小型无人机自动驾驶仪设计与实现

Design of Autopilot for Small UAV

针对小型无人机,以低成本、小型化、高集成度为出发点进行了自动驾驶仪的设计与实现;系统以DSP TMS320F2812处理器为核心,集成了MEMS加速度计、角速率陀螺、GPS接收机和动静压传感器,扩展了高精度模数转换器、异步串行通讯接口和外部存储器等硬件资源,实现了导航和控制功能的一体化设计;详细介绍了系统的结构和基本功能以及导航、控制方案;最后,经过半实物仿真验证,系统软硬件设计合理,能够满足小型无人机导航、控制的需求。

As to small UAV,design and implementation of an autopilot are introduced in detail,in consideration of several inherent features including small volume,low cost and high degree of integration.High performance DSP is adopted as processor,moreover,MEMS inertial sensors,micro GPS receiver and micro dynamic-static pressure sensors are integrated in the system.Furthermore,hardware in the loop（HIL） experiment is employed in order to validate the reasonability of the autopilot.The results demonstrate that the autopilot proposed is practicable,which fully meets the requirements of small UAV.