Cable-Driven Parallel Robot in the Hardware-in-the-Loop Simulation for GNC System

In this paper, a new method of the hardware-in-the-loop (HWIL) simulation test of aircraft guidance, navigation and control (GNC) system is proposed based on cable-driven parallel robot and triaxial turntable. The traditional HWIL simulation test methods of the aircraft GNC system, which depends on the five axes motion platform or the six-degree-of-freedom motion system, have a series of problems such as expensive and complex test equipment, single test mode, and monotonous simulation trajectory. Aiming at the needs of teaching and scientific research, this paper proposes a low-cost and efficient HWIL simulation test scheme for GNC system. Through simulation analysis and verification, the scheme has some advantages over traditional methods in workspace and control accuracy.