Autopilot systems on unmanned aerial vehicles (UAVs) are safety-critical systems whose requirements on reliability and safety are ever-increasing. However, testing a complex autopilot control system is an expensive and time-consuming task, which requires massive outdoor flight tests during the whole development stage. This paper presents an indoor automatic test platform for autopilot systems aiming to significantly improve the development efficiency and safety level of UAVs. First, a unified modeling framework is proposed for different types of aerial vehicles to make it convenient to share common modeling experience and failure modes. Then, a real-time simulation platform is developed by using automatic code generation and FPGA-based hardware-in-the-loop simulation methods to ensure simulation credibility on software and hardware levels. Finally, an automatic test framework is proposed to traverse test cases during real-time flight simulation and assess the test results. In the verification part, the accuracy and credibility of the simulation platform are verified by comparing the obtained results with experimental results, and several successful applications on multicopters demonstrate the practicability of the proposed platform.

无人机上的自动驾驶系统是对安全至关重要的系统，其对可靠性和安全性的要求不断提高。但是，测试复杂的自动驾驶控制系统是一项昂贵且耗时的任务，这需要在整个开发阶段进行大规模的户外飞行测试。本文提出了一种用于自动驾驶系统的室内自动测试平台，旨在显着提高无人机的开发效率和安全水平。首先，针对不同类型的飞行器提出了一个统一的建模框架，以方便共享常见的建模经验和失效模式。然后，使用自动代码生成和基于FPGA的硬件在环仿真方法开发实时仿真平台，以确保在软件和硬件级别上的仿真可信性。最后，提出了一种自动测试框架，可以在实时飞行仿真过程中遍历测试用例并评估测试结果。在验证部分，通过将获得的结果与实验结果进行比较，验证了仿真平台的准确性和可信度，并且在多旋翼飞机上的一些成功应用证明了该平台的实用性。