基于VxWorks的小型无人机飞行控制软件设计

Flight Control Software Design for Small Unmanned Aerial Vehicle Based on VxWorks

摘要:

针对小型无人机功能日益复杂,迫切需要提高实时性与可靠性等现状,开发了一套基于VxWorks实时操作系统的小型无人机飞行控制软件,实现了无人机自主起飞、空中巡航和自主着陆等飞行控制功能;在完成软件需求分析的基础上,设计了飞行控制软件的总体结构,并结合VxWorks操作系统的运行机制给出飞行控制软件模块化设计方案,着重介绍了多任务环境下任务划分及优先级分配策略;半物理飞行仿真试验表明:该飞行控制软件能够实现自主、指令、人工3种飞行模式下的飞行控制功能,具有良好的实时性和可靠性,满足飞行控制软件最初的设计需求,同时大大降低了开发难度,提高了软件的可维护性和可移植性。

Abstract:

Aiming at small UAVs’ increasingly complex functionality and actuality that needs to improve reliability and real-time performance urgently, develops flight control software based on VxWorks real-time operating system for small UAVs to realize the autonomous flight control, including takeoff, cruise , landing etc. The overall structure of flight control software is given based on software requirements analysis, and combines with the operating mechanism of VxWorks operating system to give modularization design of flight control software, emphatically introduces the tasks division and priority allocation strategy under multitasking environments. The results of Hardware-in-the-Loop simulation shows that tasks management by VxWorks real-time operating system for flight control software meets the design requirements completely, also remarkably improves reliability and real-time performance, furthermore, greatly reduces the developing difficult and enhances maintainability and portability.