Dsp-based Navigation / Flight Control Embedded System Design

This thesis mainly focuses on the principle and hardware of a certain Unmanned Aerial Vehicle (UAV) which is composed of four computer subsystems: navigation system, flight control system, information decoding system and fault diagnose system. In the navigation subsystem, path planning and controlling of flight are studied. The function of flight control subsystem is to collect signal, including the information of flight states and flight management. The decoding of information system and fault diagnose system are achieved in the other subsystems. The communication of the system is composed of multi-serial ports, such as (RS422, SPI and CAN) and parallel ports based on Dual-Ported SRAM.In order to debug the hardware system, the testing software and interface program are also designed, including Serial Port, A/D conversion, PWM and I/O interface. To improve reliability, the Fault Diagnose based on CAN-bus is studied. The BIT method, and model-based identifying are introduced to facilitate testing, using and maintaining system. The Fault Diagnose Modle consists of startup-BIT, detecting before flight, flight status inspecting and ground maintenance.The flight control technique of the Unmanned Aerial Vehicle is studied. Semi-physical simulation of flight control system is designed and realized, and the composing of semi-physical simulation is introduced. The results of semi-physical simulation and digital simulation are compared. The comparation results of semi-physical simulation and flight experimentation show that the navigation and flight control system is feasible and reliable.