MP-IST-210-1A.03.pdf — page 22

3.2.2.1 
Physics Engine & Required Modifications 
The Simulation Engine serves as a sophisticated platform for creating a digital representation of the real 
world that is able to generate diverse sensor data, including outputs from cameras, LIDAR, and infrared 
sensors, as well as realistic flight behavior of drone targets. Furthermore, the engine can dynamically adjust 
environmental conditions, simulating variations in light, weather, terrain, and the interactions between 
objects and the simulated environment bounded by a physics engine. 
Its versatility extends to configuring and executing a broad spectrum of missions. These range from logistical 
operations and Intelligence, Surveillance, and Reconnaissance (ISR) tasks to complex combat scenarios. A 
key feature is its ability to facilitate the isolated evaluation of specific subsystems. This allows for focused 
testing and refinement of components such as object detection algorithms or localization functionalities 
without the complexities of a full system integration.  
At its core, the Simulation Engine is built upon a detailed 3D representation of a map. Within this virtual 
world, objects possess realistic shapes, allowing for physical interactions such as collisions, for example, 
between a drone and an environmental object (e.g. a tree). These objects are also endowed with varying 
surface properties and colors, as well as their own interactions with other factors like light and wind, 
contributing to the visual fidelity of the simulation. Beyond static representation, the engine incorporates 
highly realistic physical behavior, including gravity and inertia, as well as different light and weather 
conditions, paying attention to intricate details like correct shadow rendering, which significantly enhances 
the visual realism. A high level of accuracy is maintained in representing actions and behaviors over time, 
ensuring that dynamic processes unfold realistically within the simulation. 
To enable the simulation of Counter-Unmanned Aerial Vehicle (CUAV) setups, the virtual physical world 
must be equipped with simulated sensor streams, as well as integration with real-world drone flight and 
systems control system software like PX4 or ArduPilot to replicate realistic drone system behaviors. A 
primary requirement is the generation of realistic camera data. Like real-world cameras, various settings can 
be precisely modified, beginning with fundamental parameters such as resolution, field of view, and different 
angles for pitch, yaw, and roll, as well as customizable camera positions. The level of detail extends to 
camera-specific characteristics, allowing for the simulation of image noise and intricate focus settings. 
Beyond camera sensor streams, the simulation offers a comprehensive array of other sensor telemetry that 
can be generated, extracted and analyzed, such as Inertial Measurement Unit (IMU) data, barometer 
readings, and GPS data. Furthermore, the engine can support the simulation of LIDAR and audio data, 
providing a holistic sensory input for comprehensive system testing and development in the virtual 
environment. 
3.2.2.2 
Variable Parameterization 
An integral part of the simulation design is the inclusion of a human-in-the-loop testing capability, enabling 
human operators to interact with and influence the highly configurable simulation environment. The 
simulation is engineered to be extensively parameterized across multiple domains, including diverse 
operational environments (e.g., an Australian desert versus a European city landscape) and variable 
atmospheric conditions such as light levels, wind, rain, and fog. Objects within the simulation can be 
systematically altered in terms of their position, pose, size, texture, and color, with the capability to 
incorporate new or modified objects via CAD files. The CUAV sensor suite itself is also subject to 
parameterization, allowing for variations in camera settings, resolution, position, pose, and field of view 
(FOV) as described above. 
3.2.2.3 
Data Collection & Processing 
The Data Processing component systematically captures all simulation data into rosbag files, extracting and 
Assuring Trustworthy Computer Vision 
for Rapid Counter-Drone System Testing and Deployment 
1A.03 - 22
STO-MP-IST-210