文档介绍：南京航空航天大学
硕士学位论文
基于ARM的嵌入式SUAV飞控系统设计与实现
姓名:梅羡林
申请学位级别:硕士
专业:导航、制导与控制
指导教师:曹云峰
20080101
南京航空航天大学硕士学位论文
摘要
本课题源于空中机器人大赛参赛项目。针对比赛要求,提出了一种基于 ARM
的低成本、高性能的嵌入式微小无人机飞行控制系统的整体方案,并由此展开
了一系列的研究工作。
本文的重点是飞行控制系统的姿态确定系统设计和飞行控制系统的硬件设
计及实现。
本文首先回顾了国内外微小无人机发展历程,介绍了其研究现状,并指出
了微小无人机的发展趋势。根据需求设计了低价位、高性能的嵌入式微小无人
机飞行控制系统的整体方案。
设计了低成本、低功耗的微小无人机的姿态确定系统方案,利用姿态四元
数、龙格库塔法、高斯牛顿法和扩展卡尔曼滤波器估计出系统的姿态矩阵;对
姿态确定方案进行了仿真。
设计了基于 ARM 的飞行控制系统的硬件部分,包括电源及复位电路,
UART、SPI、JTAG 等接口电路,PWM 信号发生电路,A/D 采样电路及前置电
路,光电耦合电路等;完成了整个飞控系统 PCB 板制作以及对所设计电路的调
试工作,使得系统运转正常。
最后针对本文设计的硬件平台进行了启动代码等系统底层软件的编写和调
试,建立了系统的启动环境。

关键词:微小无人机,飞行控制系统,ARM,姿态确定系统, Bootloader
i
基于 ARM 的嵌入式 UAV 飞控系统设计及实现
ABSTRACT
This thesis works mainly on design and realization a embedded flight control
system for Mini UAV (Unmanned aerial vehicles), which is low-cost, small volume,
low power consumption and high performance. The purpose of the work is for
attending the National Aerial petition. Therefore, a series of researches
has been carried out thoroughly.
The thesis focuses on the design of attitude determination system and its
hardware system.
In chapter 1, the thesis reviews the history of developing the Mini and Micro
UAV,then introduces the actuality of them, and points out the development direction
of the Mini and Micro UAV.
In chapter 2, the conceptual design of the whole embedded flight control system
for mini UAV is introduced, which is expected to be a low cost, low power
consumption system but having high performance.
In chapter 3, the low-cost, low power consumption attitude determination system
is introduced. Based on the quaternion, the EKF (Extended Kalman Filter) is used to
filter the quaternion, and then the attitude determination system is simulated.
Furthermore, functional module and the whole hardware system are designed in
chapter 4 and 5,which are based on the ARM (Advanced RISC Machines), including
the power supporting circuit, reset circ