基于Nuttx实时操作系统的无人机飞控平台  

UAV Maneuvering Platform Based on Nuttx Real-Time Operating System

作　　者：赵锋[1] 杨青[1] 李阳[1] Zhao Feng;Yang Qing;Li yang(University of Electronic Science and Technology of China,School of Electronic Engineering,Sichuan Chengdu 611731)

机构地区：[1]电子科技大学电子工程学院,四川成都611731

出　　处：《电子质量》2017年第5期117-122,共6页Electronics Quality

摘　　要：近年来,关于无人飞行机器的研究已经达到了白热化的程度。各种无人机系统架构在近几年都被争相提出。作为无人机的控制核心,无人机飞控平台肩负了众多复杂且特殊的任务,如对各种传感检测仪的数据查收上传、对伺服控制器的操作,无人机飞行过程中日志记录,与地面控制站进行通信等。因此,一个功耗较低、性能足够、可靠性高的无人机飞控平台是无人机系统的重中之重。该文在参考了以上需求,基于目前最新架构Cortex-m7的SAMV71Q21微处理器,以Nuttx嵌入式实时操作系统作为软件平台开发基础,设计了一整套无人机飞控软硬件平台。在硬件架构方面该文采用了ATMEL公司生产的基于Cortex-m7架构的SAMV71Q21微处理器作为飞控硬件的核心,配以相关传感器并提供飞控运行所必要的总线与接口。在软件设计方面,考虑到无人机对软件平台的可靠性、实时性的需求,该文采用了基于Nuttx实时嵌入式操作系统的软件平台设计方案。同时该文引入解决进程间数据传输的微对象代理进程间通信模块,改良飞控软件平台的实时性。In recent years,research on unmanned aerial machines has reached a level of intense heating.Avariety of UAV system architecture have been competing to put forward.As the control core of UAV,UAV flight control platform shoulder a lot of complex and special tasks,such as a variety of sensor detector data collection and upload,the operation of the servo controller,UAV flight process log Records,and the communication with ground control stations.Therefore,a low power consumption,sufficient performance,high reliability mUAV flight control platform is the most important part of the UAV system.In this paper,based on the abovementioned demand and Cortex-m7SAMV71Q21microprocessor,we use the Nuttx embedded real-time operating system as a software platform development basis,designed a set of UAV flight control hardware and software platform.In the hardware architecture,this paper uses the SAMV71Q21microprocessor based on the Cortex-m7architecture produced by ATMEL as the core of the flight control hardware,with the relevant sensors and the necessary bus and interface for the flight control operation.In the software design,taking into account the UAV on the software platform reliability,real-time needs,this paper uses Nuttx real-time embedded operating system software platform design.At the same time,this paper introduces the communication module between the micro-agent agent and the inter-process data transmission,and improves the real-time performance of the flight control software platform.

关 键 词：无人机 飞控 Cortex-m7 实时嵌入式操作系统 

分 类 号：V279[航空宇航科学与技术—飞行器设计]