小型固定翼UAV飞控系统的嵌入式设计

Embedded Design of Flight Control System for a Small Fixed-Wing UAV

随着小型无人机飞控任务的日趋复杂,传统低性能飞控系统已不能满足需要,对此本文提出一种基于ARM-Linux结构的飞控系统的嵌入式设计方法。设计了基于高性能低功耗嵌入式处理器ARM Cortex-A9芯片IMX6Q的嵌入式飞控系统的硬件设计,该系统集成了9轴MIMU、高度计、空速计和GPS等多种传感器。分析了基于嵌入式Linux的飞控软件开发流程,阐述了移植Linux内核的步骤及基于嵌入式Linux设计的多进程飞行控制软件。最后,通过手控飞行验证了硬件平台的可行性和软件设计方法的合理性。采用嵌入式方法设计飞控系统,使飞控系统具备多任务调度、可移植性好、易于二次开发等特点。

With the increasing complexity of flight tasks for small UAVs,traditional poor performance FCS(Flight Control Systems)have been unable to meet the needs.For that,an embedded design method of FCS based on ARM-Linux is proposed.The hardware design of FCS based on a high performance and low power embedded processor named IMX6Q is introduced.The system integrates sensors including 9 axis MIMU,altimeter,airspeed sensor and GPS.The process of software development based on embedded Linux is analyzed.The steps of Linux kernel transplantation and the multi-process software of FCS based on embedded Linux are provided.Finally,the feasibility of the hardware platform and the rationality of the software design method are verified by a flight test with manual control.The FCS based on the design method have the characteristics of multi-process scheduling,good portability and easy to redevelopment.