Autopilot control system of underwater vehicle

Abstract

The invention provides an autopilot control system of an underwater vehicle. The autopilot control system comprises a control microcomputer node, a data acquisition microcomputer node and a detection communication system node. The detection communication system node comprises an iridium wireless communication module, a GPS positioning module, a thermohaline depth measuring instrument, an attitude sensor, a Doppler velocity instrument, a depth sensor and the like. The control microcomputer node is connected with the data acquisition microcomputer node through a serial port; the control microcomputer node is respectively connected with the Doppler velocity instrument, the attitude sensor and the depth sensor through the series port; the data acquisition microcomputer node is respectively connected with the iridium wireless communication module, the GPS positioning module and the thermohaline depth measuring instrument through the series port. Compared with the prior art, a data logger is separated from a controller, a navigation control system of the underwater vehicle is further scattered to other nodes, tasks of the control system are greatly reduced, and the improvement of system efficiency is achieved.

Description

technical field [0001] The invention relates to an autopilot control technology for an underwater vehicle (hereinafter referred to as AUV), in particular to an autopilot control system for an underwater vehicle. Background technique [0002] In the past, the autopilot control system of AUV mostly adopted a centralized control method, that is, the main control computer realized the data collection and equipment control of all sensors. The task of the control system is heavy and the efficiency is very low. Once a failure occurs, the entire control system will collapse and the reliability will be reduced. With people's requirements for AUV data processing speed, reliability and testability are getting higher and higher, so the traditional centralized control method can no longer meet the needs of AUV control system. At the same time, due to the non-uniform interface standards of AUV system components, the interconnection between components is relatively complicated, which limi...

AI Technical Summary

Problems solved by technology

The task of the control system is heavy and the efficiency is very low. Once a failure occurs, the entire control system will collapse and the reliability will be reduced.

As people's requirements for AUV data processing speed, reliability and testability are getting higher and higher, so the traditional centralized control method can no longer meet the needs of AUV control system

At the same time, due to the non-uniform interface standards of AUV system components, the interconnection between components is relatively complicated, which limits the expansion and compatibility of the system and affects the update speed of the system. In addition, in order to meet the multi-functional requirements of AUV, AUV is required to be able to Tasks can be flexibly reconfigured, and multiple complex tasks can be completed through software configuration; therefore, the existing centralized control methods can no longer meet the above requirements

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