安徽工程大学学报2025，Vol.40Issue(2)：8-13,6.
数字孪生和UWB相结合的无人机室内避障仿真研究
Indoor Obstacle Avoidance Simulation of UAV by Combining Digital Twin and UWB
摘要
Abstract
To solve the obstacle avoidance problem of unmanned aerial vehicle(UAV)in indoor flight,an obstacle avoidance method combining digital twin and ultra wide band(UWB)is proposed.UWB technology is employed to obtain the distance difference between the tag and each positioning base station,and the signal arrival time difference positioning method is combined to realize the indoor positioning of the UAV.Based on the five-dimensional digital twin model framework,a five-dimensional digital twin model of UAV and indoor flight environment was constructed.Unity3D engine was used to develop the digital twin system of UAV and indoor flight environment.Through the collision detection service and obstacle avoidance flight service in the service program of the digital twin system developed,the obstacles encountered during the flight of the UAV are detected to achieve flight obstacle avoidance.Finally,AirSim UAV simulation model and MATLAB\Simulink UWB positioning model were integrated to establish an obstacle avoidance flight simulation system,and complete the indoor obstacle avoidance flight simulation experiment of UAV.The simulation results show the feasibility and effectiveness of the indoor obstacle avoidance method of UAV combining digital twin and UWB.关键词
数字孪生/无人机/超宽带/避障/室内定位Key words
digital twin/UAV/UWB/obstacle avoidance/indoor positioning分类
航空航天引用本文复制引用
方庆,许德章..数字孪生和UWB相结合的无人机室内避障仿真研究[J].安徽工程大学学报,2025,40(2):8-13,6.基金项目
国家自然科学基金项目(52005003) （52005003）
