自动水下航行器测量子系统实时多任务软件设计  

Real-time Multitask Software Design for the Measurement Subsystem of Autonomous Underwater Vehicle

作　　者：吕九红[1] 梁捷[1] 刘颉[1] 姜民[1] 杨逍[1] 路亚娟[1] 

机构地区：[1]国家海洋技术中心,天津300112

出　　处：《海洋技术》2010年第4期15-19,共5页Ocean Technology

基　　金：国家高技术研究发展(863)计划资助项目(2006AA09A312)

摘　　要：针对多传感器测量系统中存在的单任务软件系统很难实现同步、实时测量的问题,引入了实时多任务操作系统。基于开放式、面向任务、模块化设计思想,研究了自动水下航行观测平台测量子系统的多任务软件系统。描述了多任务软件的静态结构和动态模型,实现了多传感器测量任务并发执行,保证了各个传感器测量数据的实时性和有效性。To solve the problem of synchronization and real-time sampling in multi-sensor measure system which use a single task software,a real-time multitask operating system is introduced.Using the idea of open,task-oriented and modularization,the multitask software of measurement subsystem of an autonomous underwater vehicle（AUV） is researched,whose static structure and dynamic model is described.Parallel sampling of multi-sensor is achieved and the validity of real-time data is improved.

关 键 词：自动水下航行器 多传感器采集 实时 多任务 CMX-RTOS 

分 类 号：P715.5[天文地球—海洋科学]