目录
1 无人机简介....................................................................................................................................5
1.1 背景与意义........................................................................................................................5
1.2 国内外研究现状................................................................................................................5
1.3 论文主要工作.....................................................................................................................6
2 GPS 模块硬件设计........................................................................................................................7
2.1 GPS 模块选择....................................................................................................................7
2.2 接口....................................................................................................................................7
2.2.1 UART........................................................................................................................7
2.2.2 USB..........................................................................................................................7
2.2.3 显示数据通道（DDC）..........................................................................................8
2.2.4 SPI..........................................................................................................................8
2.3 硬件主要器件选型.............................................................................................................8
2.3.1 主控制器................................................................................................................8
2.3.2 传感器....................................................................................................................9
2.3.3 磁强计数据采集....................................................................................................9
2.3.4 CAN 总线通信硬件...............................................................................................10
2.3.5 GPS 电路设计......................................................................................................11
2.4 PCB 布线.........................................................................................................................12
3 传感器和 GPS 接收机板..............................................................................................................12
3.1 GPS 传感器......................................................................................................................12
3.2 GPS 接收机板..................................................................................................................13
3.3 GPS 协议..........................................................................................................................13
3.4 GPS 导航的组成..............................................................................................................13
4 GPS 模块软件编程......................................................................................................................14
4.1 软件开发环境介绍..........................................................................................................14
4.2 软件结构..........................................................................................................................14
4.3 底层驱动软件的设计与开发..........................................................................................15
4.3.1 系统的启动过程................................................................................................15
4.3.2 串口驱动的设计................................................................................................16
4.3.3 CAN 总线驱动设计..............................................................................................17
4.3.4 传感器驱动设计..................................................................................................19
4.4 系统初始化......................................................................................................................20
4.5 GPS 模块数据采集...........................................................................................................21
4.6 GPS 模块软件调试..........................................................................................................21
5 总结..............................................................................................................................................23
参考文献..........................................................................................................................................24
致谢..................................................................................................................................................26
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