航模直升机微型组合导航与控制系统研究

以JR-260型航模直升机为研究对象,基于嵌入式Linux操作系统,开发一套微型组合导航与控制系统。系统硬件采用了组合导航系统MNAV100CA和嵌入式飞行控制计算机Stargate,集成了固态的加速度计、角速率传感器、磁航向计、大气机和GPS接收机,以及R/C接收机脉位调制（PPM）航模舵机接口。软件设计采用扩展的卡尔曼滤波和状态监视方法实现了导航系统设计,基于实时Linux线程机制编制了航模舵机的驱动程序,以802.11b无线网络实现空中飞参信号的实时下传,并在便携式地面站上实现了实时监控功能。

Investigation of a Model Helicopter Navigation and Control System

This article take the JR- 260 mold helicopter as the object of study, based on embedded Linux operating system, developing a micro- integrated navigation and control systems. Hardware system using the integrated navigation system MNAV100CA and embedded flight control computer Stargate, a solid integration of the accelerometers, angular rate sensors, magnetic heading of the atmosphere and a GPS receiver, and the R/C receiver pulse- modulation （PPM） Model aircraft steering gear interface. Software design to Expand Kaman filtering and surveillance methods to achieve the status of navigation systems design, based on real- time Linux threading mechanism of the model aircraft steering gear drivers, to 802.11 b wireless network signals in the air to fly the Senate real- time transmission and the portable ground station on the real- time monitoring.