| The dissertation is on the research of an Underwater Glider Embedded Control Systemwhich is designed for the purpose of meeting the requirements for the development ofUnderwater Glider. In this paper, on detailed analysis of the characteristics about underwaterglider control system, the author put forwards the design philosophy of the hardware andsoftware structure applied in embedded control system for underwater glider. Based on thisconception, and using QNX real-time, embedded operation system as development platformand C language as development language, the control system was designed and develpped forthe Underwater Glider, which not only supports the requirement of generalization but alsosupports the requirement of facility.This paper is divided into three parts. In the fist part, the author analyses thedevelopment environment of the control system. In this part, real-time platform QNX and itscharacteristic architecture are introduced as well as QNX6.2 with Windows2000 andLinux9.0 on the performance of threads creation and the performance of processes creationare compared based on the considerations.In the second part, the main idea of control system development is expatiated. The authordescribes the software and hardware composition and the development objectives, anddiscusses the requirement and feasibility of the system. The design conception of the generalstructure of control system software and hardware are given. In addition, the interprocesscommunications in the control system are compared and the communication subsystem basedon Message Passing and Common Data Zone is designed and realized.In the third part, the underwater glider embedded control system is designed in detail. Inthis part, the DiskOnChip driving under QNX operation system and the QNX operationsystem porting under DOC are achieved.The work models of Underwater Gliderpre-programing control under AUV mode and the remote operation under ROV mode arerealized; The compiling process of the Mission Program is introduced; Based on the particular function requirements of the Underwater Glider, and the detailed discussion and analysisabout Constant Gliding Motion and Space Helix Turning Motion, a mode of integratednavigation and positioning is put forward, and the navigation control system is designed basedon Dead Reckoning Algorithm. In addition, the data acquisition working process of TCM2electronic compass is integrated discussed; and what is more, using the multi-sensor datafusion technique, the Data Acquisition System is developed and a multi-sensor informationprocessing treatment is put forward. In the last of this part, the functions and creation processof the Mission Program are mainly analyzed.The experiment shows that the control system designed in this paper meets therequirements on movement control, achieves the navigation and localization of the carrier andthe data acquisition of multi-sensor system, and realizes the interprocess communications anddata storage by making use of the excellent performance of QNX operation system. |
