水下自主航行器大容量信息存储的研究与实现

Implement of Autonomous Underwater Vehcile Large Capacity Information Storage

现代化建设对水下航行器提出了更高的要求,尤其是大航程、高机动性,使得水下自主航行器内的信息种类增多,连接方式多样化,测试点多和记录数据量大,测试记录节点的数据导出采用串口等串行设备,将使导出时间长到难以接受;在研究比较了多种嵌入式实时操作系统后,采用嵌入式实时操作系统VxWorks,在扩充的海量flash上运行文件系统来管理数据和代码,可以很好的解决试验数据的记录和传输问题;为了更有效地管理大容量的nandflash存储芯片上的数据文件,在VxWorks系统上设计了文件系统,实现了TureFFS块设备驱动,与本机dosFs文件系统挂接的在水下自主航行器内测记录节点,从而解决系统信息的大容量存储和快速导出的方法;研究的方法具有广泛的适用性,在其他飞行器、自主航行器和机器人的测试系统中也有广泛的应用前景。

Ocean exploration and military applications have put forward higher demands for autonomous underwater vehicles （AUV）, especially for longer voyage and higher maneuverability, which result in more kinds of information to be processed, more connection modes. more testing nodes and more data records. If the data of testing nods was exported with UART （） as usual, the consuming time would be too long to be tolerated. To overcome the above difficulty, we present a method of data storage and transmission with the embedded operat ing system VxWorks and Ture Flash File System （TureFFS） drivers based on the nand flash device. To effectively manage the data files on the nand flash storage chip of large capacity, we design a file system on the VxWorks system, and make TureFFS communicate with Vx Works dosFs on the AUV testing node. Therefore, large capacity information storage and fast data export can be implemented. Our scheme may be applied comprehensively to other testing systems such as aerocraft, autonomous vehicle, robot, and so on.