基于PC104的超高速水下航行器测控程序设计与实现

PC104-Based Ultra-High-Speed Underwater Measuring and Controlling Program Design and Implementation

超高速水下航行器自主航行试验需要雷载计算机提供时序控制、姿态自动控制等支持,在恶劣水下环境中测控系统的可靠性至关重要,它影响着实航数据的获取和航行控制研究的开展。以PC104嵌入式计算机为硬件平台,标准C语言为开发工具,针对超高速水下航行器航行控制和数据测量需求开发了测控程序。通过电平I/0进行时序及航行姿态控制,串口通信完成数据传输,并着重介绍了软硬件配合实现系统可靠性和数据安全性的方法,给出了一组实航测量数据,验证了测控程序的有效性。所述测控程序的实现方法可供工程设计人员参考。

The ultra-high-speed autonomous underwater vehicle navigation tests are supported by computers in terms of time-dependent actions and vehicle motion control. The reliability of the measure and control systems is very important because of the adverse underwater environment, which is the basis of getting real flight data and researching the navigation control. In aid of PC104 embedded system and standard C language, a program is designed according to the requirement of navigation control and data measure. The system uses I/O to control time dependent actions and vehicle motion control, and it transfers data through the COM port. The methods of achieving reliability and protecting data using a combination of software and hardware are technically described. An obtained real flight data is presented, which proves the validity of the measure and control system. This method can be a reference of engineers.