一体化小型无人机航电系统设计与实现

Design and realization of integrate avionics system of small unmanned aerial vehicle

对飞行控制系统、供电系统、导航定位系统、无线电发射系统进行一体化设计,提出并实现一种成本低、结构稳定、抗干扰性强的小型无人机航电系统一体化设计方案.采用即时融合和长效融合算法对加速度传感器和角速度传感器测量数据进行融合处理,采用卡尔曼滤波和罗差修正校正磁航向传感器数据,实现飞行姿态的精确测量;飞行控制系统实现姿态自稳控制模式、定高控制模式、定向控制模式,各种模式可叠加;采用宽电压适应范围的直流稳压模块,并有效滤除波纹电压.统一电路板开孔位置和尺寸,确保一致性.

The integrate design of the flight control system, power supply system, navigation and positioning system and radio-transmission system was performed. An integrate designation schema of the avionics system of smal lunmanned aerial vehicle economical with low cost, stable s tru c tu re and strong anti-interference performance was presented and real ized. In the software design,the measurement of the acceleration sensor and angular velocity sensor were fused by instant and constant fusion algori thms,and the measurement of the magnetic heading sensor were processed by Kalman filtering and compass deviat ion correction to real ize the accurate measure of the flying attitude. Posture autostable control mode, altitude holding control mode,direction holding control mode were real ized and can be superimposed in the flight control system. Direct current stabi l ized power supply module with wide voltage appl ication range was uti lized and the ripple voltage was efficiently filtered. In the hardware design,the hole position and size of the circuit board was unified to ascertain the consistency.