自主式水下機器人數(shù)據(jù)采集與管理系統(tǒng)設計及其可靠性分析

1、中國海洋大學碩士學位論文自主式水下機器人數(shù)據(jù)采集與管理系統(tǒng)設計及其可靠性分析姓名：姚科申請學位級別：碩士專業(yè)：通信與信息系統(tǒng)指導教師：何波20090601自主式水下機器人數(shù)據(jù)采集與管理系統(tǒng)設計及其可靠性分析DesignandReliabilityAnalysisofDataLogging&ManagementSystemforAUVAbstractTheseyears，autonomousunderwatervehicle(AUV)ha

2、sbeenplayingallincreasinglyimportantroleinscientificinvestigationresourceexploitationandmilitaryapplicationsToimplementtheautonomousnavigationtheAUVneedsdatafromsensorstoacquiretheunderwaterenvironmentandthestateofitself

3、Dataloggingandmanagementsystem(DLMA)CanprovidethesedataWiththedataandusingsomearithmetic，theAUVcanestimateitsattitudeandcreatethefeaturesofmapandthenmakedecisionTheAUVsendscommandstothelowlevelcontrollersystemthroughDLMA

4、tocontrolthethrusterstoadjusttheposeofAUVandnavigateThedataloggingandmanagementsystemoftheautonomousunderwatervehiclenmningontheonboardPC／104moduleusesthesynchronizationandcommunicationmechanismbyusingmulti—threadingtoim

5、plementthefunctionofthecollectionofdatafromdifferentdevicesthroughmultiserial—portcardforsonar，compass，gyroandtheUSBportforaccelerometer，aswellasthefunctionofenvelopingandtransmittingthedatatotheonboardIndustrialPC(IPC)v

6、iaEthernetandthefunctionofmanagingandrecordingthedatalocallyCircularbuffermanagementclassdesignedbyourselvesandthesequencetablealeusedtomanagethedatainthememoryByus洫gthecircularbufferwecanbefreefromthosetrivialikeallocat

7、ingandreleasingtheresourcesofmemoryallthetimeThesoftwarereliabilityisanalyzedandevaluatedaswellWhite—boxtest啦methodisemployedtotestthesystem，andMusaexecutiontimemodelisusedtoestimatethereliabilityTheresultoftheestimation