| 摘要 |
A control system for unmanned vehicles, such as unmanned aerial vehicles, which system comprises a central control unit (1) which comprises the components which are the most critical for the control of the vehicle. The central control unit (1) comprises at least one high performance attitude measuring sensor system (5), at least two low performance attitude measuring sensor systems (7), at least two position measuring sensor systems (8) and at least two calculation units (11) which are arranged to calculate the attitude and the position of the vehicle. The units function independently of each other, but are capable of communicating with each other via an internal bus (13). The system further comprises a plurality of actuating means (14, 15, 16, 17) and/or sensors (18, 19, 20, 21, 22) which are distributed externally of the central control unit (1). The distributed means (14, 15, 16, 17) and/or the sensors (18, 19, 20, 21, 22) communicate with each other and with the central control unit (1) via at least one bidirectional ring bus (3, 4), to which the means and/or the sensors are connected in series and which ring bus (3, 4) is connected to the central control unit (1) by at least two ports (2).
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