  A set of hardware in the loop simulation methods based on the UAV model is
proposed to create fault data, which is used to judge the parts where faults
happen. Actual flight experimental data is utilized to prove the reliability of
Simulink models. Then a series of typical faults with various amplitudes are
injected into different channels of UAV parts in hardware in the loop
simulation platform. Fault data is created this way, and the effect on UAV
flight and task/control can be obtained through damage analysis. Typical fault
characters are extracted, and those parts that have faults can be analyzed and
judged. We can also know the trend that faults will develop and conclude the
reasons for faults based on exterior performance, which supports precise attack
and performance evaluation techniques.
