小型无人机导航系统硬件设计

摘要

For the purpose of enhancing the integration capability of mini UAVs navigation system, a hardware design plan with low costs is proposed. The inertial navigation data acquisition process was studied and 17 acquisition pathways with time sequence were set. The abundant serial ports of DSP make possible the interface ports for the communication between the hardware system, semi-physical simulation and the real aircraft, and it shortened the development cycle. The real-time performance and accuracy of the hardware system were tested by conducting semi-physical experiments. This system is small, has low power consumption, and it can meet the combination of SINS and GPS' s need for external data, which is of certain engineering value.%为提高某小型无人机导航系统的信号综合能力,结合低成本的设计思想,给出了某无人机导航系统的硬件设计方案.研究了惯性导航数据的采集过程.安排了17路数据的采集通道和采集时序.利用DSP丰富的串口资源,为硬件系统与半物理仿真平台及实际飞行器双方面的通信留出了接口.缩短了无人机的开发周期.通过半物理仿真实验,检验了硬件系统的实时性与准确性.该系统体积小、功耗低,可实现捷联惯导与GPS组合导航对外部数据的需求.具有一定的工程应用价值.