Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude traffic test scenarios. Stringent safety requirements make high fidelity one of the key metrics for simulation platforms. Despite advancements in simulation platforms for low-altitude UAVs, there is still a shortage of platforms that feature rich traffic scenarios, high-precision UAV and scenario simulators, and comprehensive testing capabilities for low-altitude traffic. Therefore, this paper introduces an integrated high-fidelity simulation platform for low-altitude UAV traffic. This platform simulates all components of the UAV traffic network, including the control system, the traffic management system, the UAV system, the communication network , the anomaly and fault modules, etc. Furthermore, it integrates RflySim/AirSim and Unreal Engine 5 to develop full-state models of UAVs and 3D maps that model the real world using the oblique photogrammetry technique. Additionally, the platform offers a wide range of interfaces, and all models and scenarios can be customized with a high degree of flexibility. The platform's source code has been released, making it easier to conduct research related to low-altitude traffic.

翻译：在低空无人飞行器交通领域，仿真与测试面临着重大挑战，这主要源于大规模无人机测试的高昂成本以及构建低空交通测试场景的复杂性。严格的安全要求使得高保真度成为仿真平台的关键指标之一。尽管低空无人机仿真平台已取得进展，但目前仍缺乏具备丰富交通场景、高精度无人机与场景模拟器以及全面低空交通测试能力的平台。为此，本文介绍了一种集成化的高保真低空无人机交通仿真平台。该平台模拟了无人机交通网络的所有组成部分，包括控制系统、交通管理系统、无人机系统、通信网络、异常与故障模块等。此外，它集成了RflySim/AirSim与Unreal Engine 5，利用倾斜摄影测量技术，开发了全状态无人机模型以及模拟真实世界的三维地图。同时，该平台提供了丰富的接口，所有模型与场景均可高度灵活地定制。平台源代码已开源发布，以便于开展低空交通相关研究。