| This issue is raised in order to resolve the steering problem of the shipping-course and shipping-track in navigation, the purpose is to control the ship navigation in accordance with the plan of shipping-track and the set of the shipping-course. In order to improve the reliability of the system, the system uses a three-voting machine technology. The paper analysises and designs the software of the shipping-course and the shipping-track, which is divided into three main modules:First, it is the main control module. The main task of the module is to deal with steering feedback information, navigation status informaition, on-off information, user set parameter information comprehensivly and coordinatingly, which can control the rudder in real time. The difficulty of the software design is the realization of three machines communication and the problems of bus control and coordination.Second, it is human and machine interactive module. This module is to display and set the navigation information. Display information includes the latitude and longitude vertical and horizontal drift, shipping-track, steering angle, alarm information, mode of operation, communication information, host state, yaw and other information. Information setting facilitates the pilot to modify various navigation commands and parameters setting.Third, it is the information acquisition module. This module receives and stores the data information, which comes from GPS, the meteorological instrument, the electric compass, log device and the integrated navigation system. The module provides the relevant parameters for the main control module.The article designs the software of the three main control module in detail, the difficulty is the communication between the three machines and the reasonable distribution of bus occupancy. It also descripes the key technology - the use of token. The three main control modules acquire bus occupancy through the token and supervise the main control module that has got the token. This proposed method also applies to the other multi-machine system and has the reference value and practical significance. The main control module has been completed partly. The function of the information acquisition module and human and machine interactive module carried out. Throughtesting, the software works stablility, and completes the function as scheduled.In addition, the paper defines the data format and data type of the bus in detail, the software reliability has also been researched, which ensures the stability of system operation.This project is commissioned by a company from March 2007 to now. The project has three major research stages:user needs study stage, hardware design, system board and software flow design stage, software development and testing stage. |
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