| Acoustic visual system is an essential part of AUV and it takes charge of guiding AUV to sail, avoiding the obstacle, detecting and distinguishing target. To accomplish AUV's automatic ability, it adopts the most widely used embedded operating system VxWorks to fulfill the reliability and timeliness.This paper analyzes the working process and characteristic of acoustic visual system. According to the requirement of real timeliness and reliability, the hardware platform is designed to use PC/104 and embedded operating system VxWorks environment. According to the characteristic of PC/104 on which the system is working, VxWorks developing environment is designed on the peripherals of PC/104. Different boot ways are also determined by different debugging requirements. Finally, this paper focuses on the design of the acoustic visual system software. The software is divided into nine tasks by their different functions. The priority of nine tasks is determined by their working schedule. Some factors may cause task suspend and lead to system destruction. According to the characteristic of them, different methods are used to make sure the tasks run efficiently and correctly.Due to the combination of AUV and embedded operating system, software design is quite different from that used before. Software is designed in embedded way. Considered with multi-task character of embedded system, system software is divided into several parts by their functions. Embedded system ensures the automation and reliability of AUV. |
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