組建了一種基于嵌入式實時操作系統VxWorks 平臺的無人直升機控制系統，實現遠距離無人直升機飛行狀態信息傳輸，接收地面基站命令后完成自主定點飛行任務。主要利用基于優先級的消息隊列方法和嵌入式操作系統VxWorks 的信號量與看門狗定時功能實現
多任務間調度，獲得飛行狀態數據向地面基站傳輸與自主定點飛行的同步。通過實驗飛行，該系統的正確性與可靠性得到了驗證。
關鍵詞: 無人直升機，VxWorks，任務，消息隊列
Abstract: Established a remote control system based on embedded VxWorks system, which can transmit the unmanned helicopter flying real time date to ground control platform and fly form point to point without people control. Message queue based on priority and semaphore and exactitude timing through watchdog which are belonged to VxWorks system are utilized in the monitor system for scheduling multitask, achieve the synchronization with transmitting date and flying without people control. The system exactitude and reliability have been proved through the experiment flying.
Key words: unmanned helicopter，VxWorks，message queue，task