针对Pixhawk开源项目的特点，开发一型基于开源飞控的无人艇平台。首先围绕Pixhawk项目的特点，从硬件框架、软件框架以及MAVLink通信协议3个方面对其进行介绍。通过相关的实船试验，验证了所开发无人艇平台的可行性及有效性。
According to the characteristics of Pixhawk open source project, an unmanned surface vehicle platform based on open source flight control project was developed. First of all, it focuses on the characteristics of the Pixhawk project, from the hardware framework, software framework and MAVLink communication protocol. Finally, the feasibility and effectiveness of the unmanned surface vehicle platform are verified by relevant experiments.
2020,42(3): 148-151 收稿日期：2019-07-16
DOI：10.3404/j.issn.1672-7649.2020.03.031
分类号：U674;E273
基金项目：装备预研领域基金资助项目（61403120305）
作者简介：闫勋(1994-),男,硕士研究生,研究方向为多海洋无人航行器编队控制。
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