The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter

Yi Rui Tang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)

Abstract

This paper details the comprehensive software architecture and implementation of an onboard control system developed for a small-scale unmanned aerial vehicle (UAV) helicopter. A PC-104 computer stack is devoted to flight control as well as the interaction with other devices in the onboard system. The consideration to construct the software system is primarily focused on its real-time runtime environment and its competence of flexible reconfiguration. As a result, the system is developed under QNX Real-time Operating System (RTOS). The interaction function of the flight control computer with external devices is built in modules and processes running in a predefined order. The entire software system has been successfully tested in both actual field flights and a hardware-in-the-loop simulation (HILs) environment. The flight results have shown that the software system is competent enough to go on with automatic flight of the UAV helicopter.
Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages228-233
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2011
Externally publishedYes
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 23 Nov 201126 Nov 2011

Conference

Conference2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period23/11/1126/11/11

Keywords

  • HILs
  • onboard control
  • RTOS
  • software system design
  • UAV

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

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