设计了基于ARM的小型电视引导察打一体无人机任务控制系统.该系统基于Philips的LPC2138 AMR7和USOS II嵌入式实时操作系统,作为无人机的中心控制系统完成与4个分系统之间的实时数据交换和数据解算工作.系统通过与数据链电台的接口实现与地面站的数据交换;通过与飞行控制系统的接口实现目标锁定后的飞行轨迹控制;通过与电视跟踪系统的接口实现目标的跟踪与锁定;通过与云台和摄像头的接口实现电视跟踪分系统的控制.系统对各分系统的数据收发稳定可靠,转发的数据误码率低于0.1%;对于云台的转动控制快速、准确、稳定;发送给飞控系统的轨迹偏差控制角准确.该系统已完成工程样机的研制,并成功完成多次试飞和模拟打击实验,为大型察打一体无人机的研制提供参考.

This paper presents the design and the realization of an ARM-based fly task control system in the UAV, guided by small TV and with the ability of attacking and scouting. As a central part of the UAV, this system utilizes the PHILIPS ARM7-LPC2138 and has embedded the real-time operating system USOS II to accomplish the task of both the real-time data exchange and data treatment with other four subsystems. The data exchange between the ground station and the system is achieved through the interface with the data link radio; the target tracking and locking is achieved through the interface with the TV control system; the flying path control under the condition of the locked target is achieved through the interface with the flight control system; the control of the TV control system is achieved through the interface with the Pan/tilt and the camera. The data exchange is stable and reliable with the error rate lower than 0.1%. The system controls of the Pan/tilt can meet the requirements of speed, veracity and stability. The control angle of the path deviation is accurate and it is transmitted to the flight control system. At present, the development of the prototype is completed, with test flights and simulated attacking experiments to provide technical supports for the large-scale UAV with the abilities of attacking and scouting.