高技术通讯2024，Vol.34Issue(1)：46-53,8.DOI:10.3772/j.issn.1002-0470.2024.01.005
基于Pixhawk飞控的硬件在环仿真系统设计
Design of hardware-in-the-loop simulation system based on Pixhawk flight control system
摘要
Abstract
Pixhawk flight control has been widely applied in the field of civilian unmanned aerial vehicle(UAV).In or-der to realize hardware-in-the-loop simulation function on Pixhawk flight control system to verify the flight control performance,a quadrotor UAV hardware-in-the-loop simulation system based on Pixhawk flight control system is designed.By constructing a quadrotor airframe model,the model outputs position and attitude data driven by motor speed signals.The position and attitude data are transmitted to the flight control system and reconstructed into the analog sensor data.The flight control system processes the sensor data and outputs the motor speed signal to drive the UAV model to fly.In the experiment,the same route is used for simulation flight and real flight,and the corre-lation coefficient of the data of the two flight modes are calculated.The coefficient is generally higher than 0.85,indicating that a more realistic simulation effect is obtained.关键词
无人机(UAV)仿真/硬件在环/Pixhawk飞控/模拟传感器Key words
unmanned aerial vehicle(UAV)simulation/hardware-in-the-loop/Pixhawk flight control sys-tem/virtual sensor引用本文复制引用
吴和龙,向政蓉,高宇航,杨剑锋,蔡茗茜,吴其琦..基于Pixhawk飞控的硬件在环仿真系统设计[J].高技术通讯,2024,34(1):46-53,8.基金项目
①广西科技师范学院青年科研基金(GXKS2022QN027),广州市科技计划项目(2023A04J0263),工业和信息化部电子第五研究所专项基金(23Z07,22Z17)和广东省重点领域研发计划项目(2020B0404020002)资助. （GXKS2022QN027）
