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无人机多使命集成仿真系统设计与实现
Alternative TitleDesign and implementation of UAV simulation system for multi-assignments integration
陈洋; 杨丽英; 宋崎; 赵新刚; 韩建达
Department机器人学研究室
Source Publication计算机应用研究
ISSN1001-3695
2011
Volume28Issue:S
Contribution Rank1
Funding Organization国家自然科学基金项目(60705028).
Keyword无人机 三维路径规划 无色卡尔曼滤器估计 人机交互
Abstract将无人机从起飞、追踪到目标到返航的多使命集成在一起进行仿真,并设计了动/静态威胁规避、风扰估计与自主控制、本体故障诊断与自修复、人机交互与博弈等仿真模块,完整再现了无人机在多使命 条件下的沉浸式飞行效果。集成仿真系统在Vega Prime 和Visual C++平台上开发,设计了三维路径规划算 法和UKF 估计算法模块,提高了算法的封装性。仿真系统的运行效果表明本文提出的设计方案是有效的。
Other AbstractThis paper integrates multi-assignments, such as taking-off, targets attacking, and returning to base, into a uniform simulation system which is composed of avoidance of the dynamic and static threat, estimation of wind disturbance autonomously, diagnosis of body’s faults and self-repairing, interaction with human and so on. Consequently, UAV could achieve the goal of flight of immersion sense entirely in terms of the multi-assignments. This simulation system is developed with Vega Prime and Visual C++, which includes two modules, the path planning algorithm and the UKF (Unscented Kalman Filter) algorithm, so as to improve the characteristic for encapsulation. The scheme of the simulation system proves to be correct and efficiency according to the running results.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7248
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室,
2.武汉科技大学信息科学与工程学院, 武汉 430081
3.沈阳航空航天大学自动化学院, 沈阳 110136
4.中国科学院研究生院,
Recommended Citation
GB/T 7714
陈洋,杨丽英,宋崎,等. 无人机多使命集成仿真系统设计与实现[J]. 计算机应用研究,2011,28(S).
APA 陈洋,杨丽英,宋崎,赵新刚,&韩建达.(2011).无人机多使命集成仿真系统设计与实现.计算机应用研究,28(S).
MLA 陈洋,et al."无人机多使命集成仿真系统设计与实现".计算机应用研究 28.S(2011).
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