- Simcenter Amesim\u00ae<\/a> models the flight dynamics, the propulsion systems and the navigation control loops.<\/li>
- Simcenter Prescan\u00ae<\/a> models an urban environment and exteroceptive sensors that detect features in the environment (e.g. camera, lidar)<\/li>
- Simulink\u00ae connects both,Simcenter Amesim and Simcenter Prescan.<\/li><\/ul>\n\n\n\n
The figure below displays the simulation framework. The states of the drone are passed from Simcenter Amesim to Simcenter Prescan to position the aircraft geometry and sensors with respect to the environment. Next, Simcenter Prescan computes the sensor data and provides the reference trajectory information. The object detection and safe trajectory planning algorithms uses this input to compute a safe trajectory. This is then passed to Simcenter Amesim.<\/p>\n\n\n\n
![\"Autonomous](\"https:\/\/blogs.sw.siemens.com\/wp-content\/uploads\/sites\/6\/2020\/05\/Autonomous-urban-air-mobility-1024x507.png\")
Figure 1 – Simulation framework<\/strong> <\/figcaption><\/figure>\n\n\n\n Modeling the urban air mobility vehicle and the environment<\/h2>\n\n\n\n
To demonstrate this approach, the study makes use of an all-electric, four-seater, octocopter with realistic design parameters. The urban air mobility vehicle has 4 sets of 2 ducted counter-rotating propellers. Each propeller is coupled with an electric motor of 200kW that is based on the former Siemens SP-200D motor<\/a>. A battery with a capacity of 110kWh powers the aircraft. As a result, the vehicle has an autonomy of 15min with a cruise speed of 120km\/h.<\/p>\n\n\n\n
The Simcenter Amesim model contains 8 propeller models coupled with subsequently 8 models of phase modulated synchronous motors. Together with a 6 degree of freedom model and simplified aerodynamic model, it provides the flight dynamics behavior. The system model also includes a battery, ground contract elements and PID control loops. The PID control loops make the aircraft follow the safe trajectory. <\/p>\n\n\n\n
We deployed a high-fidelity model of the Siemens Perlach Campus near Munich is as urban environment in Simcenter Prescan. The Simcenter Prescan lidar sensor model represents a high performance commercial lidar system providing point cloud information of the environment. Finally, we implemented a simplified obstacle detection and evasion algorithm in Simulink .<\/p>\n\n\n\n
- Simcenter Prescan\u00ae<\/a> models an urban environment and exteroceptive sensors that detect features in the environment (e.g. camera, lidar)<\/li>