摘要
文章设计了一种基于开源飞控APM的高级飞控系统,包含硬件电路模块和软件算法模块,主控芯片STM32H7可高速运行至400 MHz,通过MAVLink协议控制APM无人机,设计了以高级飞控系统控制无人机的一键起飞控制流程、遥控量的控制功能、上传飞行任务到APM飞控功能;移植UCOSIII操作系统,并结合MAVLink协议设计了编队组网架构,精简协议数据流,使之适应组网通信;在高级飞控系统测试了智能粒子群算法的无人机集群搜索与航迹规划,模拟9架无人机在1×105 m 2区域搜索3个目标,仿真结果表明该算法200 ms的迭代更新速度满足实际要求;高级飞控系统的控制功能同样适用于MAVLink协议的其他飞控,如PX4飞控。
This paper designs an advanced flight control system based on open source flight control APM,including hardware circuit modules and software algorithm modules.The main control chip STM32H7 can run at high speed to 400 MHz.The APM drone is controlled through the MAVLink protocol,and advanced flight control is designed.The system controls the one-button takeoff control flow of the UAV,the remote control volume control function,and uploads the flight task to the APM flight control function.The UCOSIII operating system was transplanted,and the formation network architecture was designed in conjunction with the MAVLink protocol to simplify the protocol data flow and make it suitable for network communication.In the advanced flight control system,the intelligent particle swarm algorithm's UAV cluster search and trajectory planning were tested,and 9 UAVs were simulated to search 3 targets in the 1×105 m 2 area.The simulation results show that the algorithm s 200 ms iterative update speed meets the actual claim.The control functions of the advanced flight control system are also applicable to other flight controls of the MAVLink protocol such as PX4 flight control.
作者
龚玉锋
赵文杰
何通能
Gong Yufeng;Zhao Wenjie;He Tongneng(School of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China;School of Aeronautics and Astronautics,Zhejiang University,Hangzhou 310027,China)
出处
《计算机测量与控制》
2020年第10期111-115,共5页
Computer Measurement &Control
基金
国家自然科学基金资助项目(61703366)
浙江省重点研发计划项目(2020C05001)
中央高校基本科研业务费专项资金资助(2019FZA4024,2017QN81006)。
