基于双ARM的无人直升机飞控导航系统设计  

Design of flight control and navigation systems based on two ARM for unmanned helicopter

作　　者：贺天鹏[1] 王吉东[1] 胡继忠[1] 王松[2] 

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191 [2]北京航空航天大学无人驾驶飞行器设计研究所,北京100191

出　　处：《北京航空航天大学学报》2010年第3期338-341,372,共5页Journal of Beijing University of Aeronautics and Astronautics

摘　　要：将两片基于ARM(Advanced RISC Machine)内核的微控制器应用于某型共轴式无人直升机飞控导航系统的CPU(Central Processing Unit)模块,连同电源及舵机信号处理模块、信号处理及接口模块形成一个高度集成的嵌入式飞控导航计算机,提供的8路异步串行通讯接口、8路数字信号口,与组合导航设备、信号调理设备、收发电台和姿态稳定系统与舵机等外围设备连接构成一套完整的无人直升机数字式飞控导航系统,另配置了16 MB FLASH(Flash Eeprom)用于任务与飞行状态数据记录,并基于ADS(ARM Developer Suite)集成开发环境编制了系统的飞控与自主导航软件.经地面检测与调试,该系统运行情况良好.Central processing unit（CPU） of embeded flight control and navigation systems was designed in a certain type of coaxial unmanned helicopter by two microcontrollers based on advanced RISC machine（ARM）,together with power source and servo signal processing module,signal processing and interface module,to form a highly integrated embedded flight control and navigation computer.It was provided by 8-way asynchronous serial communications interfaces,8 digital signal ports,connected with integrated navigation equipment,signal conditioning device,radio receiver and transmitter,attitude stabilization system with the steering gear,and other peripheral devices,to constitute a complete set of embeded flight control and navigation systems of coaxial unmanned helicopter,and configure another 16 MB flash eeprom（FLASH） for mission and flight data storage,the flight control and autonomous navigation software of system was developed based on ARM developer suite（ADS） integrated development environment.It is proved that running state of system is good by testing and debugging in ground.

关 键 词：无人直升机 进阶精简指令集机器 飞控导航系统 

分 类 号：V249[航空宇航科学与技术—飞行器设计]