Cooperative formation flight of Unmanned Air Vehicles (UAVs) becomes an attractive research field in recent years.
The Simulation Platform of Multiple UAVs is a distributed interactive simulation environment based on High Level
Architecture (HLA), which provides a universal simulation platform for the research of multiple UAVs, such as
cooperative control, formation flight, mission planning, etc. The platform is composed of several nodes: Mission Control
Station (MCS), Formation Control Unit (FCU), UAV Platform, Comprehensive Situation Display, 3-Dimension Display
and Simulation Management.
As an integral part of the simulation platform, the comprehensive situation sub-system monitors the geography
environment and the situation of entities in the simulation. The sub-system is integrated into several nodes of the
simulation platform: MCS, FCU and 2-Dimention Situation Display, etc.
Considering generalized method and component-based rule, we design and implement comprehensive situation
sub-system as well as supporting tool kits. It includes digital map walkthrough environment, map editor with Digital
Elevation Model (DEM), bitmap creator, network communication module, situation display module and scenario editor
module. Digital map walkthrough environment is a Geographic Information System (GIS) with specific functions,
including multiple windows display, map walkthrough and data management. Map editor and bitmap creator create
different type of digital map, which is suited for demands of the simulation, and generate terrain data for the UAVs to
execute route planning based on DEM. Situation display module displays the situation information of entities in the
simulation dynamically and timely. The system is developed without commercial GIS components, and integrated into
the environment smoothly.