Applicable To Distributed Multi-tasking Measurement System Of Navigation Observation Platform

At first the thesis presents the general situation of autonomous underwater vehicle (AUV) development throughout the world and gives an introduction to the actuality and trend of autonomous underwater observation platform technology. As the sequence of functional architecture, hardware architecture, software architecture, the thesis discusses the design and implementation of measure subsystem after analysing the space-time decomposition architecture and intelligence step-down architecture. The measure subsystem performs a real-time, multi-channel data collection on a AUV platform.The entire architecture of an AUV platform is described. The platform is an important item of National 863 plans projects and its measure subsystem is explained particularly in this paper.Using the idea of open, task-oriented and modularization the hardware and software structure are researched. A real-time multitask operating system is deployed successfully on the measure subsystem which is a portion of a distributed AUV control architecture. The measure subsystem and the other nodes of the platform are connected by CAN bus. The CAN receiving and transmitting programs are embedded into the RTOS. With a CMX-RTOS the real-time multitask measure software used in a distributed architecture is designed. Task decomposition, coordination and schedule mechanism of the task modules are discussed in detail. The communication protocol and software of the multi-channel interface between I~2C bus and RS232/485 are researched and implemented. Parallel sampling of multi-sensor is achieved and the validity of the data is improved.