一种小型无人机的机载计算机软件系统设计  

Design of an airborne computer software system for a small UAV

作　　者：罗泽勇[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《东北师大学报（自然科学版）》2015年第1期64-70,共7页Journal of Northeast Normal University(Natural Science Edition)

基　　金：中国科学院"三期创新"平台资助项目;吉林省科技发展计划项目(20100458)

摘　　要：针对某小型无人机的飞行任务要求,设计并实现了该无人机机载计算机软件系统.通过对该无人机航电系统结构特点进行分析,提出了软件系统结构的层次化设计方法,并利用模块化设计思想对软件系统进行任务划分.按照ORB机制设计了系统进程间的通信方式,采用状态机设计方法实现了系统的应急策略.所设计的机载计算机软件系统结构优良,层次清晰,具有高度可扩展性和可继承性.半物理仿真试验和外场试验结果表明,该机载计算机软件系统功能正常,运行稳定.An airborne computer software system was developed,which could be used for flight mission of a certain small UAV.For the structure of the avionics,a hierarchical software design method was proposed,and the software task component was divided by quoting the concept of modulization.The interprocess communication（IPC）was implemented according to ORB mechanism.The safety strategy was set up by state machine.The designed airborne computer software system has a good architecture with high scalability and inheritable.The entire software system has been successfully tested in both a hardware-in-the-loop simulation environment and actual field flights.The flight results have shown that the software system is competent and reliable enough to go on with automatic flight of the UAV.

关 键 词：小型无人机 软件系统 系统架构 进程间通信 状态机 

分 类 号：TP336[自动化与计算机技术—计算机系统结构] V249[自动化与计算机技术—计算机科学与技术]