新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验

黄峰; 王威雄; 林忠麟; 吴衔誉; 庄嘉权

doi:10.12382/bgxb.2022.0760

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新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验

更新时间：2025-08-18

- 新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验
- Design and Experimental Study of a Novel Semi-physical Simulation Platform for Visual Navigation of Quadrotor UAVs
- 兵工学报 2023年44卷第9期页码：2836-2848
- 作者机构：
  
  福州大学机械工程及自动化学院, 福建福州 350108
- 作者简介：
  
  *邮箱: linzhonglin@fzu.edu.cn
- 基金信息：
  
  福建省自然科学基金计划项目(2021J05113);2020年福建省中青年教师教育科研项目(科技类)(JAT200030);福州大学校人才基金项目(XRC-20051)
- DOI：10.12382/bgxb.2022.0760
  中图分类号：
- 收稿：2022-08-31，
  
  网络出版：2023-09-25，
  
  纸质出版：2023-09-20
- 稿件说明：
移动端阅览
黄峰, 王威雄, 林忠麟, 等. 新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验[J]. 兵工学报, 2023,44(9):2836-2848.

Feng HUANG, Weixiong WANG, Zhonglin LIN, et al. Design and Experimental Study of a Novel Semi-physical Simulation Platform for Visual Navigation of Quadrotor UAVs[J]. Acta Armamentarii, 2023, 44(9): 2836-2848.
黄峰, 王威雄, 林忠麟, 等. 新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验[J]. 兵工学报, 2023,44(9):2836-2848. DOI： 10.12382/bgxb.2022.0760.

Feng HUANG, Weixiong WANG, Zhonglin LIN, et al. Design and Experimental Study of a Novel Semi-physical Simulation Platform for Visual Navigation of Quadrotor UAVs[J]. Acta Armamentarii, 2023, 44(9): 2836-2848. DOI： 10.12382/bgxb.2022.0760.

摘要

无人机视觉导航仿真实验能够验证算法的鲁棒性和精确度

加快算法的迭代优化。传统的基于计算机仿真模型的硬件在环仿真实验平台难以复现真实的视觉导航飞行过程

需要设计一种高精度的用于无人机视觉导航试验的半物理仿真平台。根据四旋翼无人机的特性和仿真模型

提出一种新型的由三轴转台和三轴桁架组成的6自由度机械结构

该机械结构可以在4.0m×2.0m×1.4m的三维空间范围内真实地模拟四旋翼无人机的飞行姿态;根据设计的机械结构及其动力学特性

设计基于EtherCAT通讯的控制系统

同时实现真实物理环境飞行姿态模拟与虚拟动画空间同步飞行姿态仿真。测试结果表明:三轴转台的重复定位精度达到0.006 °

三轴桁架的重复定位精度达到0.033mm

动态误差精度达到0.04 °和0.4mm;通过室内外对比试验验证了仿真平台的有效性

表明仿真平台可满足高精度无人机视觉导航模拟的需求。

Abstract

Visual navigation simulation tests are able to verify the robustness and accuracy of navigation algorithms for Unmanned Aerial Vehicles (UAVs) and expediting the iterative optimization of the algorithms. Traditional computer model-based hardware-in-the-loop simulations fall short in realizing real visual navigation flight tests

so it is necessary to design a high-precision semi-physical simulation platform for UAV visual navigation tests. According to the characteristics of the UAV and the simulation model

a new six-degree-of-freedom mechanical structure composed of a three-axis turntable and a three-axis truss is proposed. This mechanical structure can simulate the flight attitude of a quadrotor UAV within a three-dimensional space of 4.0m×2.0m×1.4m. According to the designed mechanical structure and its dynamic characteristics

the control system based on EtherCAT communication is developed. The system can realize real-time flight attitude simulation in the real physical environment and synchronous flight attitude simulation in the virtual animation space. The actual measurement results show that the repeated positioning accuracy of the three-axis turntable can reach 0.006°

the repeated positioning accuracy of the three-axis truss can reach 0.033mm

and the dynamic error accuracy can reach 0.04° and 0.4mm. The effectiveness of the simulation platform is also verified by indoor and outdoor comparison tests. The results show that the simulation platform can meet the needs of high-precision UAV visual navigation simulation.

关键词

Keywords

references

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