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基于无人机制导控制一体化和实时仿真技术,设计了一种新的包括惯性导航系统、GPS系统、三轴转台、仿真计算机和显示监控系统等的半实物仿真系统.该系统运用仿真计算机采集导航控制一体计算机的输出信号,进行无人机运动学、动力学模型实时解算,并将姿态信息传输给三轴转台;三轴转台和惯性测量装置完成无人机航向、姿态等模拟;导航和控制计算机运用导航信息生成控制指令,传输到仿真计算机.试验结果表明:惯性导航算法设计合理,仿真步长1ms,控制信号误差小于1%,该系统可以实现微型化,模块化,改进后可应用到无人机的制导和控制系统中.
A new semi-physical simulation system including inertial navigation system, GPS system, three-axis turntable, simulation computer and display monitoring system is designed based on unmanned control system integration and real-time simulation technology.The system uses simulation computer to collect Navigation control one computer’s output signal, UAV kinematics, dynamics model real-time solution, and the attitude information is transmitted to the three-axis turntable; three-axis turntable and inertial measurement device to complete the UAV flight and attitude simulation; navigation And the control computer uses the navigation information to generate the control instructions and transmits them to the simulation computer.The experimental results show that the inertial navigation algorithm has a reasonable design, the simulation step size is 1ms, the control signal error is less than 1%, and the system can be miniaturized and modularized, UAV applied to the guidance and control system.