A Design Of AUV With Visual Function Based On ARM&Linux System

Autonomous underwater vehicles (AUV) have gained considerable attention over the years for exploration of the ocean environment. It's important to have a fitting control system to an auv. To this problem, this paper focused on a design of AUV with 3D visual function based on ARM+LINUX control system.In this design of AUV, S3C2410 is chosen as the main processor, 64M SDRAM and 64M NAND Flash are expended, also an ethernet chip CS8900a is added to enable its network function,UART ports are expended from 3 to 7, 2 SAA7113 chips are used to gain digital images.GPS, GPRS, digital compass, pressure sensor and temperature sensors are also designed. An embedded linux OS is planted on the hardware system. The main program is designed as many threads. There is a main threads to make decisions based on the path planning theory , the other threads are used to get information of the sensors or to control modules.First in this paper, the development status of AUV and its control system is researched.Secondly, the hardware design is introduced. Including the design of the ARM platform and the connection between other equipments and the ARM platform.Thirdly, based on the hardware system, the transplanting process of Embedded Linux is proposed. Including how to complie vivi and linux kernel, how to program the driver.At last, the design of main program is introduced. How to program to control the external modules and get the data of the sensors is also introduced in this part.