摘要
针对小型超低空掠海无人靶机飞控系统的研制,基于无线电高度表/加速度计组合控制的基本原理,在纵向姿态控制内回路的基础上设计了高度控制外回路,采用了一种Kalman互补滤波算法滤除高度信号噪声,并获得高质量的垂向速度信号。基于ARM7微处理器和μC/OS-Ⅱ嵌入式实时操作系统,完成了控制器软硬件实现。半实物仿真实验结果表明,系统响应快,控制精度高,能够准确控制飞机按预设高度进行超低空掠海飞行,达到了设计要求。
In the design of flight control system of the low level sea- skimming small scale unmanned drone, based upon the principle of combined control of radar altimeter and accelerometer, the outer height control loop is achieved with the inner attitude control loop. A Kalman complementary filter algorithm is used to erase the height noise and get the velocity signal with good quality at the same time. The realization of hardware and software of the system is based on ARM7 microprocessor and the μC/OS-Ⅱ embedded operation system. The results of hardware in loop test show that the system has a high precision with a quick response,and it can control the target drone fight at low level with the preset sea skimming height and meet the design requirements.
出处
《现代电子技术》
2009年第19期62-65,共4页
Modern Electronics Technique
