基于VxWorks的水下机器人嵌入式导航系统的研究  

Research on the Embedded Navigation System of Autonomous Underwater Vehicle Based on the VxWorks

作　　者：孙玉山 王建国[1,2] 万磊[1,2] 王波 

机构地区：[1]哈尔滨工程大学水下智能机器人技术国防科技重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《应用基础与工程科学学报》2009年第6期899-909,共11页Journal of Basic Science and Engineering

基　　金：863基金资助项目(2008AA092301);哈尔滨工程大学基础研究基金资助(HEUFT08017;HEUFT08001)

摘　　要：构建了基于VxWorks嵌入式操作系统的智能水下机器人组合导航系统,详细阐述了水下机器人导航系统软、硬件体系结构.硬件采用基于PC104总线的多板卡嵌入式系统,导航系统核心处理器采用Intel公司的PIIX-4芯片处理器以及VxWorks实时嵌入式操作系统.文中还详细阐述了导航系统软件信息流程、数据处理及基于强跟踪卡尔曼滤波的船位推算算法.最后通过自主目标搜索、长距离航行试验等海试验证了该导航系统的可行性与可靠性.The integrated navigation system of autonomous underwater vehicle based on VxWorks embedded OS is constructed,hardware and software structure of the system are presented in detail.Based on PC104 bus,using Intel PIIX-4 as the controller＇s CPU,the navigation system adopts the VxWorks system,which is a powerful real-time OS.Meanwhile,the whole information flow of the navigation system,data processes,dead-reckoning based on strong tracking Kalman filter and Singer model are also discussed.Finally,the reliability and feasibility of the navigation system are demonstrated by sea experiments including autonomous search mission in an unknown area and long distance navigation.

关 键 词：嵌入式系统 智能水下机器人 VXWORKS 导航 船位推算 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]