Research Of Flight Control System For Small UAV Based On Embedded Technology

Small fixed wing unmaned aerial vechicle(UAV)is a kind of aircraft with features like portable,low cost,high-security and easy to use.lt has great application value in both military and civilian fields.As the small UAV flight control task becomes more complicated,the tradi?tional flight control system(FCS)with low performance and the development method of FCS with operating system(OS)can not meet the needs.A design method for FCS development,which based on embedded technology using ARM-Linux architecture,is presented.First of all,the research status and development trend of FCS at home and abroad are analyzed.The existing hardware schemes and embedded operation systems are investigated.According to the functional requirements of FCS and the design requirements of hardware and software,the system structure of the FCS is designed,including the basic structure and design process of hardware and software.In order to achieve the functional requirements of the FCS,the embedded hardware platform with IMX6Q,which is a high performance and low power embedded processor ARM Cortex-A9 chip,is designed.tfhe platform includes the flight control computer,power management module,PWM module,sensor module,interface module and other peripheral modules.In the aspect of software development based on embedded Linux operation system,the process of embedded Linux transplantion is introduced.Based on the software and hardware design platform,the multi-task FCS software based on embedded Linux,which including the task division and priority design of the FCS software is designed with the multi process and multi thread technology.Finally,the feasibility of the hardware platform and the rationality of the software design method are verified by the experiment of unit test and flight test by hand controlled.The FCS is designed by embedded method,with the characteris?tics of multi task scheduling,good portability and easy to redevelopment.