问天M9飞控规格参数表
| 飞控参数 |
|
| 硬件标准 |
FMU v6X
|
| MCU | STM32H753 |
| IO MCU | STM32F103 |
| IMU减震 | 专利八宝笼减震方案 |
| 加速计与陀螺仪 | ADIS16507（航空工业级）+SCH16T（战术级）+IIM42653（工业级） |
| 气压计 | AUAV-L30D+ ICP20100 |
| 磁罗盘 | RM3100 |
| PWM继电器 | 有 |
| 遥控器协议输入 | SBUS，CRSF |
| PWM数量 | 16 |
| PWM电平切换 | 支持3.3V与5V之间切换 |
| 电源接口 | 2路总线、6路DroneCAN接口 |
| 伺服电压监测 | 9.9V |
| 工作温度 | -20℃~85℃ |
| 集线器 | |
| 接口明细 | CAN接口×6 、PWM（伺服）接口×16、伺服供电接口×1、 SBUS IN×1、 电源接口×1、电源监测口×2、主供电口×1、Telem-TTL×2、Telem-RS232×1、Telem-RS422×1、GPS1-TTL接口×1、GPS2-TTL接口×1、网口×1、I2C接口×1、ADC接口×1、Type-C接口×1、U盘接口×1 |
| 飞控电压输入 | 12-61V |
| 内置RTK | |
| 卫星频段支持 |
GPS: L1C/A,L1C, L2C, L2PY, L5 |
| 导航刷新率 | 20Hz |
| 特色功能 | 抗干扰 抗诱骗 |
| RTK定位精度 | 水平：0.6 cm + 0.5 ppm 垂直： 1 cm + 1 ppm |
| 单点定位精度 | 水平1.2m 高程1.9m |
| DGNSS定位精度 | 水平0.4 高程0.7m |
| 速度精度 | 3cm/s |
| 定向精度 | 天线距离 1M： 航向 0.15° |
| 授时精度 | xPPS out：5ns 事件精度 < 20 ns |
| 定位时间 | 冷启动 < 45s 热启动< 20s 重新捕获 1s |
| 数据协议 | DroenCAN 协议 SBF NMEA 0183, v2.3, v3.03, V4.0 RTCM v3.x (MSM included) 输入 |
| 内置空速计 | |
| 空速计冗余 | 两组 |
| 空速测量范围 | 0~439.9km/h（122.2m/s） |
| 最大误差带 | ±0.15% |
| 温度补偿 | 有 |
| 线性校正 | 有 |
| 内置数传链路 | |
| 通信频率 | 902-928MHz |
| 传输协议 | 透明传输 |
| 传输技术 | 跳频传输 |
| 通信距离 | 60km（通视，良好电磁环境） |
| 输出功率 | 100mW~1W（20-30dBm）出厂默认1W |
| 空口速率 | 最高276kbps |
| 灵敏度 |
-111dBm @ 57.6kbps -110 dBm @ 115.2 kbps -108 dBm @ 172.8 kbps -107 dBm @ 230.4 kbps -106dBm @278kbps |
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