VxWorks环境下无人机半物理仿真模型机数据通信与采集

摘要

Model calculation computer which is used to drive three-axis turntable by way of serial communication and to acquire altitude signals of gyroscope using data communication model, and plays an important role in a UAV's hardware-in-loop simulation. In view of the difficulty when developing board support package (BSP) in real-time VxWorks operating system, BSP for a PCI-bus RS 422 serial port interface board and that for a PCI-bus data acquisition board are developed based on the commutation mechanism analysis between model calculation computer and three-axis turntable. The hardware-in-loop simulations show that the BSPs works very well with good reliability and stability.%无人机飞控半物理仿真系统中,无人机模型解算计算机(简称模型机),一方面通过通信接口驱动三轴转台实现无人机飞行姿态的仿真,另一方面通过数据采集模块实时采集由安装在转台上的陀螺传回来的无人机姿态信号及舵机信号,因此数据采集模块以及模型机与转台的通信模块在系统中起着非常关键的作用.针对VxWorks下PCI硬件板卡驱动程序不易开发这一难点,通过分析模型机与三轴转台的通信机理并结合PCI总线的特点,开发了VxWorks系统下的PCI总线RS422串口卡以及数据采集卡驱动程序.半物理仿真实验证明,所开发的PCI通信卡和数据采集卡驱动程序通信可靠、工作稳定、误码率低、实时性高.