自动水下航行器测量子系统实时多任务软件设计

Real-time Multitask Software Design for the Measurement Subsystem of Autonomous Underwater Vehicle

针对多传感器测量系统中存在的单任务软件系统很难实现同步、实时测量的问题,引入了实时多任务操作系统。基于开放式、面向任务、模块化设计思想,研究了自动水下航行观测平台测量子系统的多任务软件系统。描述了多任务软件的静态结构和动态模型,实现了多传感器测量任务并发执行,保证了各个传感器测量数据的实时性和有效性。

To solve the problem of synchronization and real-time sampling in multi-sensor measure system which use a single task software,a real-time multitask operating system is introduced.Using the idea of open,task-oriented and modularization,the multitask software of measurement subsystem of an autonomous underwater vehicle（AUV） is researched,whose static structure and dynamic model is described.Parallel sampling of multi-sensor is achieved and the validity of real-time data is improved.