BUILDING A MODULAR MULTI-SENSOR SIMULATION FRAMEWORK USING COTS SOFTWARE AND HLA

摘要

This paper describes a modular framework for high qualityrnsimulation of multi-sensor systems that is being developedrnto increase our ability to simulate sensor systems inrnvaried conditions. The incentive for this was the need forrnproduction of extensive datasets for algorithm developmentrnas well as evaluation of, mainly autonomous, sensorrnsystems. In this work, HLA (High Level Architecture) hasrnbeen used to integrate simulation software, terrain models,rnatmospheric models and sensor data analysis algorithmsrninto a distributed and reconfigurable multi-sensorrnsimulation framework. The main focus of the frameworkrnis high fidelity sensor data simulation; hence non realtimernfederates are mainly used. This allows us to use calculationrnintensive simulation tools that are primarilyrnbased on detailed physical models. A significant part ofrnthe integration work has been to extend the RPR-FOMrn(Real-time Platform Reference Federation Object Model)rnto include the capability for distributed sensor simulationrnon a functionality level. The aim of this paper is to presentrnthis framework and to contribute with design solutionsrnchosen for added objects and interactions. At the endrnsome examples are briefly presented, where this frameworkrnhas been successfully used in various projects forrnalgorithm development and system evaluation.