EP2496992A2 - Système de simulation de formation pour systèmes de drones - Google Patents

Système de simulation de formation pour systèmes de drones

Info

Publication number
EP2496992A2
EP2496992A2 EP10776977A EP10776977A EP2496992A2 EP 2496992 A2 EP2496992 A2 EP 2496992A2 EP 10776977 A EP10776977 A EP 10776977A EP 10776977 A EP10776977 A EP 10776977A EP 2496992 A2 EP2496992 A2 EP 2496992A2
Authority
EP
European Patent Office
Prior art keywords
drone
simulation system
training simulation
training
simulation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10776977A
Other languages
German (de)
English (en)
Inventor
André Scheufeld
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komp Andre
Original Assignee
Eurosimtec GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eurosimtec GmbH filed Critical Eurosimtec GmbH
Publication of EP2496992A2 publication Critical patent/EP2496992A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/048—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles a model being viewed and manoeuvred from a remote point
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/085—Special purpose teaching, e.g. alighting on water, aerial photography
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/48—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer a model being viewed and manoeuvred from a remote point

Definitions

  • the present invention relates to a drone system formation simulation system useful in the formation of drone controllers.
  • Unmanned aircraft are also commonly called drones. They are reusable flying objects that can be used for surveillance, reconnaissance, reconnaissance and armed with weapons in combat missions.
  • the term "drone” is not limited to flying objects. So there are also ground, sea and submarine drones. All of these drones are used in military, intelligence and civilian areas. In the following, reference is made by way of example to flying drones. However, this is not a limitation with respect to other drone systems, in particular not with regard to ground, sea and submarine drones.
  • a drone flies without a pilot on board and is either automated via a program or from the ground via a ground control station (BKS) Radio signals, or over
  • BKS ground control station
  • Satellite radio operated. Depending on the area of application and equipment drones can carry payloads, such. B. missiles for a military attack. Furthermore, the payloads, such. B. missiles for a military attack. Furthermore, the payloads, such. B. missiles for a military attack. Furthermore, the payloads, such. B. missiles for a military attack. Furthermore, the payloads, such. B. missiles for a military attack. Furthermore, the
  • UAV used for unmanned / uninhabited / unpiloted aerial vehicle for drones.
  • a drone system training simulation system according to claim 1. Further advantageous embodiments, details, aspects and features of the present invention
  • Fig. 1 is a training course according to an embodiment of the present invention.
  • Figure 2.1 is an illustration of the different speed requirements for the transmission of flight and control data between the ground control station and a real drone and between the drone simulation and the UAS-TS.
  • Fig. 2.2 is a schematic representation of the connection of drone systems to UAS-TS.
  • Fig. 3.1 is a diagram of the components involved in the simulation and their interfaces.
  • Fig. 3.2 is a diagram of the components involved in the simulation and their interfaces.
  • Fig. 4.1 is a diagram of the components involved in the simulation and their
  • Fig. 4.2 is a diagram of the components involved in the simulation and their interfaces in the connection of the LUNA system.
  • Fig. 4.3 is a detailed representation of the communication between LUSiCo and the
  • Fig. 4.3 is a realized in the training simulation UAS-TS input mask of
  • Fig. 4.4 a realized in the training simulation UAS-TS input mask of the error feed for UAVs.
  • BG2001 HMI device integrated in the LUNA-BKS integrated in the LUNA-BKS.
  • LUNA reconnaissance drone airborne unmanned reconnaissance equipment
  • UAS Unmanned Aerial System Unmanned aerial system.
  • UAS-VG-LUNA UAS-TS video interface that provides an SDI signal
  • UAV Unmanned Aerial Vehicle Unmanned aerial vehicle.
  • IP Internet Protocol
  • Uplink (radio) connection from the UCS to the UAV.
  • VideoGate interface for converting the SDI signal into a BKS compatible signal.
  • the present description relates to a training simulation system "Unmanned Aerial System - Training Simulation” (short UAS-TS) for a drone system, in particular for the drone system "Airborne unmanned Nahaufêtungs equipment” (LUNA short).
  • the training system comprises an instructor workstation 10 shown in FIG. 1, which interfaces with a ground control station (BKS) for a drone and a
  • the workplace includes two separable parts, namely one Worktable 50, which is mounted for example on lockable rollers, as well as a
  • Rear wall 60 which may also be designed rollable.
  • the table unit 50 and the wall unit 60 are separable so that they are easier to transport.
  • two rows of monitors are mounted one above the other.
  • the simulated drone is shown in an external view on three first monitors 101, 102, 103, so that the instructor sees the drone in their environment from different angles.
  • this view is not available to the drone controller at the BKS, but only to the camera images supplied by the drone.
  • These are also displayed to the instructor on the second monitor row on four monitors 201, 202, 203, 204.
  • the four monitors are simply cloned by the B S to reduce the overhead.
  • the cloned BKS screens not only allow the display of the camera images, but also all other data in the UCS (map, waypoints, telemetry, etc.). As a result, the instructor also has the opportunity to observe the inputs and interactions of the operator.
  • the instructor station 10 further comprises an input unit, which according to the present embodiment, a
