The Application Of Micro-modular Programming Technique Based On State-machine In Acoustic Glider

Underwater glider is a new ocean observation platforms, it relies on changing the center of gravity position to change its posture, changing their buoyancy to motion. It can do a long, large-scale monitoring of the marine environment, without direct power-driven.Underwater glider project is the key project of high-tech Research and Development Program (863 Program). This article designed hardware and software of underwater glider, the main task and innovations are as follows:(1)The system maintenance and information communication are researched intensively. To solve the difficulties of system maintenance, the design of the hardware and software are all correspondingly optimized:the hardware board is divided into core board and sub-board; ISP technology is used into the design of software. Controller Area Network technology which has arbitration mechanism is used in the information and communication subsystem to solve uncertain timing issue.(2)Unified modeling language (UML) is used in the process of modeling of underwater glider. UML is an object-oriented analysis method, and a standardized modeling language, that can describe complete and accurate blueprint of software system.(3)For the traditional lack of openness of embedded system software, the solution based on quantum platform is proposed and applied in underwater glider. The hierarchical state machine of main active objects are designed and tested.(4)Quantum platform software tracking software QSPY, is used to track the real-time operation. QSPY software is the unique assistant of quantum platform. Compared with the debug serial port, it uses less memory and performs more efficiently.In summary, this paper systematically introduced underwater glider, designed the hardware, analyzed the system application needs and designed the overall software system. The software system based on Quantum platform, ensures the reliability, stability and real-time systems, and provides a high performance and stability of the software platform for the more complex functions.