Multi-task self-scheduling modular flight control system and design method thereof

Abstract

The invention discloses a multi-task self-scheduling modular flight control system and a design method thereof. The multi-task self-scheduling modular flight control system comprises a data acquisition module, a navigation solution module, a control solution module, a PWM auxiliary module and an air-ground communication module. The data acquisition module collects multi-sensor data in real time; the navigation solution module self-schedules a suitable solution algorithm through conditional judgment, solves the state of an unmanned aerial vehicle and creates a navigation shared memory; the control solution module self-schedules a suitable control algorithm through conditional judgment, and solves a controlling quantity according to the state of the unmanned aerial vehicle and a control instruction; the PWM auxiliary module controls an actuator through an STM32 auxiliary single chip microcomputer, and also monitors running states of the single chip microcomputer, and obtains a ground control signal; and the air-ground communication process is responsible for sending the state of the unmanned aerial vehicle to a ground station through a radio station periodically, and receives instructions from the ground station. The multi-task self-scheduling modular flight control system adopts an embedded design technology, which can realize task modularization, multi-task self-scheduling andmulti-algorithm integration of the flight control system.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, in particular to a modularized flight control system with multi-task self-scheduling and a design method thereof. Background technique [0002] With the development of sensing technology, aviation technology, navigation technology, artificial intelligence and control technology, drones have developed by leaps and bounds in recent years. Compared with large aircraft, small UAVs have higher requirements for the flight control system of small UAVs due to their small size, light weight, and susceptibility to interference during flight. At the same time, with the development of UAV technology, the tasks it performs are becoming more and more complex, and the requirements for the control accuracy of UAVs are getting higher and higher. [0003] According to the hardware architecture platform, the flight control system can be divided into three categories: based on single-chip micro...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a modular flight control system with multi-task self-scheduling and its design method, which solves the problem that the current flight control software requires manual task scheduling and it is difficult to achieve functional expansion and multi-algorithm integration by modularization

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