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中文摘要：
小型无人直升机是一个极具挑战性的多学科交叉前沿性研究课题。这里重点介绍基于Linux的小型直升机仿真系统的构建过程及其相关软件实现。首先对小型直升仿真系统的整体架构进行详细的说明。然后基于Linux平台对仿真系统的几个主要程序模块代码进行编写,利用FLTK图形界面库和Mesa/OpenGL实现了小型直升机实时3D飞行状态显示和状态控制面板,可视化仿真及实时运动特性再现的过程。仿真系统的运行结果表明,仿真系统具有独特的优势和很好的开发前景。在今后对小型无人直升机的自主飞行研究当中,可以起到很好的辅助作用。整个仿真系统以模块化实现,具有良好的移植性,便于今后对系统进行功能补充。
英文摘要：
Small- scale unmanned helicopter is a challenging and advancing research project related to multi- disciplines. A real - time simulation system based on Linux and its software implementation for small - scale unmanned helicopter is introduced. Firstly,the overall architecture of simulation system is illuminated. Then the main module of the simulation system is briefly coded based on Linux. Using the FLTK graphical interface library and Mesa/OpenGL to achieve 3D fight,attitude control panel,visualization and the reproduction process of a real - time motion characteristics for the small - scale helicopter. The results of the simulation system indicate that the simulation system has unique advantages and favorable exploitation prospect. So this system can be applied in the future research of the autonomous flying of the small - scale helicopter. The simulation system is realized by module,has good transplantation and it is a supplement for system.
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