The Development Of Embedded Database Based On VxWorks For AUV

At the recent years, with the development of ocean research and exploitation, higher request is put forward for the intelligent level of Autonomous Underwater Vehicle(AUV), which is an important component of ocean high-tech. As an autonomous intelligent system, architecture plays an important role in the whole integration and scheduling. Because the management of global information under architecture is the heart of the whole system, in which all information will be exchanged, how to manage the global information is a very important problem. Data sharing and reliability were not perfect because file was almost used in the data management of AUV. The thesis does some research for embedded database that plays an act of the data management for AUV. It is a good method to improve system reliability and reduce system consumption.The thesis is made up of three parts. The first part does some research for representative architecture of intelligent robot including hierachical, subsumption and function distributed. This part analyses the key role of global database combining the architecture of AUV and puts forward a kind of architecture based on function distributed dealing with the global information of AUV. The second part discusses common forms of data management and analyses embedded database's feature especially something difference between embedded database and common database. In order to supply the foundation of selecting suitable embedded database for AUV, some kinds of embedded database that support VxWorks are researched. The third part develops databases based on VxWorks, which make use of Berkeley DB designed by Sleepycat company and RDMe designed by Birdstep company. Berkeley DB is a simple database based on disk file system, which is used to real-time data acquisition on "ShiYan2" robot. It is indicated that the scheme is feasible. Global database simulation environment is built to test the consumption of system resource by Berkeley DB and common file system. Whereas RDMe is a dual data model embedded database that supports net model and relation model. Both data models are used to design database in the thesis. The outgoings of system is tested by the simulation environment.The test and computer simulation prove that the data management of AUV by embedded database which plays an important role in improving system reliability and reducing system consumption is feasible.