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| 多AUV嵌入式控制结构的研究 | |
| 引用本文： | 王必姣,徐德民,张福斌,高剑. 多AUV嵌入式控制结构的研究[J]. 弹箭与制导学报, 2009, 29(6) |
| 作者姓名： | 王必姣 徐德民 张福斌 高剑 |
| 作者单位： | 1. 西北工业大学航海学院,西安,710072 2. 西北工业大学航海学院,西安,710072;水下信息处理与控制国家重点实验室,西安,710072 |
| 基金项目： | 水下信息处理与控制国家重点实验室基金 |
| 摘 要： | AUV运动模型的复杂性、高维传感数据和计算密集的处理对其体系结构及其系统实时性提出了很高的要求.针对这种情况,文中设计了一种基于传感器的四层混合控制结构,并以实时操作系统VxWorks为软件平台开发AUV控制系统.研究表明,这种分层结构具有模块化的思想,且采用VxWorks设计软件使风险、成本以及开发时间都减至最小,能满足系统的要求. |
| 关 键 词： | AUV体系结构 嵌入式技术 |
Research of AUVs Embedded Control Architecture |
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| WANG Bijiao,XU Demin,ZHANG Fubin,GAO Jian. Research of AUVs Embedded Control Architecture[J]. Journal of Projectiles Rockets Missiles and Guidance, 2009, 29(6) | |
| Authors: | WANG Bijiao XU Demin ZHANG Fubin GAO Jian |
| Affiliation: | WANG Bijiao1,XU Demin1,2,ZHANG Fubin1,GAO Jian1,2 (1 School of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,China,2 National Key Laboratory for Underwater Information Processing , Control,China) |
| Abstract: | In order to solve the problem of complexity of AUV motion model,high-dimensional sensor data and computation-intensive processing demand better AUV architecture and real-time ability,so a sensor-based three layered hybrid architecture design was presented. The AUV control system was realized based on real-time multitask operating system VxWorks. This kind of layered architecture was modularized,using VxWorks to minimize risk,costs and development period,and can meet the system requirements. |
| Keywords: | VxWorks AUV architecture embedded technology VxWorks |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |