The hardware-in-the-loop simulation test is an important ground test in the process of aircraft development, which is used to conduct a comprehensive test of the flight control system before the flight test, including flight control algorithm, flight mission management, software and hardware interface matching within the control system, and software and hardware interface between the flight control system and the external system. Depending on the validation requirements, the semi-physical simulation system can further add related equipment and systems into the loop for more complex and realistic verification. The system can close the entire aircraft and the flight control system with related interfaces, such as inertial group, steering gear, motor, power, etc., into the loop, and even include the structural mechanism, so as to form a comprehensive large-scale test similar to the bronze bird and the iron bird platform, so as to achieve a comprehensive verification of the whole system of the aircraft.

Based on the Zhengyao flight control and navigation computer, formation task computer, and dynamic simulation mechanism, the ground cluster flight simulation system is constructed, and the cluster simulation algorithm can be developed and verified.

The cluster flight control system includes flight control computer and cluster task management computer, which supports multi-aircraft communication and control, can control multiple UAVs at the same time, and realize various complex cluster behaviors, such as formation flight, cluster cooperative search multi-aircraft simultaneous strike/sequential strike, etc., UAV control, autonomous trajectory planning, autonomous task execution and other functions. The system also supports user secondary development, and supports virtual simulation and semi-physical simulation verification algorithms (with turntable and simulator) to accelerate the secondary development and verification process.

Using leader-candider-FOLower mechanism, it can independently judge the long plane in flight or switch the long plane on the ground with one click. The formation supports common formations such as a zigzag, triangle, fan, etc. (can be customized), and supports air formation change. It has the functions of air assembly, air dissolution, single machine control, etc. Support single-machine communication interruption to maintain preset route protection mechanism.

It can control the cluster single machine to reach the target point simultaneously or sequentially, adopt distributed online autonomous trajectory planning, have real-time obstacle avoidance and collision avoidance functions, and support online algorithm replanning and execution of tasks. The formation control algorithm based on consistency protocol can assemble the formation independently, maintain the formation, have high flexibility and anti-interference.

Through the GCS cluster ground station, multiple aircraft can be controlled to perform tasks at the same time, real-time monitoring of the flight status of each single aircraft, supporting cluster one-click take-off/task execution/formation flight/one-click return and other functions, with single-unit parameter configuration/status monitoring and other functions.

MBD based development tool chain, the formation of flight control navigation data module, inter-aircraft communication module, flight control external command module library, built-in OBS cluster control algorithm, support users based on MBD tool chain for custom algorithm development.

Based on Zhengyao flight control and navigation computer, formation task management computer and dynamics simulator, the ground cluster flight simulation system is constructed, and the cluster simulation algorithm can be developed and verified.

Based on the MBD flight control system developed by Zhengyao, it supports users in conducting different levels of ground tests, including research, education, model development, laboratory construction, professional training, and research and development conditions.