用低精度模拟器加速无人机测试生成，提升效率。
Pseudo-Random UAV Test Generation Using Low-Fidelity Path Simulator
- 用简化版低精度模拟器预估飞行路径，替代高精度模拟。
- 低精度模拟速度比高精度快一个数量级，达10倍加速。
- 适合需要快速生成大量测试用例的无人机安全验证场景。
基于仿真的测试为验证无人飞行器（UAV）安全性提供了安全且低成本的环境。然而，仿真过程可能资源消耗巨大，尤其在使用高精度模拟器（HFS）时。为优化仿真资源，我们提出一种伪随机测试生成方法，利用低精度模拟器（LFS）估算无人机飞行路径。本工作将PX4自动驾驶仪的HFS简化，开发出运行速度比HFS快一个数量级的LFS。在LFS中预测可能导致安全违规的测试用例，随后使用HFS进行验证。
原文摘要 · Abstract (English)
Simulation-based testing provides a safe and cost-effective environment for verifying the safety of Uncrewed Aerial Vehicles (UAVs). However, simulation can be resource-consuming, especially when High-Fidelity Simulators (HFS) are used. To optimise simulation resources, we propose a pseudo-random test generator that uses a Low-Fidelity Simulator (LFS) to estimate UAV flight paths. This work simplifies the PX4 autopilot HFS to develop a LFS, which operates one order of magnitude faster than the HFS.Test cases predicted to cause safety violations in the LFS are subsequently validated using the HFS.
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