Abstract: Aiming at the high cost and the immovable characteristics of the airplane iron bird test-bed and the semi-physical simulation laboratory, a highly integrated and movable system named as ground online flight is introduced. The dynamics and kinematics of unmanned aerial vehicle, sensors model, engines model and related subsystems are established and integrated into a device; the connections of 1553B, RS422, analog signal, discrete signal, pulse signal, PWM signal and so on are implemented. The wind model and the typical system faults are set up to study the robustness of the UAV, and test the UAV strategy which deals with the emergency. The system is connected to the airborne equipment, and the simulation of ground online flight is conducted to complete the entire flight process of preparation, taking off, voyage and landing. The correctness and rationality of the aviation software are examined, which can provide the UAV flight information for the pilots to ensure the flight safety.

Key words: unmanned aerial vehicle, airplane iron bird test-bed, semi-physical simulation laboratory, ground online flight, aviation software