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UAV simulation training system in real-time flight simulation

Off, the aircraft track deviation angle and the current ground speed, calculated according to the navigation control law solution corresponding to the horizontal driving signal and the signal is given under the corresponding tilt angle, the aircraft entered a coordinated turn, until the lateral offset distance and flight track deviation angle is zero, the aircraft flying straight along the current route until the next flight point. Simulation of the navigation control law is based on the simulation of aircraft flight control law based on the synthesis of each individual channel full-dimensional simulation of the aircraft to yaw pitch and yaw angle as inputs, design navigation control law. Navigation various functional training simulators have been successfully achieved. 2.5 software and problem solving in order to meet real-time simulation and training system simulation needs of a 104 PC computer flight simulation using DOS operating system, its software using C programming language, the above communications, flight control, navigation and other part is C implemented in the program code, software, including the main program and the timer interrupt in two parts. Software flow chart shown in Figure 4. Implementation of the software include real-time processing module and non-real-time processing module. Real-time processing module in the 20ms timer interrupt service routine to achieve. Navigation part of the navigation key terms, generate the navigation control commands. Some of the major flight control to pitch, bank, heading, altitude, speed, based on the five-channel, integrated console training simulators to complete the switch instruction, remote adjustment commands corresponding tasks, and switch between various tasks. Another fault simulation is also on the real-time processing module. Software implementation,[link widoczny dla zalogowanych], time 20ms interrupt time is limited, need to save as much as possible. Thus the appropriate course updates, route switching, task execution and to determine all of the conditions placed on the non-disruptive in the execution. Simulation Training requirements and is very close to the real system, while different from the real system, training simulators, the UAV can do some extreme action and all the random switching between modes, but also to follow back to the beginning of the training in various training N Subject initialize interrupt non-real time processing module to open two hundred twenty-two check up bit machine instruction flight simulation software flow chart in Figure 4 20ms interrupt the trainer principle of human nature,[link widoczny dla zalogowanych], so a considerable increase in the difficulty of programming a lot of logic. Because the module is pure digital simulation, real-time module in the switch mode key relate to a lot of points clear of the problem, if not promptly cleared, has been accumulated could affect the entire flight simulation results, and even cause the system to diverge, the control law can not be successful. Therefore, using the longitudinal and lateral channel access method independent of each other, received instructions to change the vertical movement of the vertical control just cleared the integral term, and lateral entry control points continue to accumulate until the receipt of change lateral movement of the instructions. Similarly, the integral term lateral cleared. Through this deal, not only completed the practical training requirements of the simulation, but also reflects the limits of simulation for the simulation can be fully trained operator of the emergency response capacity. 3 simulation requires simulation results shown in Figure 5, the flight (flight profile) for. 20ms interruption in the process of the various attitude angle,[link widoczny dla zalogowanych], speed, altitude and other data sent in real time calculation under the ground control station. Ground control station will be recorded in real-time telemetry data processing, gives the height,[link widoczny dla zalogowanych], speed, pitch angle, roll angle, heading angle simulation results, shown in Figure 6. Volume 25 No. 3 Chenyu Jing et al: UAVs, real-time simulation training system in the Climbing Man Flight Simulation 75 *, Tanzania blanket e, Ken Figure 5 flight profiles based sliding almost fly e, Ha, / tV £, s Figure 6 flight profile simulation results The simulation results show that the modal control all aircraft meet the target, when switching between modes transition between the smooth trend of the flight profile. 4 Conclusion This paper introduces the overall UAV simulation training system design, flight simulation module focuses on the design and implementation, the module can simulate the real navigation and flight control of UAVs and ground control can be manipulated in real time to achieve preflight preparation, launch, cruise, program, manual, mode switching and recovery of any other stage of simulation, the simulation has a high degree of confidence and reliability, and strong scalability and broad applicability. This is to speed up the progress of development of unmanned aerial vehicles,[link widoczny dla zalogowanych], UAV flight assessment of the quality of the flight trainers raise the level of development cost savings are extremely important.
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