CN-121995901-A - Immersive evaluation method and system for unmanned aerial vehicle crosswind disturbance resistant flight control efficiency

CN121995901ACN 121995901 ACN121995901 ACN 121995901ACN-121995901-A

Abstract

The invention provides an unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system which comprises a dynamic disturbance generation unit, a perception deception unit, a high-precision state perception unit and a central integrated control and evaluation unit for running core software, wherein a test environment integrating dynamic wind field simulation, GNSS/inertial navigation deception and high-precision motion tracking is constructed in the test space, so that the unmanned aerial vehicle completely reproduces a scene of encountering lateral gusts outdoors on the perception and dynamics level. According to the system, an immersive test environment integrating dynamic wind field simulation, GNSS/inertial navigation spoofing and high-precision motion tracking is built indoors, so that the situation that the unmanned aerial vehicle encounters lateral gusts outdoors is completely reproduced on the aspects of perception and dynamics, and the accurate and repeatable quantitative test on the anti-disturbance performance of the flight control system is realized.

Inventors

RONG ZHEN
HUANG XINHUI
CHEN LINJIAN
PAN XINHAO
CHENG WENMING
WANG PENG

Assignees

浣江实验室
浙江镭诺智能科技有限公司
深圳市雷诺智能技术有限公司
浙江航天润博测控技术有限公司
浙江弘飞空天科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260128

Claims (9)

1. The unmanned aerial vehicle lateral wind disturbance resistant flight control efficiency evaluation system is characterized by comprising a dynamic disturbance generation unit, a perception deception unit, a high-precision state perception unit and a central integrated control and evaluation unit for running core software, wherein the dynamic disturbance generation unit, the perception deception unit and the high-precision state perception unit are used for constructing a test space, and a test environment integrating dynamic wind field simulation, GNSS/inertial navigation deception and high-precision motion tracking is constructed in the test space, so that the unmanned aerial vehicle completely reproduces a scene of encountering lateral gusts outdoors on the perception and dynamics level; The central integrated control and evaluation unit comprises a test scene management module and a signal synchronization and mapping engine, and executes a synchronization and mapping logic method, wherein the line synchronization and mapping logic method comprises the following steps: s1, generating a desired signal; s2, disturbance triggering and wind field control; And S3, a performance quantification evaluation module is used for comparing and analyzing the real track data of the unmanned aerial vehicle recorded by the high-precision state sensing unit with a preset reference route and calculating an anti-disturbance performance index.
2. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system according to claim 1, wherein the dynamic disturbance generating unit comprises a programmable wind field generating device formed by a multi-fan array, which is arranged on one side of the test space, and is capable of generating a lateral wind field with set intensity, direction, spatial profile and time sequence in millisecond response time according to the control command.
3. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system according to claim 1, wherein the perception spoofing unit comprises a programmable multi-constellation GNSS signal simulator and an inertial measurement simulation interface, wherein the GNSS signal simulator is used for generating positioning and speed signals reflecting expected/instruction tracks of the unmanned aerial vehicle, and the inertial measurement simulation interface is optionally used for injecting simulated inertial sensor data into the unmanned aerial vehicle to form a complete navigation spoofing environment together with the GNSS signals.
4. The system for evaluating the performance of the unmanned aerial vehicle for resisting crosswind disturbance according to claim 1, wherein the high-precision state sensing unit consists of a group of high-frame-rate low-delay optical motion capturing cameras arranged around the test space and is used for measuring the real position, the posture and the speed of the unmanned aerial vehicle in the three-dimensional space in real time with sub-millimeter precision as a reference true value of performance evaluation.
5. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system of claim 1, wherein the test scene management module is configured to define test cases including an initial flight state of the unmanned aerial vehicle, a lateral gust disturbance mode, and a reference course desired to be maintained.
6. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system of claim 5, wherein the signal synchronization and mapping engine is configured to receive feedback data of the high-precision state sensing unit in real time.
7. The system for evaluating the performance of unmanned aerial vehicle anti-crosswind-disturbance flight control according to claim 6, wherein the generation of the expected signal is to generate a continuous expected GNSS/inertial navigation signal based on a preset reference course and send the continuous expected GNSS/inertial navigation signal to the perception spoofing unit, so that the unmanned aerial vehicle flight control system 'believes' that the unmanned aerial vehicle flight control system is flying without disturbance along the preset course.
8. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system according to claim 7, wherein the disturbance triggering and wind field control is that the engine sends a command to the dynamic disturbance generating unit at a preset test time to trigger a lateral gust of a specific mode, and meanwhile, the engine dynamically calculates and controls the wind field according to a desired forward flight speed of the unmanned aerial vehicle so that a relative wind speed vector acting on the entity unmanned aerial vehicle is completely equivalent to an aerodynamic load in a simulated 'unmanned aerial vehicle in-flight sudden crosswind' scene.
9. The unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system of claim 8, wherein the disturbance resistant performance indicator comprises: The maximum yaw distance, under the disturbance action, the maximum offset of the real track of the unmanned aerial vehicle relative to the reference route in the lateral direction, and the value directly represents the static precision capability of the flight control system for suppressing disturbance; After the steady state recovery error and disturbance are finished, when the unmanned plane track tends to be stable, the residual lateral deviation between the unmanned plane track and the reference route is represented by the value, and the steady state precision and the residual error eliminating capacity of the system are represented by the value; A recovery time, from the beginning of the disturbance, applied to the time that the drone lateral deviation enters and remains within a specified tolerance band centered on the reference course, the value characterizing the dynamic response and the fast recovery capability of the system; Track overshoot and oscillation frequency, and frequency and attenuation characteristics of the lateral deviation exceeding the maximum value in the recovery process are used for evaluating the damping characteristics and stability of the system.

