基于VxWorks的MUAV飞行控制系统设计

摘要

针对微小型无人机(MUAV)功能要求复杂,迫切需要提高可靠性与实时性等现状,以嵌入式实时操作系统VxWorks为平台,完成了MUAV飞行控制软件系统的开发,实现了多传感器数据采集、捷联解算、卡尔曼滤波、飞行控制、地面通信、故障处理等多项功能.给出了基于VxWorks的MUAV飞行控制软件系统中多任务划分、优先级分配的方法,对各模块进行了详细设计,并利用多任务机制对单任务飞控软件存在的不足之处作出了改进.外场试验与对比试验证明:嵌入式实时操作系统的引入显著提高了MUAV飞行控制系统的实时性与可靠性.%Aiming at MUAV's actuality of complex functional requirements and urgent demands of better reliability and real-time performance,the development of MUAV flight software based on the embedded operating system VxWorks is accomplished, multiple functions are realized, including multi-sensors data collection, strapdown algorithm,Kalman filter, flight control, ground communication and fault handling. Methods of multitask partitioning and priority assignment in MUAV flight software based on VxWorks are stated,and design of software modules is also presented in detail. Improved methods under the multi-task mechanism are put forward according to various deficiencies of single-task MUAV flight software. Results of comparison experiments and field experiments prove that the introduction of embedded real-time operating system remarkably improves real-time capability and reliability of MUAV flight software system.