Modular flight control system with multi-task self-scheduling and its design method

Abstract

The invention discloses a modular flight control system with multi-task self-scheduling and a design method thereof, comprising a data acquisition module, a navigation solution module, a control solution module, a PWM auxiliary module and an air-to-ground communication module. The data acquisition module collects multi-sensor data in real time, and the navigation calculation module judges the appropriate calculation algorithm for self-scheduling through conditions, calculates the state of the UAV and creates a navigation shared memory; the control calculation module judges the appropriate control algorithm for self-scheduling through conditions, Calculate the control amount according to the state of the UAV and the control command; the PWM auxiliary module controls the actuator through the STM32 assisted single-chip microcomputer, and also monitors the operation status of the single-chip microcomputer to obtain ground control signals; the air-ground communication process is responsible for sending the state of the UAV through the radio station at regular intervals to the ground station and receive instructions from the ground station at the same time. The system adopts embedded design technology, which can realize flight control system task modularization, multi-task self-scheduling and multi-algorithm integration.

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...

AI Technical Summary

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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