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首页> 外文会议>2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence >The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter
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The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter

机译：小型无人机直升机可重构实时机载控制系统的软件架构

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This paper details the comprehensive software architecture and implementation of an onboard control system developed for a small-scale unmanned aerial vehicle (UAV) helicopter. A PC-104 computer stack is devoted to flight control as well as the interaction with other devices in the onboard system. The consideration to construct the software system is primarily focused on its real-time runtime environment and its competence of flexible reconfiguration. As a result, the system is developed under QNX Real-time Operating System (RTOS). The interaction function of the flight control computer with external devices is built in modules and processes running in a predefined order. The entire software system has been successfully tested in both actual field flights and a hardware-in-the-loop simulation (HILs) environment. The flight results have shown that the software system is competent enough to go on with automatic flight of the UAV helicopter.
机译：本文详细介绍了为小型无人机（UAV）直升机开发的机载控制系统的综合软件体系结构和实现。 PC-104计算机堆栈专用于飞行控制以及与机载系统中其他设备的交互。构建软件系统的考虑主要集中在其实时运行时环境及其灵活的重新配置能力上。因此，该系统是在QNX实时操作系统（RTOS）下开发的。飞行控制计算机与外部设备的交互功能内置在按预定顺序运行的模块和过程中。整个软件系统已经在实际的野外飞行和硬件在环仿真（HIL）环境中成功进行了测试。飞行结果表明，该软件系统足以胜任无人机的自动飞行。

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