测控技术2026，Vol.45Issue(4)：11-19,9.DOI:10.19708/j.ckjs.2025.10.253
多模态耦合与边界自适应多级外设闭环飞控起爆系统设计
Design of Multi-Modal Coupling and Boundary Adaptive Multi-Stage Peripheral Closed-Loop Flight Control Initiation System
摘要
Abstract
Based on the PX4 architecture,a multi-stage multi-modal temporal signal control method that cou-ples the flight control system with switching control circuit states is proposed.The bitfield-operated dynamic signal modality reconstruction method is adopted innovatively to break through the limitation of the rigidity of the flight controller's peripheral interfaces.A safety state transition finite automaton is constructed to realize state-coupled control between the flight controller and the switching circuit.By incorporating the dynamic boundary adaptive algorithm to optimize distance judgment,the closed-loop collaborative control among the QGroundControl(QGC),flight controller,and peripherals is achieved through software and hardware design.Without the need for an additional onboard computer,the trigger switching circuit can be divided into three sta-ges to achieve initiation control after the UAV approaches the target with ammunition when meeting multi-mo-dal conditions.The design,implementation,and verification of the system are described in detail.Experiments show that static tests verify the logical safety,and real flight is closer to the expected values compared with the control group at close rage.Additionally,the system has low cost,small size,stability and reliability,making it suitable for military and other mission-critical applications.关键词
PX4飞行控制器/多模态多级时序控制/信号模态动态重构/安全状态转移有限自动机/动态边界自适应/开关控制电路Key words
PX4 flight controller/multi-modal multi-stage temporal control/signal modal dynamic reconstruc-tion/safety state transition finite automaton/dynamic boundary adaptive/switching control circuit分类
信息技术与安全科学引用本文复制引用
丁瑞书,郝永平,刘志权,杨光明,杨志强..多模态耦合与边界自适应多级外设闭环飞控起爆系统设计[J].测控技术,2026,45(4):11-19,9.基金项目
国家级基金(ZBYYJJ-2019-02H) （ZBYYJJ-2019-02H）
