Open Systems Data Transmission Method For Underwater Vehicle

Autonomous Underwater Vehicle (AUV) is an important vehicle employed in ocean observation and exploitation. It is very significant to research and develop novel intelligent AUV for ocean resource exploitation and utilization. According to the requirement of developing a new type AUV, this paper provides the AUV's interior control & communication systems based on CAN field-bus technique. The main contributions of this thesis are as followings:1. According to the demand of the mission and performance of an autonomous underwater vehicle, an integrated scheme of control & communication system is proposed, and hardware of transfers system of simulating AUV's interior configuration is established through Advantech industrial computer and other PCs.2. According to the character of the data transmission in the AUV's interior system, a CAN protocol in application layer is designed. In this protocol, there is compartmentalization of node, setting of accept filter, definition of message identifier, format of the transmitting data and so on. Based on the protocol described above, the communication among the AUV's interior devices has been carried out.3. Analysis of transmitting data in the AUV's interior control & communication is made, and the data is divided into periodic segment and random segment, respectively. The transmitting scheduling of periodic data on the bus had been optimized by genetic algorithm (GA).4. The AUV's interior control & communication systems software requirement analysis and detailed design are accomplished based on software engineering method. The software is modularization. The interface drive program, data transfer program, nodes communication program and main control program are made independently. A library of nodes communication function is also provided for the software update in future. Finally, the demonstration software which can simulate, inspect and record the communication progress is provided by Visual Basic language.