基于嵌入式Linux的小型无人直升机实时定位的研究

发布时间：2018-06-19 06:48

本文选题：S3C2440 + Linux　；参考：《安徽理工大学》2013年硕士论文

【摘要】：小型无人直升机因其质量轻、体积小、隐蔽性强、灵活高、成本低廉等诸多优点而被非常广泛的应用在军事目标的侦察、人员的搜索等众多的军事与民用领域。但是小型无人直升机工作时的加速度、速度、飞行角度的不确定性再加上空气阻力、天气因素及工作环境等外部因素,所有这些都会使小型无人机的飞行路线变得难于预测。因此,实时了解小型无人直升机的实时位置以便观测其是否在安全路线飞行具有十分重要的现实意义。本文研究小型无人机工作时空间实时定位系统的实施方案,研究并设计具有自主知识产权的小型无人直升机的实时定位系统,GPS全球定位系统在小型无人机的实时定位系统中起到很大的作用,本文首先研究GPS系统的组成结构及工作原理。研究了空间导航系统的坐标转换。以嵌入式linux为操作系统,以S3C2440芯片、GPS模块、nRF24L01通信模块、STM32芯片为硬件开发平台,在配上相应的应用软件,研究具有实时监视小型无人机所在位置的实施方案,探索研究具有自主知识产权的小型无人直升机的实时定位系统。本论文在论述GPS及嵌入式系统技术知识的基础上给出基于Linux操作系统的小型无人直升机实时定位系统的总体设计方案。该设计方案的微处理器采用三星公司的S3C2440芯片,采用Linux作为嵌入式操作系统,采用全新的sirf3代芯片(REB3571)的GPS模块。小型无人直升机上的GPS模块接收卫星的空间无线信息,然后GPS模块将接收到的信息传输到S3C2440芯片上,S3C2440芯片将接收到的定位信息经过处理后通过空间无线通信系统传输到地面监测站。最后,对本文进行了回顾与总结,指出其中的不妥的地方,提出了改进的新思路。
[Abstract]:Small unmanned helicopter is widely used in many military and civilian fields such as reconnaissance of military targets and search of personnel because of its advantages such as light weight, small volume, strong concealment, high flexibility, low cost and so on. But the acceleration, the uncertainty of the angle of flight and the external factors such as air resistance, weather factors and working environment all make the flight path of the small unmanned helicopter difficult to predict. Therefore, it is of great practical significance to understand the real time position of small unmanned helicopter in order to observe whether it is flying on a safe route. In this paper, the implementation scheme of real-time positioning system for small UAV is studied. This paper studies and designs the real time positioning system of small unmanned helicopter with independent intellectual property right. GPS global positioning system plays an important role in the real time positioning system of small unmanned aerial vehicle. Firstly, the structure and working principle of GPS system are studied in this paper. Coordinate transformation of space navigation system is studied. Taking embedded linux as operating system, using S3C2440 chip and communication module STM32 as hardware development platform, with corresponding application software, the implementation scheme of real-time monitoring the location of small UAV is studied. To explore and study the real-time positioning system of small unmanned helicopter with independent intellectual property. On the basis of discussing the technical knowledge of GPS and embedded system, this paper presents the overall design scheme of real-time positioning system for small unmanned helicopter based on Linux operating system. The microprocessor of this design is based on Samsung S3C2440 chip, Linux is used as embedded operating system, and new sirf3 generation chip REB3571) is used. The GPS module on a small unmanned helicopter receives space wireless information from a satellite. Then the GPS module transmits the received information to the S3C2440 chip and the S3C2440 chip processes the received positioning information to the ground monitoring station through the space wireless communication system. Finally, the article is reviewed and summarized, and the defects are pointed out, and new ideas for improvement are put forward.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：V279

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