ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of fixed wing unmanned aerial vehicle

Abstract

The invention relates to an ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of a fixed wing unmanned aerial vehicle, which belongs to the technical field of an embedded-control unmanned aerial vehicle. The autopilot uses two processors. The main processor is responsible for controlling calculation while the slave processor is responsible for collecting and outputting signals. The slave processor is designed as a peripheral device of the main processor. The main processor can operate the slave processor by way of operating the self storage space, so that extra workload due to data exchange between two processors is reduced, work is divided clearly, and the system response speed is fast. A design ideal of a top layer module with multiple bottom layers is adopted with distinct gradations, and operation is carried out by using a state machine in reading of an A / D (Analog / Digital) module, so that the work efficiency is higher.

Description

technical field [0001] The invention relates to an autopilot of a fixed-wing unmanned aerial vehicle based on an ARM and FPGA architecture, and belongs to the technical fields of embedded control and unmanned aerial vehicles. Background technique [0002] The autopilot is an adjustment device that automatically controls the trajectory of the aircraft according to technical requirements. For unmanned aircraft, it can cooperate with other navigation equipment to complete the prescribed flight tasks. Autopilots are widely used in modern aircraft, especially in micro-aircraft or micro-unmanned aerial vehicles. [0003] The existing UAV autopilot generally uses a microprocessor as the CPU to process various input information, and at the same time output the processing results to the peripheral interfaces to drive the peripherals to work, and realize the automatic driving of the UAV. . The processors used by these autopilots are generally single-chip microcomputers, ARM or DSP. ...

AI Technical Summary

Problems solved by technology

The disadvantages and shortcomings of these autopilot design schemes are the use of a single processor, which limits the information processing capability. Due to the limited carrying capacity of the drone, most autopilots only use a single processor, which leads to , a single CPU needs to collect and process various sensor data, and also output the peripherals of the UAV for stability and navigation control. The single processor needs to work at full load or even overload, which affects the response speed of the system.

Since the operation of the dual-port RAM itself is relatively complicated, this makes the logic structure of the autopilot system more complicated in terms of software and hardware, additionally increases processor overhead, and makes system debugging difficult.

[0005] Many of the current autopilot devices use finished attitude acquisition devices, so that the autopilot devices contain multiple separate devices, which are large in size and low in system integration. Moreover, the attitude calculation algorithms are not added to the control software of these autopilot devices, which leads to The autopilot cannot fuse and optimize multi-sensor data according to different environmental conditions, which limits the adaptability of the autopilot

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