Improved TMO HILS architecture for multi UAVs

The UAVs are controlled by the control system that is including the sophisticated software to stabilize and move the plants. In the development of the UAVs, financial waste and time cost is grown because even a failure could cause break of whole system. Especially, in the multi UAVs which is crowding and communicating between each system, the increase of the interaction causes terrible complexity, thus this makes the development of the multi system harder. To overcome those difficulties on development time, the hardware-in-the-loop simulation (HILS) is usually used. The HILS is simulation environment that consist of the actual control system and the simulator. However, it is not easy to construct the HILS because of some issues about real time guarantee. Moreover, to simulate multi system, there are more complex real time issues such as synchronization of the global time, delay of the data transmit and etc. To improve this low productivity, architecture of the HILS system based on the real time middleware, named TMO HILS, was previously presented. In this paper, we present the improved design of the TMO HILS architecture for multi UAVs standing on the basis of the previous research. The new architecture consists of network-centric distributed object models, and the timing properties of the objects are defined. Lastly, we implemented the TMO HILS and measured real time performance. The experiment indicates the possibility and usefulness of the TMO HILS in developing multi UAVs.