基于嵌入式技术的无人机检测与诊断系统研究

Research of Embedded Test and Diagnosis System for Unmanned Aerial Vehicle

针对高空长航时无人机对检测设备的要求,采用基于嵌入式实时系统技术开发了一种无人机飞行控制检测与诊断系统,该系统在硬件上采用ARM9微处理器,并在硬件平台上移植了实时操作系统VxWorks,算法上使用基于规则和局部滤波的故障检测和诊断方法,文中采用的方法提高了检测系统的实时性并可作在线检测,为无人机提供实时检测结果和辅助控制决策信息,实验结果表明,该检测系统运行稳定可靠,检测精度高,对于提高无人机的可靠性和自动化测试水平具有一定价值。

According to the demand of the test and diagnosis system for UAV, this paper develops a new type of real time test and diagnosis system based on embedded system. In the hardware design ARM9 microprocessor is used and the real time OS VxWorks is migrated. The method of test and diagnosis based on rules and part filter is also introduced. The ability of system response is enhanced and the system can provides the result of real--time test and information of assistant control by on--line work. The practical operation shows that the system has the advantage of stability, high-- speed and precision and it is meaningful for improving the reliability and high degree of automation of UAV testing.