无人机嵌入式飞行控制系统软件设计方法

摘要

目前,小型无人机飞行控制多采用前后台系统实现；针对前后台系统功能简单,实时性差等缺点,在μC/OS-- Ⅱ操作系统下,对以ARM处理器为核心的嵌入式小型无人机飞行控制系统软件进行了完整设计；首先阐述了系统的基本原理并引入实时内核,接着对系统任务进行了划分,并对任务的调度管理和通信机制给出了详细设计和分析,最后通过地面测试和试飞实验对所设计的系统软件进行了验证；结果表明,该系统软件符合飞控系统设计要求.%At present, most flight control systems for SUAV adopt fore-background system. As fore- background system' s simple function and weak real-time, an embedded SUAV flight control system is designed based on ARM core and μC/OS- II operating system. First, the basic system principle and real time kernel are elaborated. Then, the system tasks are divided and task schedule and communication mechanisms are analyzed in detail. Last, the design is verified by ground test and flight experiment. The result shows, this design meets the flight control system requirement.