The system for simulating an autonomous controlled flight of an unmanned aerial vehicle of an airplane scheme, taking into account the vehicle aerodynamics and the turbulent atmosphere impacts

The prototype – a digital software dynamic model (experimental software) for the formation of an autonomous flight program for an aircraft of an airplane scheme – has been developed.

The tproduct is aimed at improving the accuracy of modeling an autonomous controlled flight according to the program by means of more accurate accounting of real environmental conditions, aerodynamics of an unmanned aerial vehicle and its flight modes.

The algorithms for a strapdown inertial navigation system (SINS) with Rodrigues-Hamilton parameters for an unmanned aerial vehicle (UAV) based on solid-state accelerometers and solid-state angular velocity sensors have been developed.

The algorithms are implemented as program modules in C/C++.

The classical one-step methods from the standard library (libgsl – GNU Scientific Library) were used for the integration of angular velocities and accelerations.

The special software for testing and debugging has been developed. The software simulates the free motion of a rigid body, which allows to submit test accelerations and orientation to the "input" of the SINS model – this is the "experimental software". The model is intended for the analysis and verification of the autonomous flight program of a highly dynamic unmanned aerial vehicle. The essence of the simulation is a repeated run of the model flight according to the program, each time with different initial data and different characteristics within the limits of permissible scatter (Monte Carlo method). The resulting trajectories are statistically processed.

The method for the analysis and verification of the autonomous flight program of a highly dynamic unmanned aerial vehicle with predictive control based on predictive models, with regard to the possibility of its implementation, has been developed. The method takes into account the dynamic characteristics of the unmanned aerial vehicle and the parameters of the inertial navigation system, as well as the atmosphere state along the route.

The complex simulation model of a highly dynamic unmanned aerial vehicle has been developed. The model consists of: the glider aerodynamic model; dynamic model of the airframe and propulsion system; inertial navigation system model; models of the main channels of the control system.