基于VxWorks的水下航行器组合导航系统设计  

Design of AUV Integrated Navigation System Based on VxWorks

作　　者：李慧平[1] 张福斌[1,2] 徐德民[1,2] 卢淑娟[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072 [2]水下信息处理与控制国家级重点实验室,陕西西安710072

出　　处：《计算机测量与控制》2008年第10期1451-1453,共3页Computer Measurement &Control

基　　金：西北工业大学研究生创业种子基金项目(Z200708)

摘　　要：提出了一种在PC104硬件平台上,以VxWorks为实时操作系统的水下航行器组合导航系统设计方案;介绍了硬件组成原理,设计了基于联邦滤波器的数据融合算法,着重给出了基于VxWorks实时多任务软件的设计过程,包括软件层次设计和具体任务设计;由于采用了联邦滤波融合算法和嵌入式多任务实时操作系统,与传统的导航系统相比,设计的组合导航系统不但导航精度提高而且实时性大大增强;实验结论表明设计的组合导航系统高效可靠。Based on PC104 computer, using real-time multitask OS VxWorks , the design of AUV integrated navigation system is presented. The principle of hardware composition is introduced. The data fusion method based on Federal Filter is designed. The design of real time muhitask software using VxWorks including the design of the layer of the software and special tasks is showed specially. Because of using Federated Kalman Filter data fusion algorithm and embodded multitask OS, compared to general navigation system, the designed integrated navigation system is not only high in actuality but also high in real-time. Experiment result verifies the high efficiency and reliability of designed integrated navigation system.

关 键 词：PCI04 VXWORKS 自主水下航行器 联邦滤波器 组合导航 

分 类 号：U666.11[交通运输工程—船舶及航道工程]