Unmanned Helicopter Control Platform Based On QNX

Unmanned helicopter have strong adaptability to the complicated and changeable environment, it has no casualties, small volume, strong concealment and mobility, field survival ability, etc. It is widely used in the field of outdoor such as air search and rescue, aerial and power patrol, more and more researchers have realized that the unmanned helicopter must solve a key problem in outdoor high-end application, namely how to realize the trajectory tracking. For the purpose engineering practice, this paper further studied the design and implementation of flight control system of unmanned helicopter.Firstly, studied the engineering implementation technology of the unmanned helicopter flight control system, for the performance requirements of the unmanned helicopter flight control system, the thesis developed a high performance flight control platform based on QNX embedded system, including hardware system, software system and the ground control station.Secondly, introduced the space movement coordinate system and coordinate transformation of the unmanned helicopter, and established the model of navigation, realized the INS/GPS integrated navigation system based on the EKF. Offered an low-cost attitude and position reference system for the unmanned helicopter.Finally, the hardware and software of the flight control system, and the ground control station were tested in actual flight experiments, the system realized fix-high and fixed-point hovering. By analyzing and evaluating the experiment results, the system platform verified to be well designed in this paper.