In order to solve the problem of low efficiency and safety redundancy of single UAV, the formation flight control system based on GPS is designed. UAV terminal uses STM32F427 chip equipped with NuttX embedded operating system, which can ensure the tasks of attitude estimation, attitude control, navigation, communications and other complex tasks carried out in real-time and orderly. Using ZigBee communication module, MAVLink communication protocol to build wireless communication link,and solved communication collision problem between multi nodes,realize stable communication between the UAVs,UVA and Ground Control Station.Experiments show that this system can effectively achieve the formation flight control of UAVs.%为了解决单架无人机执行任务效率低,安全冗余差等问题设计了一种基于GPS的无人机编队飞行控制系统.无人机端主控芯片采用STM32F427搭载NuttX嵌入式操作系统,保证了姿态解算、姿态控制、导航、通讯等复杂任务的实时有序执行.使用ZigBee通讯模块、MAVLink通信协议搭建无线通讯链路,并解决了多节点之间的通讯以及通讯冲撞问题,实现了无人机之间、无人机和地面站的稳定通讯.在地面站端对各架无人机位置的检测,并在此基础上使用编队算法实现多架无人机的三角形、直线等阵形的编队飞行.实验表明,该系统能有效的实现多无人机的编队飞行控制.
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