Flight-time failures of small Uncrewed Aerial Systems (sUAS) can have a severe impact on people or the environment. Therefore, sUAS applications must be thoroughly evaluated and tested to ensure their adherence to specified requirements, and safe behavior under real-world conditions, such as poor weather, wireless interference, and satellite failure. However, current simulation environments for autonomous vehicles, including sUAS, provide limited support for validating their behavior in diverse environmental contexts and moreover, lack a test harness to facilitate structured testing based on system-level requirements. We address these shortcomings by eliciting and specifying requirements for an sUAS testing and simulation platform, and developing and deploying it. The constructed platform, DroneReqValidator (DRV), allows sUAS developers to define the operating context, configure multi-sUAS mission requirements, specify safety properties, and deploy their own custom sUAS applications in a high-fidelity 3D environment. The DRV Monitoring system collects runtime data from sUAS and the environment, analyzes compliance with safety properties, and captures violations. We report on two case studies in which we used our platform prior to real-world sUAS deployments, in order to evaluate sUAS mission behavior in various environmental contexts. Furthermore, we conducted a study with developers and found that DRV simplifies the process of specifying requirements-driven test scenarios and analyzing acceptance test results

翻译：小型无人航空系统（sUAS）的飞行中故障可能对人员或环境造成严重影响。因此，sUAS应用必须经过全面评估和测试，以确保其符合规定要求，并在恶劣天气、无线干扰、卫星故障等真实条件下安全运行。然而，当前包括sUAS在内的自动驾驶车辆仿真环境，对验证其在不同环境场景中的行为支持有限，且缺乏基于系统级需求进行结构化测试的测试框架。我们通过提取并规范sUAS测试与仿真平台的需求，进而开发并部署该平台来弥补上述不足。所构建的平台DroneReqValidator（DRV）允许sUAS开发人员定义运行环境、配置多sUAS任务需求、指定安全属性，并在高保真3D环境中部署自定义sUAS应用。DRV监控系统收集sUAS及环境的运行时数据，分析安全属性合规性，并捕获违规行为。我们报告了两项案例研究，在实际sUAS部署前使用该平台，以评估sUAS在不同环境场景中的任务行为。此外，我们与开发人员开展了一项研究，发现DRV简化了面向需求的测试场景规范化过程，并降低了验收测试结果的分析难度。