基于MOOS-IvP的自主式水下航行器的机载软件系统容错设计  

Fault Tolerant Design of Airborne Software System for Autonomous Underwater Vehicles Based on MOOS-IvP

作　　者：孙雪洁 李纪伟 SUN Xuejie;LI Jiwei(School of Information Science and Engineering,Ocean University of China,Qingdao 266100,Shandong,China)

机构地区：[1]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《船舶工程》2021年第6期90-95,共6页Ship Engineering

基　　金：国家重点研发计划资助项目(2016YFC0301401)。

摘　　要：为提高自主水下航行器的可靠性,构建基于MOOS-IvP的自主水下航行器机载软件系统容错管理模块。该模块包括客户端状态监控和容错处理。在容错处理中,提出一种时间冗余和双进程冗余相结合的容错处理技术。通过在水池和海洋中对自主水下航行器改进后的软件系统进行测试,并用经典的软件可靠性增长模型定量对比分析了自主水下航行器改进前后软件系统平均无故障运行时间。试验结果表明,增加容错管理模块后的软件系统的可靠性明显提高。In order to improve the reliability of AUV,a fault-tolerant management module of AUV airborne software system based on MOOS-IvP is constructed.The module includes client state monitoring and fault-tolerant processing.In the process of fault-tolerant processing,a fault-tolerant processing technology combining time redundancy and double redundant residual is proposed.By testing the improved software system of autonomous underwater vehicle in the pool and ocean,the average time between failures of the software system before and after the improvement of autonomous underwater vehicle is analyzed quantitatively by using the classical software reliability growth model.The experimental results show that the reliability of the software system is significantly improved by adding the fault-tolerant management module.

关 键 词：自主式水下航行器 MOOS软件系统 容错技术 MTTF SGRM 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]