  • Touchpad 20 and a keyboard 30 includes. Via the touchpad 29 or via the keyboard 30, the instructor can cause certain scenarios or influence the simulation. Thus, for example, errors can be simulated via the touchpad 20, such as, for example, a telemetry failure, icing of the drone, non-triggering of the landing screen and the like. So there is an emergency checklist for drones, according to the most diverse
  • the training simulation system is set up to simulate all of these scenarios so that the operator crew of the drone can be trained for any emergencies. Furthermore, the instructor can specify a specific weather situation. This is typically done via the keyboard 30, as it may be better suited for fast input of complex data than the touchpad 20.
  • the training simulation system typically further includes a plurality of computers that may, for example, be located in a portable rack or at the workstation 10 itself.
  • the training simulation system includes a datalink server that communicates with a physical simulation engine
  • the unit delivers to Simulation of the physical flight characteristics of the drone only corresponding data that are visualized by the training simulation system.
  • the terrain data of the deployment environment are stored in a database of the training simulation system.
  • the database can be designed centrally or distributed over several computers.
  • the database includes terrain data that includes a simulation of soil, air and water
  • the training simulation system further includes a video stream server interfaced with the UCS and transmitting the drone camera views generated by the simulation to the UCS.
  • the training simulation system typically also includes an interface server that, for example, handles the input and output via the instructor location 10 input and output means.
  • the training simulation system may further include a debriefing interface that allows a debriefing of the training.
  • the debriefing unit comprises a recording means on which the training session can be recorded.
  • the debriefing unit comprises playback means for reproducing the recorded training session, the playback means typically being arranged to stop playback, rewind, rewind, jump, slow-track, etc.
  • the debriefing unit comprises a conventional video recorder. Interface so that the recording can be played back on conventional media.
  • the training station 10 includes an input unit 40, which may also be configured as a touchpad.
  • This unit 40 also referred to as Control Center, can control the functions of the training simulation system.
  • Control Center 40 allows synchronized startup and shutdown of the entire training simulation system.
  • the centralized control and display of the Control Center 40 ensures user-friendly operation and monitoring of the entire system.
  • the status of the individual data links are displayed and logged so that malfunctions can be quickly detected and eliminated.
  • the training simulation system further includes an interface whose development is modular and conforms to existing standard protocols, on the one hand the To analyze complexity and on the other hand to enable the future extension of the interface.
  • the STANAG guideline 4586 in version 2.5 is taken into account. This policy uniformly defines the interfaces, data and message formats used for communication. It gives manufacturers enough freedom to realize communication with the drone and at the same time offers you one
  • Drone system LUNA concretized as an exemplary embodiment.
  • the following section presents the data to be transmitted between UAS-TS and the drone system resulting from the analysis of the requirements.
  • connection of the training simulation system UAS-TS to a drone system should be carried out by means of a flexible and at the same time standardized interface.
  • the interface complies with the STANAG 4586 standard. This allows an effective and at the same time cost and time-favorable connection.
  • the interface is designed to allow the possibility of UAS-TS existing maps as well as satellite and overflight images
  • Figure 2.1. performs this schematically.
  • the telemetry and control data is typically transmitted at a relatively low frequency; typically one to five times a second. Only the transmission of the video signal, the cameras on board, is usually done frequently to allow a fluid representation of the area to be observed.
  • the current telemetry data of the drone When simulating a virtual drone in a training simulation, the current telemetry data of the drone, so the position, position and
  • Camera orientation data also present with a very high relevance. Only in this way are the following three things guaranteed: a) the visual representation of the drone in the virtual world is fluid and free of interruptions; b) the simulation of the camera of the drone in the virtual world - and thus the simulated view through the camera - is fluid and free of interruptions. c) a physically correct calculation.
  • Points (b) and (c) are certainly more relevant from a training point of view, as it is desirable that trainees should (almost) find no difference between using a real drone and simulating this mission in the UAS-TS.
  • the UAS-TS training simulation for each specific drone is associated with a specific drone flight calculation module that synthetically depicts the (largely physical) specifics of the drone.
  • This UAS-dependent simulation consists of the following components: - on
  • Drone simulator or autopilot simulator a physical simulator, since there is a close coupling with the autopilot simulator, whereby the physics simulator can also be outsourced to the UAS-TS; an antenna simulator; a landing net simulator; and interfaces to the UAS-TS.
  • Video presentation of the UAS-TS simulation Specifically, the camera signals of the drone cameras are transmitted here. These can be forwarded to external modules such as the ABUL system. At this point, it should again be emphasized that these two interfaces are independent of the drone used.
  • a specific drone system such as the LUNA system
