摘要
无人机地面站中虚拟操纵杆在触摸屏方式下容易实时控制无人机,而在PC机应用下控制不灵活,针对这一问题,本文采用实体遥控器的控制原理,在地面站中设计虚拟遥控器,实现地面站在PC机应用下也容易控制无人机。本文研究了AT9S实体遥控器以及地面站中虚拟操纵杆的功能,具体介绍了Ubuntu操作系统下开发环境的搭建,并研究了地面站中新增的虚拟遥控器界面的设计方法,地面站与无人机之间采用的Mavlink通信的原理,及虚拟遥控器的实现方法,并通过与虚拟无人机连接,实现地面站向无人机发送实时的遥控参数的功能验证。
In the UAV ground station, the virtual joystick is easy to control the drone in real time under the touch screen mode, but the control is not flexible under the PC application. In response to this problem, this paper uses the control principle of the physical remote controller to design the virtual remote control in the ground station. The virtual remote control makes it easy to control the drone under the PC application. This paper introduces the functions of the AT9S physical remote controller and the virtual joystick in the ground station, and introduces the construction environment of the Ubuntu operating system. The design method of the new virtual remote control interface in the ground station, the principle of Mavlink communication between ground station and drone and the implementation method of the virtual remote control are introduced. The function of transmitting the real-time remote control parameters to the drone by the ground station is realized by connecting with the virtual drone.
作者
石秀
曾桂根
SHI Xiu;ZENG Guigen(Nanjing University of Posts and Telecommunications,School of Communication and Information Engineering,Nanjing 210003,China;Nanjing University of Posts and Telecommunications,National Engineering Research Center for Communicationand Network Technology,Nanjing 210003,China)
出处
《电视技术》
2019年第4期83-86,102,共5页
Video Engineering
作者简介
石秀(1994—),硕士生,主研宽带无线通信;曾桂根(1967—),硕士生导师,主要研究方向为主要研究方向为MIMO通信信号处理、协作通信、绿色通信。
