Robotic relative motion reproduction for air to air refuelling simulation

Hybrid testing involves the testing of physical subassemblies in a real-time simulation, coupled to numerical simulations of complete systems and their related environmental conditions. It offers the ability to test the performance of components in a realistic operating environment while remaining within the low-cost, repeatable, and relatively safe confines of a laboratory. The University of Bristol and Cobham Mission Equipment have developed such a hybrid test facility for relative motion simulation between two indepen- dent bodies. This paper describes the use of the facility in replicating an air-to-air refuelling environment and how key latency issues were addressed.