自主水下航行器数据传输方法研究

Research on Data Transmission for Autonomous Underwater Vehicles

根据自主水下航行器(AUV)中控制系统局域网络(CAN)实际数据传输的特点,将实时周期数据安排在一系列时间片上进行传输,采用遗传算法对数据传输进行优化调度,实现了总线传输负荷均衡,避免了数据传输的冲突和竞争。相关的时序分析和仿真结果验证了该方法在AUV数据传输中的有效性。

Based on the CAN-bus data in the autonomous underwater vehicles(AUV),this paper presents a method analyzing the off-line schedule and deriving a set of periodic data in practical applications.It partitions the periodic data into a series of cycles according to the performance of CAN-bus data transmission and real-time periodic data in the AUV. The genetic algorithm scheduling method utilizes the CAN-bus transmission load balance and avoids the access jitter on the periodic data transmissions.The related timing analysis and simulation results showed its effectiveness in the AUV data transmissions.