Fault Simulation Method of UAV Flight Control Sensor Based on Hardware-in-the-loop Simulation

Hardware-in-the-loop simulation technology plays an important role in the flight performance and safety test of UAV flight control system. The hardware-in-the-loop simulation method can excavate the potential faults of the flight control system, optimize and adjust the flight control algorithm in time, and lay a foundation for ensuring the safety of outfield flight. In this paper, a hardware-in-the-loop simulation based fault injection method for UAV flight control sensor was proposed. Mathematical models and fault mechanism models of flight control sensors such as gyroscope, accelerometer and magnetometer were constructed. The UAV body model and sensor fault simulation model were established in Simulink environment to form a hardware-in-the-loop simulation system. The sensor fault injection test based on flight control hardware in the loop simulation was carried out. The test results showed that the built flight control hardware in the loop simulation system could effectively simulate the flight control sensor fault and test the flight performance of the flight control sensor under the condition of failure.