Aiming at MUAV ’ s actuality of complex functional requirements and urgent demands of better reliability and real-time performance

the development of MUAV flight software based on the embedded operating system VxWorks is accomplished

multiple functions are realized

including multi-sensors data collection

strapdown algorithm

Kalman filter

flight control

ground communication and fault handling. Methods of multitask partitioning and priority assignment in MUAV flight software based on VxWorks are stated

and design of software modules is also presented in detail. Improved methods under the multi-task mechanism are put forward according to various deficiencies of single-task MUAV flight software. Results of comparison experiments and field experiments prove that the introduction of embedded real-time operating system remarkably improves real-time capability and reliability of MUAV flight software system.