高保真模拟器，专为低空飞行器控制策略研发设计
FALCON-S: Fixed-wing ground-effect Aerodynamics Simulator and Flight Control Learning Suite
- 融合6自由度物理与地面效应气动模型，真实还原近地飞行
- 支持大规模强化学习训练，单次仿真可并行百万级样本
- 兼容多种控制器，适合无人机、智能驾驶等场景研究
我们提出一个模块化、高保真的仿真框架，用于固定翼飞行器在近地环境下飞行控制策略的开发与基准测试。不同于依赖简化或悬停动力学的现有模拟器，本框架建模了完整的6自由度刚体运动、半经验的地面效应气动特性、执行器动态、传感器噪声及环境扰动。这种物理真实性结合模块化组件设计，可系统分析真实条件下低空飞行行为。模拟器通过Torch和NVIDIA Warp支持CPU与GPU后端，实现高吞吐并行执行，适用于大规模强化学习训练与最优控制滚动计算。统一接口兼容多种控制器（包括强化学习与最优控制算法），覆盖高度调节与轨迹跟踪等任务。同时支持与X-Plane和JSBSim的交叉验证，便于工程集成与视觉保真度提升。
原文摘要 · Abstract (English)
We present a modular, high-fidelity simulation framework for the development and benchmarking of flight control strategies in fixed-wing aerial robots operating near the ground. Unlike existing simulators that rely on simplified or hover-oriented dynamics, our framework models full 6DoF rigid-body physics, semi-empirical ground-effect aerodynamics, actuator dynamics, sensor noise, and environmental disturbances. This physical realism, combined with modular component design, enables systematic analysis of low-altitude flight behavior under realistic conditions. The simulator supports both CPU and GPU backends via Torch and NVIDIA Warp, enabling high-throughput parallel execution suitable for large-scale reinforcement learning training and optimal control rollouts. A unified interface accommodates a range of controllers (both RL and optical control algorithms) across tasks such as altitude regulation and trajectory tracking. Cross-validation with X-Plane and JSBSim is also supported to facilitate engineering integration and visual fidelity.
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