  • the video signal of the UAS-TS simulation must be transmitted to the ground control station of the drone. This is u.U. a suitable one for converting the STANAG 4609 compliant video signal
  • the characteristics of the drone must be simulated. This requires the development of a drone flight calculation module that simulates, among other things, the drone's physical (flight) characteristics.
  • a drone flight calculation module that simulates, among other things, the drone's physical (flight) characteristics.
  • the drone's liquid representation in the UAS-TS computed real-time 3D rendering requires a high rate of update of the drone's position and attitude data. These must be refreshed continuously at least every 20 milliseconds.
  • FIG. 4.2 shows the schematic structure of the embodiment of a connection of the UAS-TS to the drone system LUNA.
  • the physical simulation of the LUNA was integrated.
  • the LUNA Simulation Core (LUSiCo) is connected in accordance with Figure 3.1, which is known from the last section, and results in the structure shown in Figure 4.2.
  • the following section describes the specific design of the interfaces UAS-CG-LUNA, LSGate and UAS-VG-LUNA.
  • the subsequent section discusses the details of EMT's flight calculation of the drone.
  • the communication between LSGate and UAS-CG-LUNA is realized by DLL calls and callback functions.
  • the programming language can be C ++ on both sides.
  • the data transfer from LSGate to UAS-CG-LUNA is done by LSGate controlled by the following functions lsgateGetParameter and lsgateSetParameter.
  • the first parameter specifies the addressed system by the assigned SystemID. Exactly _NumberOfParameter parameters are queried or set. For any natural number i between 0 and _NumberOfParameters, the following applies:
  • the parameter _pParameterIDs [i] specifies the ID of the desired parameter.
  • the parameter _pParameterIDs [i] specifies the ID of the desired parameter.
  • _pParameterAddress [i] specifies the memory address under which the current value of the
  • Parameters are retrieved or stored by LSGate.
  • the calling function has to ensure that sufficient memory is available. Finally, the function returns through an error code whether the call was successful.
  • the LSGate module ensures that all returned values are consistent with each other, thus providing the state of the simulation at a time step. Likewise, the thread safety is secured by the module LSGate.
  • the indication of the wind direction is in radians and as floating point with double
  • the value may be transmitted to LSGate by UAS-CG-LUNA and at least every 20ms An updated value is available for retrieval by the UAS-TS in the LSGate.
  • LUSiCo triggered events - such as the definition of a new waypoint - are transmitted by LSGate by a callback function to UAS-CG-LUNA and thus to UAS-TS.
  • a corresponding function pointer is transmitted to LSGate with the function lsgateSetEventCallback.
  • the transmission of the video data through the interface "UAS-VG-LUNA" to the ground control station takes place analogue or digitally.
  • the digital STANAG-4609-compliant output video signal of the UAS-TS is first converted by the "VideoGate” into an analogue one and then fed into the integrated DV recorder in the ground station. From there it is passed on to the individual display elements.
  • the entire distance from the UAS-TS to the display terminals of the ground control station can also be kept digital. This leads to increased image quality and fault tolerance.
  • FIG. 4.3 shows the structure of the flight calculation module of the LUNA. The main part is taken by the LUNA simulation core LUSiCo (LUNA Simulation Core). This communicates STANAG 4586 compliant via the LUSiCoGate with the UAS-CG-LUNA and thus ultimately with the simulation UAS-TS.
  • LUSiCo LUNA Simulation Core
  • this interface enables the simulation of LUNA by UAS-TS to be highly controllable and, on the other hand, the sufficiently timely transmission of flight data to the UAS-TS.
  • the actual simulation of the drone takes place in the LUSiCo through the modules "Physical Simulator (PSi)", “Autopilot Simulator (ApSis)", “Network Simulator (NGPS Simulation)", “Antenna Tracker Simulation”.
  • PSi Physical Simulator
  • ApSis Autopilot Simulator
  • NGPS Simulation Network Simulator
  • he connects to the ground control station via the DataCenter.
  • the DataCenter thus connects LUSiCo with the emergency system, the control computer, the video computer and the
  • the training simulation UAS-TS is especially designed for the training of drone and video operators. Therefore, after completed pre-flight check by The UAS-TS data entered by the operator are immediately displayed to the instructor. Since all characteristics of the drone that are relevant for the pre-flight check can be changed by the instructor, incorrect entries can be made during the flight
  • Preliminary check provoke and recognize. This affects both the pre-flight check of the card and the video computer and thus supports both the training of the controller and the image operator already in this early phase of the mission.
  • the relevant camera data such as the orientation of the camera mode and the zoom level used are transmitted to the UAS-TS via the interface.
  • the realistic simulation of the camera images generated by the LUNA makes it possible to effectively train the monitoring and reconnaissance situation.
  • the training simulation UAS-TS allows the simulation of a configurable and based on the weather forecast for UAVs weather system. This allows the consideration of weather influences on the drone's flight and the observation of the terrain by the image operators.
  • Figure 4.3 shows the dedicated input mask. The color-coded fields can be edited as part of the UAS-TS.
  • Drone systems are connected. Already in this early phase of the project the input of the weather forecast for UAVs is possible through one of these modeled input forms in UAS-TS.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

