The Design And Realization Of Embedded Flight Control System For SUAV Based On ARM

This thesis works mainly on design and realization a embedded flight control system for Mini UAV (Unmanned aerial vehicles), which is low-cost, small volume, low power consumption and high performance. The purpose of the work is for attending the National Aerial Robotics Competition. Therefore, a series of researches has been carried out thoroughly.The thesis focuses on the design of attitude determination system and its hardware system.In chapter 1, the thesis reviews the history of developing the Mini and Micro UAV,then introduces the actuality of them, and points out the development direction of the Mini and Micro UAV.In chapter 2, the conceptual design of the whole embedded flight control system for mini UAV is introduced, which is expected to be a low cost, low power consumption system but having high performance.In chapter 3, the low-cost, low power consumption attitude determination system is introduced. Based on the quaternion, the EKF (Extended Kalman Filter) is used to filter the quaternion, and then the attitude determination system is simulated. Furthermore, functional module and the whole hardware system are designed inchapter 4 and 5,which are based on the ARM (Advanced RISC Machines), including the power supporting circuit, reset circuit, the UART, SPI and JTAG interface circuit, the A/D conversion, and PWM generating circuit. All of these circuits are debugged and checked.In the end, the boot code and other board support software of the system are compiled and debugged to establish the boot environment for the system.