Hardware-In-The-Loop simulation is nowadays widely used to validate the control and estimation algorithms of autonomous flying vehicles before attempting the first flight. It avoids the time and cost of a real flight while ensuring testing the algorithms in a safe and controlled environment. However, this technology can be cost-prohibitive when implemented with a computer capable of real-time response. An alternative approach, proposed here, is to implement the simulator in the hardware autopilot. This ensures the simulator is running on a real-time operating system on the autopilot board itself. The obtained results demonstrate that this simulator shows performances similar to conventional hardware-in-the-loop approaches while ensuring a very accurate sampling time.
The simulator-in-hardware: a low cost and hard real-time hardware-in-the-loop simulator for flying vehicles
2020-09-01
2889628 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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