This paper presents a testbed for Hardware-in-the-loop stimulation of flight controllers and their sensors in a real-time simulation environment. The framework is especially designed for the development of flight control systems for small unmanned aerial vehicles. The testbed integrates the real-time stimulation of motion sensors by a Stewart platform using the attitude of the simulated aircraft from a real-time flight simulation. Compared to an isolated HIL simulation of a flight controller, this methodology allows simultaneous closed-loop testing of an embedded system with sensors and a flight controller. The robustness of the testbed with a self-developed flight control system for different sensors will be demonstrated in this work. The testbed of a flight simulator with a remotely controlled motion platform will be characterized regarding timing considerations. The applicability for autonomous virtual flight testing using waypoint navigation with a real-time flight controller will be demonstrated.


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    Titel :

    Hardware-in-the-loop Testbed for Autopilot Development using Flight Simulation and Parallel Kinematics


    Beteiligte:
    Schulz, Stephan (Autor:in) / Hasberg, Hagen (Autor:in) / Büscher, Rene (Autor:in)

    Erscheinungsdatum :

    31.03.2020



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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