A Gazebo/ROS-based Communication-Realistic Simulator for Networked sUAS
A Gazebo/ROS-based Communication-Realistic Simulator for Networked sUAS
复制标题
基于 Gazebo/ROS 的网络化 sUAS 通信真实模拟器
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
E. Frew
中科院分区：
文献类型：
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作者：
S. Moon;J. Bird;Steven S. Borenstein;E. Frew
虽然通信是网络化无人机系统的态势感知和性能的关键因素，但大多数模拟器都没有提供真实的无线通信模块。它阻碍了实现多个UA之间的通信和信息共享，这产生了与真实的世界中的实际结果相比显著不同的结果。本文提出了一种通信逼真的模拟器，以提高更现实的结果，从协调或合作规划/控制的网络SUAS。本文的仿真器基于Gazebo/ROS和ArduPilot，实现了ArduPilot-Socket-API（APS），从ArduPilot生成可用于ROS的飞机数据。Gazebo中的无线收发器插件用于模拟两个UA之间的无线通信，其中Hata-Okumura模型用于无线电传播，正交相移键控（QPSK）用于数据包调制。仿真结果描述了现实的通信在所提出的模拟器如何影响数据传输有关不同的通信相关的参数。通过与真实的飞行试验中采集的通信数据进行比较，给出了该模拟器真实地模拟通信状态的效果。
Although communication is a critical factor of situational awareness and performance on networked sUAS, most simulators do not provide realistic wireless communication modules. It prevents realizing communication among multiple UA and information sharing, which yields significantly different results compared with actual results in the real world. This paper presents a communication-realistic simulator to improve more realistic results from coordination or cooperative planning/control of networked sUAS. The simulator in this paper is based on Gazebo/ROS with ArduPilot, where ArduPilot-Socket-API (APS) which generates aircraft data to be usable in ROS from ArduPilot is implemented. The wireless transceiver plugin in Gazebo is used to mimic the wireless communication between two UA with aids of the Hata-Okumura model for wireless radio propagation and quadrature phase-shift keying (QPSK) for data package modulation. Simulation results describe how realistic communication in the presented simulator affects data delivery concerning different communication-related parameters. This paper also gives how well the presented simulator emulates communication status realistically by comparing it with communication data gathered in real flight tests.