基于实时多任务操作系统的多传感器融合技术研究

Research on Multi-sensor Fusion Technology Based on Real-Time Multi-task Operating System

本文分析了多传感器融合系统的结构特点，指出了目前研究工作中存在的影响系统实时性和实用性的因素。将实时多任务操作系统ＲＴＯＳ（Ｒｅａｌ－Ｔｉｍｅ Ｍｕｌｔｉ－ｔａｓｋ Ｏｐｅｒａｔｉｎｇ Ｓｙｓｔｅｍ）引入多传感器融合系统的研究中，以提高多传感器融合系统的实时响应。最后，介绍了ＲＴＯＳ成功地用于插接件快速测量系统的技术细节和实验结果。

The framework characteristics of multi-sensor fusion system is introduced in this paper,and the factors which influence the system on the properties of real-time and practicability are presented too. In order to improve real-time response speed,the RTOS(Real-Time Operating System) is introduced into multi-sensor fusion system. The technical details and experiment results of a successful example which is developed based on RTDOS to inspect contact pitches are introduced at the end of the paper.