TY - GEN
T1 - Development of an onboard software system for mini unmanned aerial vehicle based on VxWorks
AU - Ma, Xiaoning
AU - Fang, Jiancheng
AU - Sheng, Wei
PY - 2008
Y1 - 2008
N2 - The development of flight software for mini unmanned aerial vehicle (UAV) is presented in this paper. The flight software, based on the embedded real-time operating system VxWorks, performs multiple tasks including data acquisition, strapdown solution, kalman filter, flight control, communication and fault handling. The framework of flight software and scheme of module partitioning is discussed in the paper. The flight software is established upon a group of processes with each process carrying out a specific task. Inter-process synchronization, mutual exclusion and shared data protection are performed by different methods to ensure reliability and efficiency. The programs executing algorithms including strapdown, kalman filter and control laws are reentrant in order to ensure thread safety. At last, several tests are held and the results proved that multi-task mechanism has remarkably improved the reliability and real-time capability of mini UAV flight software.
AB - The development of flight software for mini unmanned aerial vehicle (UAV) is presented in this paper. The flight software, based on the embedded real-time operating system VxWorks, performs multiple tasks including data acquisition, strapdown solution, kalman filter, flight control, communication and fault handling. The framework of flight software and scheme of module partitioning is discussed in the paper. The flight software is established upon a group of processes with each process carrying out a specific task. Inter-process synchronization, mutual exclusion and shared data protection are performed by different methods to ensure reliability and efficiency. The programs executing algorithms including strapdown, kalman filter and control laws are reentrant in order to ensure thread safety. At last, several tests are held and the results proved that multi-task mechanism has remarkably improved the reliability and real-time capability of mini UAV flight software.
KW - Flight software
KW - Inter-process communication
KW - Shared memory
KW - Unmanned aerial vehicle (UAV)
KW - VxWorks
UR - https://www.scopus.com/pages/publications/56749153581
U2 - 10.1007/978-3-540-88513-9_39
DO - 10.1007/978-3-540-88513-9_39
M3 - 会议稿件
AN - SCOPUS:56749153581
SN - 3540885129
SN - 9783540885122
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 362
EP - 370
BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
PB - Springer Verlag
T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Y2 - 15 October 2008 through 17 October 2008
ER -