基于RTLinux的微型UAV数控系统的设计与实现

The Design and Implementation of MUAV's Digital Control System Based on RTLinux

利用RTLinux优异的硬实时特性 ,提出了微型无人空间机器人 (MUAV)的机载嵌入式数控系统的设计方案 ,着重解决了RTLinux下多传感器数据串口采集的实时性问题 ,并在PC10 4板上部分实现了该系统 。

This paper accounts for the design problem of on-board digital control system for MUAV based on RTLinux. Specially, an effective approach is presented to solve the problem of collecting data from serial ports using interrupt mechanism in user's realtime threads. A reasonable software structure for the control system is also presented ,and the state estimation part has been implemented under RTLinux successfully. The results of on-board tests prove its effectiveness.