Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles

Yangjie Wang; Guangtong Xu; Yu Hu; Teng Long; Jingliang Sun; Junzhi Li

doi:10.1007/978-981-19-6613-2_470

Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles

Yangjie Wang, Guangtong Xu^*, Yu Hu, Teng Long, Jingliang Sun, Junzhi Li

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper establishes a virtual-real cooperative flight testbed to conduct outdoor flight experiments of multiple unmanned aerial vehicles (UAVs) economically and efficiently. The framework of the virtual-real testbed is designed, and the interfaces among physical UAVs, virtual UAVs, onboard terminals, and ground control stations are defined. Physical UAVs utilize the autopilot to track the flight trajectory. By using the dynamics model and trajectory tracking controller, virtual UAVs conduct simulation flight. Temporal-spatial consistency among virtual and physical UAVs is ensured via time delay operation and coordinate system conversion. The flight experiment results show that the maximum deviation of the flight time among virtual and physical UAVs is 1.9 s and the trajectory tracking error is less than 4 m, which validate the effectiveness of the testbed.

Original language	English
Title of host publication	Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
Editors	Liang Yan, Haibin Duan, Yimin Deng, Liang Yan
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	4848-4858
Number of pages	11
ISBN (Print)	9789811966125
DOIs	https://doi.org/10.1007/978-981-19-6613-2_470
Publication status	Published - 2023
Event	International Conference on Guidance, Navigation and Control, ICGNC 2022 - Harbin, China Duration: 5 Aug 2022 → 7 Aug 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	845 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Guidance, Navigation and Control, ICGNC 2022
Country/Territory	China
City	Harbin
Period	5/08/22 → 7/08/22

Keywords

Multi-UAVs
Outdoor flight experiments
Temporal-spatial consistency
Virtual-real flight testbed

Access to Document

10.1007/978-981-19-6613-2_470

Cite this

Wang, Y., Xu, G., Hu, Y., Long, T., Sun, J., & Li, J. (2023). Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles. In L. Yan, H. Duan, Y. Deng, & L. Yan (Eds.), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control (pp. 4848-4858). (Lecture Notes in Electrical Engineering; Vol. 845 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-6613-2_470

Wang, Yangjie ; Xu, Guangtong ; Hu, Yu et al. / Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles. Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. editor / Liang Yan ; Haibin Duan ; Yimin Deng ; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. pp. 4848-4858 (Lecture Notes in Electrical Engineering).

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abstract = "This paper establishes a virtual-real cooperative flight testbed to conduct outdoor flight experiments of multiple unmanned aerial vehicles (UAVs) economically and efficiently. The framework of the virtual-real testbed is designed, and the interfaces among physical UAVs, virtual UAVs, onboard terminals, and ground control stations are defined. Physical UAVs utilize the autopilot to track the flight trajectory. By using the dynamics model and trajectory tracking controller, virtual UAVs conduct simulation flight. Temporal-spatial consistency among virtual and physical UAVs is ensured via time delay operation and coordinate system conversion. The flight experiment results show that the maximum deviation of the flight time among virtual and physical UAVs is 1.9 s and the trajectory tracking error is less than 4 m, which validate the effectiveness of the testbed.",

keywords = "Multi-UAVs, Outdoor flight experiments, Temporal-spatial consistency, Virtual-real flight testbed",

author = "Yangjie Wang and Guangtong Xu and Yu Hu and Teng Long and Jingliang Sun and Junzhi Li",

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Wang, Y, Xu, G, Hu, Y, Long, T , Sun, J & Li, J 2023, Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles. in L Yan, H Duan, Y Deng & L Yan (eds), Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, vol. 845 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 4848-4858, International Conference on Guidance, Navigation and Control, ICGNC 2022, Harbin, China, 5/08/22. https://doi.org/10.1007/978-981-19-6613-2_470

Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles. / Wang, Yangjie; Xu, Guangtong; Hu, Yu et al.
Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. ed. / Liang Yan; Haibin Duan; Yimin Deng; Liang Yan. Springer Science and Business Media Deutschland GmbH, 2023. p. 4848-4858 (Lecture Notes in Electrical Engineering; Vol. 845 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Wang Y, Xu G, Hu Y, Long T , Sun J, Li J. Design of Virtual-Real Cooperative Flight Testbed for Multiple Unmanned Aerial Vehicles. In Yan L, Duan H, Deng Y, Yan L, editors, Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control. Springer Science and Business Media Deutschland GmbH. 2023. p. 4848-4858. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-6613-2_470