一种基于Qsys的双IP核无人机飞行控制系统设计与实现  

Design and Implementation of a Dual-IP Core UAV Flight Control System Based on Qsys

作　　者：张坤 毕方鸿 李克丽 梁颖 杨军[1] ZHANG Kun;BI Fanghong;LI Keli;LIANG Ying;YANG Jun(School of Information Science and Engineering,Yunnan University,Kunming 650091,China)

机构地区：[1]云南大学信息学院

出　　处：《实验科学与技术》2020年第1期12-16,33,共6页Experiment Science and Technology

基　　金：国家自然科学基金(11663007)

摘　　要：该文分析研究了当前国内外较先进无人机飞行控制系统各模块的原理和关键技术,采用Verilog HDL语言设计完成了传感器驱动模块、导航控制模块、飞行控制模块和Avalon总线控制等模块,并用Altera公司最先进的SOPC集成开发工具Qsys构建了导航控制IP核和飞行控制IP核,最终设计实现了一个以导航和控制双IP核为核心的无人机飞行控制系统。基于Qsys工具开发的双IP核无人机飞行控制系统不仅指令处理速度快、占用硬件资源少,且具有系统集成度高、成本低、鲁棒性好、重构性强等优点,其性能优于传统微控制器和普通DSP芯片构建的无人机飞行控制系统,具有一定的应用价值和实际意义。This paper analyzes and researches the principles and key technologies of the modules of the more advanced UAV flight control systems at home and abroad.The sensor drive module,navigation control module,flight control module,and Avalon bus control module are designed using Verilog HDL language.The navigation control IP core and flight control IP core were constructed using Altera's most advanced SOPC integrated development tool Qsys.Finally,a UAV flight control system with navigation and control dual IP cores as the core was designed and implemented.The dual IP core UAV flight control system developed based on Qsys tools not only has fast instruction processing speed,occupies less hardware resources,but also has the advantages of high system integration,low cost,good robustness,and strong reconfiguration.UAV flight control systems built on traditional microcontrollers and ordinary DSP chips have certain application value and practical significance.

关 键 词：Qsys SOPC 双核 IP核 无人机飞行控制系统 

分 类 号：TP335[自动化与计算机技术—计算机系统结构]