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1、SimulatedFlightTestingofanAutonomousUnmannedAerialVehicleUsingFlightGear*†EricF.SortonandSonnyHammakerInstituteforScientificResearch,Inc.,Fairmont,WestVirginia,26555Small,low-cost,unmannedaerialvehicles(UAVs)areincreasinglyusedbycommercialorganizations,researchers,andthemilitarytoperformavarietyo
2、fmissions.Inmanycases,theseUAVshaveon-boardautopilotscapableofautonomousflight.However,duetotheirlowcost,dedicated,custom-builtsimulationscommonlyassociatedwithfullsizeaircraftarecostprohibitive.ThispaperdescribestheuseofFlightGear,anopen-sourceflightsimulator,andJSBSim,anopen-sourceflightdynamic
3、smodel,toperformsimulatedflighttestingoftheavionicsandcontrolsystemofasmallautonomousUAVwithminimalcostandeffort.FlightGearprovidesanativenetworkinterfaceforinteractingwiththeinternalstatesoftheflightsimulationsuchasairspeed,altitude,accelerations,andposition.Severalsmallbridgingapplicationswered
4、evelopedtocommunicatewithFlightGearandtranslatetheinternalstatesofFlightGeartothesensorinputsexpectedbytheavionicsandcontrolsystem.Inaddition,thebridgingapplicationreadsandconvertsthecontroloutputsfromthecontrolsystemfeedingitbackintoFlightGear.Aflexiblearchitectureallowsthesimulationenvironmentt
5、obeusedthroughoutdevelopmentandtesting.Duringautopilotdevelopment,abridgingapplicationcommunicatesdirectlywithMATLAB/Simulink,theenvironmentunderwhichtheautopilotisdeveloped.Duringregressiontesting,abridgingapplicationcommunicateswiththeautocodedautopilotandexecutesaseriesofautomatedteststotestal
6、loftheautopilotcapabilities.Duringhardware-in-the-looptesting,abridgingapplicationcommunicatesdirectlywiththeflighthardware,emulatingtherawsensoroutput.Inordertoaccuratelysimulatethetestaircraft,itwasmodeledusingJSBSim'sconfigurationlanguage.ByleveragingtheopennessandextensibilityofFlightGearandJ
7、SBSim,aneffectivetestingenvironmentwasbuiltinashortperiodoftimewithaminimalamountofcustomdevelopment.I.IntroductionSMALL,lowcostunmannedaerialvehicles(UAVs)areincreasinglyusedbycommercialorganizations,researchers,andth
