Aiming at the promblem that at present

mainstream virtual test and simulation system lacks accurate quadrotor model and sensor data

so it is difficult to complete the migration from virtual scene to real environment

and can not quickly build large-scale scene

an antomatically constructed quadrotor test system based on virtual scene is proposed. It integrates quadrotor model and airborne sensor simulation to improve system precision; builds scene library according to dynamic and static characteristics of actual test scene

and uses semantic language method to mark model and parameters in scene library; realizes quadrotor pedestrian target detection and tracking in fast constructed forest scene. Experiments show that the quadrotor environment awareness

path planning and other algorithms are effective in the virtual scene. The performance of the algorithm is tested and evaluated based on the scene

which verifies the real-time and effectiveness of the simulation test system.