基于无人机平台的制导控制半实物仿真系统研究

徐平; 王伟; 林德福; 王江; 崔晓曦

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基于无人机平台的制导控制半实物仿真系统研究

自动化与计算机技术 | 更新时间：2026-09-14

- 基于无人机平台的制导控制半实物仿真系统研究
- Research on Guidance and Control of Hardware-in-Loop Simulation System Based on UAV
- 中北大学学报（自然科学版） 2012年33卷第4期页码：420-424
- 作者机构：
  
  1. 北京理工大学宇航学院
  2. 中国兵器工业系统总体部
- 作者简介：
- 基金信息：
- DOI：
  中图分类号：
- 纸质出版：2012
- 稿件说明：
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徐平, 王伟, 林德福, 等. 基于无人机平台的制导控制半实物仿真系统研究[J]. 中北大学学报（自然科学版）, 2012,33(4):420-424.

徐平, 王伟, 林德福, et al. Research on Guidance and Control of Hardware-in-Loop Simulation System Based on UAV[J]. 2012, 33(4): 420-424.
徐平, 王伟, 林德福, 等. 基于无人机平台的制导控制半实物仿真系统研究[J]. 中北大学学报（自然科学版）, 2012,33(4):420-424. DOI：

徐平, 王伟, 林德福, et al. Research on Guidance and Control of Hardware-in-Loop Simulation System Based on UAV[J]. 2012, 33(4): 420-424. DOI：

摘要

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.

Abstract

Based on unmaned aerial vehicle(UAV) integrated guidance and control technology and real-time simulation technology

a new hardware-in-loop(HIL) simulation system

which includes inertial navigation system

GPS

three-axis turntable

simulation computer

and display monitor system is established in this paper.In this HIL system

the simulation computer collects the output signal of integrated guidance and control computer

calculates the UAV kinematics and dynamics data

and sends the attitude information to the three-axis turntable.The three-axis turntable and inertial navigation system complete the simulation of UAV course and attitude.The guidance and control computer utilizes navigation information to form control command and sends the control command to simulation computer.The results of this experiment show that the design of this inertial navigation calculation method is reasonable.With simulation step of 1ms

the control signal error is limited within 1%.This system can be miniaturized

modularized

and utilized for UAV guidance and control system further improved.

关键词

Keywords

references

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