基于多核架构无人机飞行控制系统设计与实现

Design and implementation based on multi-core architecture for UAV flight control system

针对中小型固定翼无人机自主起降与编队飞行任务,采用双ARM Cortex M4+DSP架构,综合多传感器融合策略,利用多频段通信技术和舵机控制回路冗余设计的方法,设计并实现了一套飞行控制系统。该系统能为无人机自主起降与编队飞行提供了精确引导和相对定位信息与强大的通信支持、具有效率高、稳定性好、可靠性强以及集成度高等优点。地面半实物仿真和实际飞行试验结果表明,该飞行控制系统有效的支撑了无人机自主起降、多机编队飞行等研究。

In the scenes of autonomous landing and formation flying of small and medium fixed-wing unmanned aerial vehicle （UAV）, a flight control systems （FCS） was designed and implemented based on a dual Cortex M4 ＋ DSP architecture. The FCS integrated different kind of navigation data from different sensors to support the reliable autonomous landing in various weather conditions. In order to support the formation flying, a multiple frequency radio system was introduced to this FCS, which can implement the network based communication among the grouped airplanes and ground control station （GCS）. The key control loop, which means the servo control circuit, was designed redundantly to guarantee the signal from GCS or operator can reach the servo in emergencies. The FCS for UAV autonomous landing and formation flying providing accurate guidance, relative positioning information and powerful communication support was proved to be high efficient, stable, reliable, and integrated, in the hardware in loop simulation and the test flying, which can support the autonomous landing and formation flying effectively.