Unmanned helicopter flying control platform system based on QNX

An unmanned helicopter and flight control technology, applied in attitude control, three-dimensional position/course control, etc., can solve the problems of attitude subsystem and navigation subsystem, so as to ensure safety and stability, improve robustness, The effect of improving the management structure

Inactive Publication Date: 2015-07-08
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

Among them, the paper "Software Simulation and System Design of Miniature Unmanned Helicopter Flight Control System" directed by Professor Li Ping of Zhejiang University introduced the software simulation of unmanned helicopters. This paper mainly combined various mathematical models to simulate and design the unmanned helicopter system, and The attitude subsystem and navigation subsystem of the unmanned helicopter system are not perfect, and physical tests have not been carried out, but the simulation verification of the unmanned helicopter system has achieved relatively large research results

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  • Unmanned helicopter flying control platform system based on QNX
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[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] The invention provides a complete QNX-based unmanned helicopter control platform, and develops a set of INS / GPS integrated navigation system based on EKF (extended Kalman filter) algorithm for the unmanned helicopter control system. The INS / GPS integrated navigation system uses the EKF algorithm to convert the attitude data (including three-axis gyroscope data, three-axis accelerometer data, three-axis electronic compass data, and barometer data) measured by the INS (inertial navigation system) to the GPS navigation system. The obtained satellite data are fused to obtain more accurate positi...

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Abstract

The invention provides an unmanned helicopter flying control platform system based on QNX. The system solves the problems that a processor carried on an existing unmanned helicopter flying control platform is slow in calculation, too large in overall size and high in operation power consumption, and the real-time performance and security performance of an airborne software control system are short of guarantees. A QNX Neutrino real-time operation system good in real-time performance is adopted, a core control board PC104 high in performance and low in power consumption is carried, an extended Kalman filter (EKF) algorithm is adopted for performing posture resolving and data fusing, and autonomous flight of the autonomous unmanned helicopter flying control platform is achieved through an INS / GPS integrated navigation algorithm. Meanwhile, the management structure of system software is improved, the robustness of the software is improved through designing the system in a modularized mode, the operation security and stability of the unmanned helicopter software system are guaranteed, and the real-time performance of the system is improved.

Description

technical field [0001] The invention relates to a flight control platform system, in particular to a flight control platform system for an unmanned helicopter. Background technique [0002] Unmanned helicopter is a multi-disciplinary cross-coupling challenging frontier research direction, involving mechanical structure, aerodynamics, flight dynamics, system modeling, sensor data fusion, strapdown navigation system, embedded systems and other fields. A complete set of unmanned helicopter control platform consists of avionics system, navigation system and ground station system: [0003] 1. The avionics system is the basic component of the unmanned helicopter, which is mainly divided into hardware system and software system. The hardware system consists of at least one MCU or computer system and related expansion boards to realize online analysis of flight data, operation of control algorithms, communication with ground stations, and recording of necessary flight data. [...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08
Inventor 朱晓蕊雷春林曾文武张振操
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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