aerial vehicle in industries such as inspection, logistics, mapping, and the like, an edge calculation module bears core tasks such as real-time processing, intelligent decision making, and the like of multi-sensor data from a laser radar, a camera, a cradle head, and the like, and the reliability of software functions of the unmanned aerial vehicle directly influences the operation safety and efficiency of the unmanned aerial vehicle. Hardware-in-the-Loop (HIL) simulation test verifies execution logic of embedded software on real Hardware by simulating Hardware input in a simulation environment, and is a key means for guaranteeing reliability of an edge computing module. At present, a simulation test system facing an unmanned aerial vehicle mostly surrounds verification and expansion of a flight control algorithm. However, aiming at the black box test of the edge computing module, the prior art scheme has obvious defects that in the aspect of coverage of a test scene, the prior system does not design a special test framework aiming at the black box characteristic of the edge computing module, namely 'only through input and output verification', so that the test scene is limited to links such as flight control communication and the like, the complete verification flow of the edge computing module by real hardware input such as laser radar point cloud, flight control instruction stream and the like cannot be simulated, and the problem of incomplete scene coverage exists. In the aspect of complex working condition simulation, the real working environment of the unmanned aerial vehicle has complex conditions such as sensor faults, communication interference, wind disturbance and the like. The existing simulation system generally only supports single type fault injection, and the working condition simulation functions are not combined with the ring test depth of the edge computing hardware, so that the simulation of the complex working condition is virtually absent in the test, and the robustness of the edge computing software under the extreme condition cannot be verified. At the hardware interaction level, an adaptation gap exists between the hardware interface of the edge computing module and the simulation data protocol. In the prior art, fixed interface mapping is mostly adopted, edge computing hardware of different manufacturers is difficult to flexibly adapt, network characteristics such as time delay and packet loss in real data transmission are not simulated generally, the hardware interaction mode is stiff, and deviation exists between a test environment and a real scene. In summary, in the aspect of black box testing of an unmanned aerial vehicle edge computing module, the problems of insufficient scene coverage, complex working condition loss, hardware interaction stiffness and the like exist, and a set of hardware-in-loop simulation testing system supporting multi-source data input, complex working condition simulation and flexible hardware butt joint is needed to be constructed so as to meet the comprehensive verification requirement of industrial unmanned aerial vehicle edge computing software. Disclosure of Invention The invention provides an unmanned aerial vehicle hardware-in-loop simulation test system and method, which are used for solving the problems of incomplete scene coverage, missing complicated working condition simulation, hardware interaction stiffness and the like existing in the prior art when a black box test is carried out on an unmanned aerial vehicle edge calculation module, and realizing comprehensive closed loop verification of industrial unmanned aerial vehicle edge calculation software under the conditions of multi-source data input, complicated working condition simulation and flexible hardware butt joint. The technical scheme provided by the invention is as follows: in a first aspect, the present invention provides an unmanned aerial vehicle hardware-in-the-loop simulation test system, including: the simulation environment module is used for simulating the unmanned aerial vehicle and the sensor and running the physical engine; The system comprises a working condition simulation module, a wind disturbance unit, a wind field configuration parameter generation module and a wind field simulation module, wherein the working condition simulation module comprises a fault injection unit and the wind disturbance unit, the fault injection unit is in communication connection with the sensor simulation module and is used for sending a fault control signal to the sensor simulation module; the flight control simulation module is in communication connection with the sim