ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter

Abstract

The invention discloses an ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and autonomous flight control system for an unmanned helicopter. The system comprises a PC (personal computer), an integrated navigation subsystem, a power supply module and controllers, wherein the integrated navigation subsystem comprises a sensor group; the sensor group comprises a GPS (global positioning system), a gyroscope, an accelerometer, a magnetoresistive sensor, a barometric altimeter and a sonar altimeter; the controllers include a main controller and a steering engine controller; the main controller adopts an ARM microprocessor to operate the integrated navigation algorithm and flight control PID (proportion integration differentiation) algorithm and simultaneously completes data acquisition of the GPS, the barometric altimeter and the sonar altimeter; and the steering engine controller adopts an FPGA to realize data acquisition of the gyroscope, the accelerometer and the magnetoresistive sensor and transfers the data to the main controller via a concurrent bus to carry out attitude calculation and control operation on the unmanned helicopter. With the unmanned helicopter as a carrier, the hardware environment of a whole set of flight control system integrating study of the aircraft navigation and control theory problem, data acquisition, information transfer and embedded control is set up.

Description

technical field [0001] The invention relates to a navigation and flight control technology of an unmanned aerial vehicle. Specifically, it is a navigation and autonomous flight control system for a small rotor unmanned helicopter. Background technique [0002] With its characteristics of vertical take-off and landing, hovering in the air, slow flight, and good maneuverability, unmanned helicopters fill the gap in intelligent weapons and equipment in the near-ground environment, and become an important direction for the development of unmanned aerial vehicles. In military terms, unmanned helicopters can perform various offensive and non-aggressive tasks, including battlefield reconnaissance, target surveillance, target attack, and communication relay; Helicopters can be used for geodetic surveying, meteorological observation, urban environmental monitoring, traffic monitoring, earth resource exploration and forest fire prevention. [0003] Navigation is one of the key techn...

AI Technical Summary

Problems solved by technology

However, the disadvantage of GPS is that it has poor autonomy, is susceptible to interference, and has a low data update rate. When used alone, it is difficult to meet the requirements of high-speed and real-time navigation.

The main disadvantage of the PC / 104 module is the high power consumption, which is not conducive to the low power consumption design of the micro drone, and the device cost is high, and the structure is not compact enough; DSP is different from the CPU in some general applications. Generally, embedded operating systems are rarely used, and there is also a lack of support for some general application software, so it is not conducive to the realization of complex application designs, such as network protocols, multi-threaded task processing

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