| 摘要 |
1. The system of controlling and navigating an unmanned flying apparatus consists of an on-board computer, a satellite navigation system, inertial navigation systems, a central aerodynamic controller, blocks of analogue, binary and digital inputs and outputs, a multiplexer, a set of position sensors for operating mechanisms, an on-board radio receiver and a signal decoder. Unique characteristics: The set of angular velocity sensors (GX, GY, GZ), the satellite navigation system (GPS), the magnetometer (TCM), the inclinometer (K) and the central aerodynamic controller (CA) are integrated into the processor (C). The latter communicates with the ground flight control station (NSKL) through the on-board radio receiver (RC) and decoder (D). The processor is equipped with blocks of analogue (BWA), binary (BWB) and digital (BWS) inputs and outputs. The following devices are connected to the analogue inputs (BWA): the inclinometer (K), the central aerodynamic controller (CA) and the sensors determining the position of control surfaces (AH, AL, AV, AP) and the propulsion-controlling lever (AS). The block of binary inputs (BWB) is connected to the outputs of utility device control systems and the emergency state devices. The digital inputs are connected to the satellite navigation system (GPS) and the inertial navigation systems (TCM, GX, GY, GZ). }The analogue outputs, in turn, are connected - through amplifiers, that constitute a multiplexer (MUX) of signals from the ground-based, flight-control station (NSKL) - to the operating mechanisms of control surfaces (MWH, MWL, MWP, WMV) and the propelling system (MWS). The latter are coupled with the position sensors (AH, AL, AP, AV, AS) through the block of analogue inputs (BWA).
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