通信-监测融合的低空智联网半实物仿真验证系统

doi:10.7527/S1000-6893.2026.33295

Abstract

Abstract:

In low-altitude intelligent network， communication link states and flight monitoring services are deeply and strongly coupled. However， existing simulation tools， due to the separation between network topology and physical environment modeling， are inadequate for evaluating the cascading effects of physical environmental changes on communication quality and monitoring services. To address this issue， a communication-monitoring integrated semi-physical simulation and validation system for low-altitude intelligent network is designed and implemented. The system adopts a network-physical domain co-simulation mechanism and， from an engineering perspective， employs a distributed architecture that organically integrates lightweight network simulation based on Mininet with high-fidelity three-dimensional scene simulation based on AirSim. A communication channel calculation model is introduced to achieve closed-loop synchronization between the communication network and dynamic physical scene changes by resolving physical obstruction and signal fading. To satisfy the requirements of hardware-in-the-loop testing， a digital-twin-based mirror mapping mechanism between virtual and physical nodes is designed， enabling real UAV hardware to be seamlessly connected to the virtual simulation network and to perform data interaction with it. The results show that， under the current hardware configuration and test scenarios， the system can stably support closed-loop co-simulation between the physical and network domains at a scale of approximately 500 nodes. Moreover， in representative tests， the system successfully reproduces the cross-domain coupling effect under complex terrain occlusion， in which deterioration of the physical environment causes communication link interruption， which in turn leads to the status transition of simulation client nodes from online to offline. These results verify the efficiency and reliability of the proposed system in evaluating the robustness and boundary performance of protocols for low-altitude intelligent network.

Key words: low-altitude intelligent network, hardware-in-the-loop simulation, distributed architecture, co-simulation, communication-monitoring integration

CLC Number:

TN929.5

Enshuai WU, Junyi YANG, Yafeng MA, Guangwei CHEN, Zhenyu XIAO. Communication-monitoring integrated hardware-in-the-loop simulation and verification system for low-altitude intelligent network[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(18): 533295.

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对比维度	NS3+Gazebo	MATLAB/Simulink	本系统：Mininet+AirSim
物理逼真度	高（基于刚体动力学）	中（数学模型为主，视景弱）	高（基于虚幻4引擎与AirSim动力学）
网络协议栈	高（离散事件仿真，协议极全）	低（无真实协议栈，主要做链路级仿真）	高（基于Linux内核真实TCP/IP协议栈）
大规模集群仿真能力	差（高保真导致计算开销大）	差（计算密集型，集群仿真系统压力大）	优（软硬件协同的分层与分布式架构，支持500节点量级）
硬件在环能力	弱（需特殊接口）	中（需部署实时仿真目标机，成本高）	强（基于虚实映射接口，支持真实设备无缝接入）
通-监耦合支持	弱（通常为松耦合，缺乏跨域反馈机制）	中（可建模，但缺乏网络拓扑动态重构能力）	强（支持物理状态与网络QoS的闭环反馈）

Communication-monitoring integrated hardware-in-the-loop simulation and verification system for low-altitude intelligent network

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