L'invention concerne un système de simulation de formation pour un système de drone, comportant un poste de formateur (10), doté d'un premier moyen d'édition (101, 102, 103) conçu pour générer et visualiser au moins une vue externe instantanée du drone et d'un deuxième moyen d'édition (201, 202, 203, 204) conçu pour représenter au moins un affichage instantané d'une station au sol du drone, ainsi qu'un premier moyen de saisie (20, 30) conçu pour modifier un paramètre de simulation du drone. Le système de simulation de formation comporte en outre une première interface avec un moyen de simulation, conçue pour simuler les propriétés physiques du drone, et une deuxième interface avec une station de contrôle au sol, conçue pour commander le drone.
EP10776977A 2009-11-02 2010-11-02 Système de simulation de formation pour systèmes de drones Withdrawn EP2496992A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009051644A DE102009051644A1 (de) 2009-11-02 2009-11-02 Ausbildungssimulationssystem für ein Drohnensystem
PCT/EP2010/066658 WO2011051501A2 (fr) 2009-11-02 2010-11-02 Système de simulation de formation pour systèmes de drones

Publications (1)

Publication Number Publication Date
EP2496992A2 true EP2496992A2 (fr) 2012-09-12

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ID=43797854

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10776977A Withdrawn EP2496992A2 (fr) 2009-11-02 2010-11-02 Système de simulation de formation pour systèmes de drones

Country Status (3)

Country Link
EP (1) EP2496992A2 (fr)
DE (1) DE102009051644A1 (fr)
WO (1) WO2011051501A2 (fr)

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CN114020041B (zh) * 2021-12-14 2024-02-20 云南民族大学 一种多无人机多线程二维探索仿真方法及系统
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Also Published As

Publication number Publication date
WO2011051501A3 (fr) 2011-06-23
DE102009051644A1 (de) 2011-05-05
WO2011051501A2 (fr) 2011-05-05

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