AUV (Autonomous Underwater Vehicle) control software system structure based on function autonomous model

Abstract

The invention relates to an autonomous underwater vehicle (AUV) control software system structure based on a function autonomous model, the system structure designs a function module division method for AUV control software, and the method adopts a mission task and execution management function module as a thinking layer of the software. Function autonomous module division is carried out on the control software according to the control function, and the obtained function autonomous modules are relatively independent in function. Meanwhile, a two-layer division method of an execution layer and a reaction layer is adopted in the function autonomous module, and a low-coupling-degree function module cooperation method is designed, so that a control software system structure has the characteristics of being easy to expand and maintain; and meanwhile, an upper software development function interface independent of an operating system is obtained at the bottom layer of the control system architecture by adopting an operating system function packaging method, so that the software architecture has good reusability and portability when being transplanted among different operating systems.

Description

technical field [0001] The present invention relates to an AUV control software architecture based on a functional autonomy model, specifically an AUV control software formed by combining functional module division, functional autonomous module layering, functional module collaboration method design and operating system function packaging technology Architecture. Background technique [0002] Autonomous underwater vehicle (AUV) control system software (hereinafter referred to as AUV control software) is run in the control computer of AUV, using artificial intelligence, automatic control, pattern recognition, information fusion and understanding, new materials, energy, communication and Technologies and methods such as system integration realize the software system of AUV intelligent control and autonomous operation, and the methodology for organizing AUV control software algorithms is called AUV control software architecture. [0003] At present, the architecture of AUV con...

AI Technical Summary

Problems solved by technology

However, with the emergence of new application requirements, the increase in the complexity of mission tasks, and the increase in intelligence, the system composition of AUVs has become more and more complex, with various devices and sensors installed, and multiple types of intelligent technologies and methods adopted. As a result, the code size of the AUV control software is getting larger and larger, and the logic is more and more complex. Therefore, the design of the AUV control software only based on the layered architecture can meet the needs of intelligent control, but the modularity level of the software is relatively low, which is difficult to implement. Maintenance, reuse and expansion of functions have become a practical problem that needs to be solved urgently when AUVs are more and more widely used

At the same time, the AUV control software runs in the control computer of the carrier, and most of the control computers use an embedded real-time operating system, which leads to many AUVs with the same function but different control computer operating systems. These system compatibility issues are caused by differences in system functions between operating systems

In order to solve this problem, it is often necessary to perform a large number of changes and debugs on the parts of the AUV control software that involve system functions, resulting in the need for a lot of manpower and time to migrate software between different operating systems, and may cause many problems due to platform migration. software performance defects

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