Instrument Control Sweden (ICS) is a software company that develops NATO STANAG 4586 compatible ground station software for control of unmanned systems such as unmanned aerial vehicles (UAVs). To perform testing and demonstration of the ground station software ICS needs a realistic UAV simulator that implements the STANAG 4586 protocol. This thesis studies what methods are best suited for the rapid development of such a simulator. One goal with the project was to examine what existing flight simulator systems and flight dynamics models can be used to rapidly develop a UAV simulator. Another goal was to design and implement such a simulator. It is found that it’s possible to quickly develop a UAV simulator based on existing projects such as the flight simulator FlightGear, the simulation framework OpenEaagles and the flight dynamics model (FDM) JSBSim…
Contents
Contents
Introduction
Background
Purpose
Delimitations
Questions at Issue
Theoretical Frame of Reference
Unmanned Aerial Vehicles
Core UAV Control System
Vehicle Specific Module
Data Link Interface
STANAG 4586
Field Configuration
Vehicle Operating Modes
Mission Commands
Vehicle Steering Command
Loiter
Flight Dynamics Model
Autopilot
Method
Exploring Existing Projects
FlightGear
JSBSim
YASim
LaRCsim
UIUC FDM
ODE
OpenEaagles
Design
Aircraft
VSM
Implementation of the Air Vehicle
Initialisation
Flight Director Mode
Waypoint Mode
Waypoint Actions
Loiter Mode
Simulating Errors
Connection between AV and VSM
Implementation of the VSM
Initialising the Simulation
CUCS Authorization
Field Configuration Messages
Mission Messages
Exiting the simulation
Results
Test Results
Test Display
Concluding Remarks
Questions at Issue Answered
Future Work
Appendix A: Sources
Appendix B: Abbreviations
Author: Rugarn, Jonatan
Source: Linköping University
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