組建了一種基于嵌入式實(shí)時(shí)操作系統(tǒng)VxWorks 平臺的無人直升機(jī)控制系統(tǒng)，實(shí)現(xiàn)遠(yuǎn)距離無人直升機(jī)飛行狀態(tài)信息傳輸，接收地面基站命令后完成自主定點(diǎn)飛行任務(wù)。主要利用基于優(yōu)先級的消息隊(duì)列方法和嵌入式操作系統(tǒng)VxWorks 的信號量與看門狗定時(shí)功能實(shí)現(xiàn)
多任務(wù)間調(diào)度，獲得飛行狀態(tài)數(shù)據(jù)向地面基站傳輸與自主定點(diǎn)飛行的同步。通過實(shí)驗(yàn)飛行，該系統(tǒng)的正確性與可靠性得到了驗(yàn)證。
關(guān)鍵詞: 無人直升機(jī)，VxWorks，任務(wù)，消息隊(duì)列
Abstract: Established a remote control system based on embedded VxWorks system, which can transmit the unmanned helicopter flying real time date to ground control platform and fly form point to point without people control. Message queue based on priority and semaphore and exactitude timing through watchdog which are belonged to VxWorks system are utilized in the monitor system for scheduling multitask, achieve the synchronization with transmitting date and flying without people control. The system exactitude and reliability have been proved through the experiment flying.
Key words: unmanned helicopter，VxWorks，message queue，task