| 基于VxWorks的MUAV飞行控制系统设计 |
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| 引用本文： | 马晓宁,房建成,盛蔚.基于VxWorks的MUAV飞行控制系统设计[J].传感器与微系统,2009,28(5):90-93. |
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| 作者姓名： | 马晓宁 房建成 盛蔚 |
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| 作者单位： | 北京航空航天大学,仪器科学与光电工程学院新型惯性仪表与导航系统技术国防重点学科实验室,北京,100191 |
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| 基金项目： | 国家自然科学基金重点项目，国防基础科研基金 |
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| 摘 要： | 针对微小型无人机（MUAV）功能要求复杂，迫切需要提高可靠性与实时性等现状，以嵌入式实时操作系统VxWorks为平台，完成了MUAV飞行控制软件系统的开发，实现了多传感器数据采集、捷联解算、卡尔曼滤波、飞行控制、地面通信、故障处理等多项功能。给出了基于Vxworks的MUAV飞行控制软件系统中多任务划分、优先级分配的方法，对各模块进行了详细设计，并利用多任务机制对单任务飞控软件存在的不足之处作出了改进。外场试验与对比试验证明：嵌入式实时操作系统的引入显著提高了MUAV飞行控制系统的实时性与可靠性。
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| 关 键 词： | 微小型无人机 飞行控制软件系统 实时系统 多任务软件 |
Design of MUAV flight software system based on VxWorks |
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| MA Xiao-ning,FANG Jian-cheng,SHENG Wei.Design of MUAV flight software system based on VxWorks[J].Transducer and Microsystem Technology,2009,28(5):90-93. |
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| Authors: | MA Xiao-ning FANG Jian-cheng SHENG Wei |
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| Affiliation: | MA Xiao-ning,FANG Jian-cheng,SHENG Wei ( Novel Inertial Instrument & Navigation System Technology Key Laboratory of Fundamental Science for National Defense,School of Instrumentation Science , Opto-Electronics Engineering,Beijing University of Aeronautics , Astronautics,Beijing 100191,China) |
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| Abstract: | Aiming at MUAV ' s actuality of complex functional requirements and urgent demands of better reliability and real-time performance, the development of MUAV flight software based on the embedded operating system VxWorks is accomplished, multiple functions are realized, including multi-sensors data collection, strapdown algorithm, Kalman filter, flight control, ground communication and fault handling. Methods of multitask partitioning and priority assignment in MUAV flight software based on VxWorks are stated... |
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| Keywords: | MUAV flight software system real-time system multi-task software |
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