Design of the embedded navigation system of autonomous underwater vehicle based on the VxWorks

被引：0
|
作者：
Sun, Yushan [1 ]
Liang, Xiao [1 ]
Wan, Lei [1 ]
Pang, Yongjie [1 ]
机构：
[1] Harbin Engn Univ, Coll Shipbldg Engn, Harbin, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7 | 2007年
关键词：
embedded system; autonomous underwater vehicle (AUV); VxWorks; navigation; dead-reckoning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The embedded navigation system of autonomous underwater vehicle is introduced, which includes navigation overall architecture, hardware and software structure. The navigation system based on PC104 bus adopts the VxWorks system, which is a powerful real-time operating system. Intel PIIX-4 is used as the navigation controller's CPU. Meanwhile, the whole information flow of the navigation system is also discussed in this article. Data processes and dead-reckoning algorithm based on strong tracking Kalman filter and Singer model are presented in detail. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.
引用
收藏
页码：1031 / 1036
页数：6
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