UAV payload virtualization based on the unified driving and capability abstraction

统一驱动与能力抽象结合的无人机载荷虚拟化方法及实现

School of Computer Science, Northwestern Polytechnical University, Xi'an 710072, China

Received: 6 June 2023

Abstract

As UAV and swarms applications continue to deepen and become increasingly widespread, UAV payloads have characteristics such as diverse types, heterogeneous forms, and complex interfaces. At the same time, it is required that the system can quickly access and efficiently manage payloads. In order to decouple the close relationship between the payloads and the system platforms, and expand the compatibility with heterogeneous payloads, a novel payload device virtualization method is proposed. Firstly, a layered driver model is proposed to decouple the device hardware and device driver, standardize the payload access process, and the driver model is implemented by using the software and hardware. Secondly, a payload abstraction based on "capability" is proposed to decouple load application and device. Finally, specific examples for the verification of the virtualization method are implemented. The present UAV payload virtualization method can not only achieve software and hardware decoupling, but also enhance the compatibility and scalability of system, improving the efficiency of unified payload management.

摘要

随着无人机及其集群应用不断深入并日益广泛, 无人机载荷呈现种类多样、形态异构、接口复杂等特点, 但同时要求系统能快速接入并高效管理载荷。为了解耦无人机载荷与系统平台的紧密关系, 扩展对异构载荷的兼容能力, 提出一种新型的载荷设备虚拟化方法。提出分层驱动模型, 实现载荷硬件设备和驱动软件的解耦, 使载荷设备接入过程标准化, 该模型通过软硬件协同实现; 提出基于“能力”的载荷抽象, 解耦载荷应用功能及其设备实体; 给出了载荷虚拟化方法具体实现及其典型验证实例。上述载荷设备虚拟化方法通过载荷应用、载荷驱动及载荷设备的软硬件解耦, 增强了系统接入不同载荷的兼容性及扩展性, 提高了统一管理多种载荷的效率。