Designing critical embedded systems, like UAVs is not a trivial task because it brings the challenge of dealing with the uncertainty that is inherent to this type of systems, e.g., winds, GPS uncertainty, etc. Simulation and verification tools that provide a level of confidence can help design such systems and increase the safety of specified cyber-physical systems before deployment. This paper presents a framework for evaluating flight strategies of UAVs. Our framework is constructed by integrating, using high-level architecture, Ptolemy, a high level specification tool, and SITL/Ardupilot, a domain specific UAV simulator. It allows to evaluate flight strategies under the presence of uncertainty, such as winds, with a level of confidence by constructing a sufficiently large number of simulations. Its effectiveness is demonstrated by testing two different flight strategies in two scenarios under different wind intensities. We measure the flight quality providing quantitative information about the quality of the tested flight strategy, such as distance traveled, with a confidence of 95% and error of 8%.

中文翻译：

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联合仿真分析无人机设计策略

设计关键的嵌入式系统（如UAV）并非易事，因为它带来了应对此类系统固有的不确定性（例如风，GPS不确定性等）的挑战。仿真和验证工具可提供一定的置信度可以帮助设计此类系统并在部署之前提高指定的网络物理系统的安全性。本文提出了一种评估无人机飞行策略的框架。我们的框架是通过使用高级体系结构，高级规范工具Ptolemy和特定领域的UAV仿真器SITL / Ardupilot集成而构建的。通过构建足够多的模拟，它可以在不确定性（例如风）存在的情况下以置信度评估飞行策略。通过在不同风强度下的两种情况下测试两种不同的飞行策略来证明其有效性。我们测量飞行质量，提供有关测试飞行策略质量的定量信息，例如行进距离，其置信度为95％，误差为8％。