Description

Immersive evaluation method and system for unmanned aerial vehicle crosswind disturbance resistant flight control efficiency Technical Field The invention relates to the technical field of unmanned aerial vehicle testing, in particular to an unmanned aerial vehicle crosswind disturbance resistant flight control efficiency evaluation system. Background With the wide application of unmanned aerial vehicle in logistics distribution, urban air traffic, precision inspection and other scenes, the flight safety and task reliability of unmanned aerial vehicle face serious challenges. Lateral gusts are a common disturbance source with obvious harm in a low airspace, and are easy to cause the unmanned aerial vehicle to deviate from a preset route, increase collision risk and even cause instability. Therefore, it is important to evaluate and promote the ability of unmanned aerial vehicle flight control systems to resist lateral disturbances. Currently, the evaluation of the crosswind resistance of an unmanned aerial vehicle mainly depends on the following methods: and (3) carrying out outdoor test on the natural wind field, namely carrying out test flight on an outdoor field with proper wind power conditions. The method has the fundamental defects that the natural wind field is uncontrollable and unrepeatable, and the instantaneous speed and the spatial distribution of the natural wind field are difficult to accurately measure, so that the test result has strong randomness and cannot be used as a reliable basis for performance comparison and algorithm optimization. And the traditional wind tunnel constraint test is to fix the unmanned aerial vehicle on a wind tunnel force measuring balance rack, apply steady-state or quasi-steady-state side wind and measure aerodynamic force and moment. Although the method can acquire partial pneumatic parameters, the free flight state and the autonomous control response process of the unmanned aerial vehicle are completely deprived, and the complete 'perception-decision-control' closed loop dynamic performance, especially the track maintenance and autonomous recovery capacity, of the unmanned aerial vehicle cannot be evaluated. And (3) purely numerical simulation, namely evaluating through coupling simulation of computer fluid dynamics and flight mechanics. The method is limited by the model fidelity, complex real flight control software logic, sensor noise and actuator dynamics are difficult to reproduce accurately, the problem of 'model confidence' exists, and the conclusion often needs physical verification. Therefore, the prior art lacks a means for high-fidelity assessment of the anti-crosswind disturbance closed-loop control efficiency of an unmanned aerial vehicle in a free flight state under safe, controllable, measurable and repeatable conditions. Disclosure of Invention The technical problem to be solved by the invention is to provide a system for quantitatively evaluating the robustness, the track keeping capability and the recovery efficiency of an unmanned aerial vehicle flight control system under the disturbance of lateral gusts in an indoor controlled environment through a high-dynamic wind field simulation and multi-sensor deception technology, so as to solve the problems in the background technology. The unmanned aerial vehicle anti-crosswind disturbance flight control efficiency evaluation system comprises a dynamic disturbance generation unit, a perception deception unit, a high-precision state perception unit and a central integrated control and evaluation unit for running core software, wherein the dynamic disturbance generation unit, the perception deception unit and the high-precision state perception unit are used for constructing a test space, and a test environment integrating dynamic wind field simulation, GNSS/inertial navigation deception and high-precision motion tracking is constructed in the test space, so that the unmanned aerial vehicle completely reproduces a situation of encountering lateral gusts outdoors in a perception and dynamics layer; The central integrated control and evaluation unit comprises a test scene management module and a signal synchronization and mapping engine, and executes a synchronization and mapping logic method, wherein the line synchronization and mapping logic method comprises the following steps: s1, generating a desired signal; s2, disturbance triggering and wind field control; And S3, a performance quantification evaluation module is used for comparing and analyzing the real track data of the unmanned aerial vehicle recorded by the high-precision state sensing unit with a preset reference route and calculating an anti-disturbance performance index. As a further scheme of the invention: The dynamic disturbance generating unit comprises a programmable wind field generating device formed by a multi-fan array, which is arranged on one side of the test space, and can generate a lateral wind field with set intensity, directi