打造高保真低空无人机交通仿真平台，支持复杂场景测试与定制开发。
RflyUT-Sim: A Simulation Platform for Development and Testing of Complex Low-Altitude Traffic Control
- 融合AirSim与UE5构建高精度无人机与三维地图模型。
- 支持全链路仿真，涵盖控制、通信、异常故障等模块。
- 开源代码+灵活接口，适合低空交通研究与系统测试。
低空无人机交通的仿真与测试面临大规模实测成本高、场景构建复杂等挑战，且安全要求严格，高保真度成为仿真平台的关键指标。尽管已有一定进展，但兼具丰富交通场景、高精度无人机与场景模拟、全面测试能力的平台仍稀缺。为此，本文提出一个集成化的高保真低空无人机交通仿真平台，可仿真交通网络中控制、交通管理、无人机、通信网络及异常故障等全部组件。平台结合RflySim/AirSim与Unreal Engine 5，利用倾斜摄影测量技术构建真实世界的三维地图，并实现无人机全状态建模。同时提供多样化接口，所有模型与场景均可高度自定义。平台源代码已开源，便于开展低空交通相关研究。
原文摘要 · Abstract (English)
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude traffic test scenarios. Stringent safety requirements make high fidelity one of the key metrics for simulation platforms. Despite advancements in simulation platforms for low-altitude UAVs, there is still a shortage of platforms that feature rich traffic scenarios, high-precision UAV and scenario simulators, and comprehensive testing capabilities for low-altitude traffic. Therefore, this paper introduces an integrated high-fidelity simulation platform for low-altitude UAV traffic. This platform simulates all components of the UAV traffic network, including the control system, the traffic management system, the UAV system, the communication network , the anomaly and fault modules, etc. Furthermore, it integrates RflySim/AirSim and Unreal Engine 5 to develop full-state models of UAVs and 3D maps that model the real world using the oblique photogrammetry technique. Additionally, the platform offers a wide range of interfaces, and all models and scenarios can be customized with a high degree of flexibility. The platform's source code has been released, making it easier to conduct research related to low-altitude traffic.
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