摘要
随着人类对海洋探索的不断深入,水下机器人技术已成为一种重要的海洋开发手段,并得到了迅速的发展。对于水下机器人的控制命令和航行作业状态信息的传送,岸基或船基平台通常借助于水声通信来完成。本文开发的水声通信系统就是以水下机器人为工作载体,设计与实现一个水下移动通信系统的硬件平台。
水声通信系统的设计充分的考虑了水下机器人的应用需求,主要围绕系统低功耗、“ARM+DSP”的双处理器结构、以及嵌入实时操作系统VxWorks三个方面展开。系统硬件平台主要包括基于CODEC的音频编解码模块、基于FPGA的逻辑控制与数据缓冲模块、基于ARM的嵌入式系统模块和基于DSP的协处理器模块。整套硬件平台能够完成数据采集、通信信号处理和系统控制。
信号处理板是硬件平台的研究重点。在信号处理板设计与调试过程中,首先通过可编程逻辑器件FPGA建立了系统的数据通路,实现了FPGA、ARM、DSP三个模块间相互通信;其次,进行了独立模块的存储器与外设的调试和底层软件设计;最后,在基于ARM的嵌入式系统模块上建立了操作系统VxWorks,以实现系统任务调度和进程管理,并在VxWorks下完成了与硬件相关的应用模块调试,从而实现了可应用于水下机器人的实时水声通信系统的基本功能。
Along with the rapid exploitation of the ocean, the underwater vehicle technology has become an important means. The vehicle control commands from shore-based or ship-based platforms and status messages are usually transmited by the acoustic communication system. The content of the paper is the design and implementation of a hardware platform in the underwater mobile communications system which carries in the underwater vehicle.
The application requirements of underwater vehicle is adequately taken account into the design of the system, which mainly focus on the following aspects: low-power chips, dual-processor structure - "ARM + DSP", as well as embedded real-time operating system - VxWorks. The hardware platform includes the audio codec modules, FPGA-based logic control and data buffer module, ARM-based embedded system modules and DSP-based co-processor module. The entire hardware platform is designed to realize the functions including data acquisition, communication signal processing and system control.
The key of the hardware platform is a signal processing board. In the course of designing and debugging signal processing board, data access is set up by FPGA at first, which realizes the communication among FPGA, ARM and DSP. Secondly, memories and peripherals of the independent chips-based modules are debugged successfully. And low-Level software of the system is implemented subsequently. Finally, a VxWorks is built in the ARM-based embedded system module in order to realize the task scheduling and process management. Moreover, debugging the application modules relating to the hardware can be carried out in the VxWorks operating system. Thus, the basic functions are realized, which are applied to the real-time acoustic communication part of underwater vehicle.
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