Research On The Technology Of Data Distribution Service Quality For Control System Of USV

Unmanned Surface Vessel(USV)is an open platform on the sea surface integrating many complex tasks.It tends to be the development of modularization,integration and intelligence.Unmanned Surface Vessel integrates many task subsystems with differences in hardware equipment and software applications between each subsystem,but the format of data and the task level carried are different.The service quality requirements in the process of heterogeneous data information interaction in Unmanned Surface Vessel cannot be ignored.Considering the distributed architecture of Unmanned Surface Vessel,this study pays attention to using the Data Distribute Service(DDS)to integrate the distributed system,putting forward the Publish/Subscribe(P/S)model as the data distribution model of Unmanned Surface Vessel,and focuses on the quality of service(QoS)requirements in the process of data information interaction between control system and other functional subsystems,to provide corresponding solutions for specific requirements.The study enhances the ability of data information interaction in the vessel and constructs a new generation of data distribution model for Unmanned Surface Vessel.The main tasks in the thesis:Based on the distributed system of Unmanned Surface Vessel,the data information interaction between the control system and the controlled subsystem is described in this thesis.Make clear the service quality requirements of the data information involved in the control process during the interaction,which can be divided into main requirements and other requirements.The main requirements include real-time requirements and reliability requirements,while other requirements are dual-machine hot standby seamless switching requirements,historical data storage management requirements,autonomous obstacle removal requirements,data life management requirements and system resource dynamic management requirements.Considering the development trends of "modularization" and "integration" of Unmanned Surface Vessel,the relationship between subsystems should be kept loosely coupled.Combined with the structure and coupling degree of several typical data distribution models,the Publication/Subscription model is proposed as the data distribution model;the data distribution service technology is used as a means to integrate the distributed system ofUnmanned Surface Vessel;and the "bus" data distribution model of Unmanned Surface Vessel based on Publication/Subscription is built up.Study the communication support of data distribution service to the data information interaction between Unmanned Surface.Vessel subsystems,including the entity concept model of data distribution service,automatic discovery algorithm,matching algorithm and notification mechanism,which lays a theoretical foundation for the realization of data release and data subscription between Unmanned Surface Vessel subsystems.The strategy of service quality is the specific support of data distribution services to constrain communication.This study starts with the causes of service quality demand for data and information interaction between Unmanned Surface Vessel subsystems,make the service quality strategy related to this demand,studies the realization of service quality strategy to control data communication,and formulates the solution for each service quality requirement in this study.Build up the experimental platform for data Publish/Subscribe,and write the statistical algorithm of quantitative index,which is used to test the real-time and reliability of data information interaction in experiments.Analyze the experimental results to summarize the factors affected by the real-time and reliability.The experimental results show that it is feasible to use data distribution service combined with quality of service strategy to realize data distribution on demand between Unmanned Surface Vessel subsystems.