本文選題：綜導(dǎo)信息處理系統(tǒng) + QNX��； 參考：《哈爾濱工程大學(xué)》2012年碩士論文

【摘要】：綜合導(dǎo)航信息處理設(shè)備是整個(gè)導(dǎo)航系統(tǒng)中的核心設(shè)備。它與導(dǎo)航系統(tǒng)中的所有設(shè)備相連，監(jiān)視其工作狀態(tài)，同時(shí)將接收到的導(dǎo)航信息利用卡爾曼濾波等技術(shù)進(jìn)行綜合優(yōu)化處理，并將所得到的精準(zhǔn)導(dǎo)航信息提供給艦船航行以及其它系統(tǒng)使用�？梢妼τ谶@樣一個(gè)核心設(shè)備，需要一個(gè)多任務(wù)的平臺來實(shí)現(xiàn)其所有功能，同時(shí)此平臺要提供一種基于優(yōu)先級的調(diào)度策略，以保證緊急任務(wù)能夠在規(guī)定時(shí)間內(nèi)得到執(zhí)行，而這些都是嵌入式實(shí)時(shí)操作系統(tǒng)的重要特點(diǎn)。QNX操作系統(tǒng)除了具有嵌入式實(shí)時(shí)操作系統(tǒng)的所有重要特點(diǎn)外，還以其獨(dú)特的微內(nèi)核架構(gòu)和基于消息的進(jìn)程間通訊方式在可靠性、實(shí)時(shí)性等方面都非常適合應(yīng)用在綜合導(dǎo)航信息處理設(shè)備上。 本文以我校研制的綜合導(dǎo)航信息處理設(shè)備為研究背景，為了進(jìn)一步提高其可靠性及實(shí)時(shí)性，將其由VxWorks平臺移植到QNX平臺下。在此基礎(chǔ)上通過使用嵌入式通訊技術(shù)、數(shù)據(jù)融合技術(shù)以及QNX自帶的強(qiáng)大界面開發(fā)技術(shù)，對系統(tǒng)的通訊能力、數(shù)據(jù)優(yōu)化能力以及顯示能力等方面進(jìn)行研究與設(shè)計(jì)，使其成為性能更加穩(wěn)定可靠、人機(jī)交互更加友好的產(chǎn)品。 從可靠性和實(shí)時(shí)性兩個(gè)方面將VxWorks操作系統(tǒng)和QNX操作系統(tǒng)的性能做了對比，并最終確定選擇QNX操作系統(tǒng)作為綜合導(dǎo)航信息處理設(shè)備的系統(tǒng)軟件平臺。深入研究了QNX獨(dú)特的微內(nèi)核架構(gòu)和基于消息的進(jìn)程間通訊方式。根據(jù)綜合導(dǎo)航信息處理設(shè)備的實(shí)際需求，對整個(gè)系統(tǒng)的軟硬件平臺進(jìn)行了全面設(shè)計(jì)。利用QNX所提供的buildfile系統(tǒng)構(gòu)建技術(shù)對運(yùn)行在本設(shè)備上的嵌入式QNX系統(tǒng)按需進(jìn)行了裁剪。編寫了本設(shè)備所采用的CSD_CAN卡模塊的驅(qū)動程序，并最終實(shí)現(xiàn)了設(shè)備在QNX下的串口通信、以太網(wǎng)通信和CAN網(wǎng)絡(luò)通信。利用擴(kuò)展卡爾曼濾波技術(shù)對接收到的導(dǎo)航數(shù)據(jù)進(jìn)行了優(yōu)化處理。深入分析Photon圖形微內(nèi)核架構(gòu)。同時(shí)結(jié)合人機(jī)交互需求及設(shè)備的功能，，對設(shè)備圖形界面做了詳細(xì)的設(shè)計(jì)，并最終在PhAB下完成了對界面的具體實(shí)現(xiàn)。最后，搭建測試環(huán)境，對系統(tǒng)功能進(jìn)行測試，測試結(jié)果驗(yàn)證了本設(shè)計(jì)的正確性和有效性。
[Abstract]:Integrated navigation information processing equipment is the core equipment in the whole navigation system. It connects with all the devices in the navigation system, monitors its working status, and optimizes the received navigation information by using Kalman filter and other techniques. The accurate navigation information is provided to ship navigation and other systems. It can be seen that for such a core device, a multi-task platform is needed to achieve all its functions, and the platform should provide a priority based scheduling policy to ensure that urgent tasks can be executed within a specified time. These are the important features of embedded real-time operating system. Besides all the important features of embedded real-time operating system, QNX operating system is also reliable with its unique micro-kernel architecture and message-based inter-process communication. Real-time and other aspects are very suitable for the integrated navigation information processing equipment. In this paper, the integrated navigation information processing equipment developed by our university is taken as the research background. In order to further improve its reliability and real-time performance, it is transplanted from VxWorks platform to QNX platform. On this basis, by using embedded communication technology, data fusion technology and powerful interface development technology of QNX, the communication ability, data optimization ability and display ability of the system are studied and designed. It becomes a more stable and reliable product with more friendly man-machine interaction. The performances of VxWorks operating system and QNX operating system are compared from two aspects of reliability and real-time, and the QNX operating system is chosen as the system software platform for integrated navigation information processing equipment. The unique micro-kernel architecture of QNX and message-based inter-process communication are studied in detail. According to the actual requirements of the integrated navigation information processing equipment, the hardware and software platform of the whole system is designed. The embedded QNX system running on this device is clipped on demand by using the buildfile system construction technology provided by QNX. The driver of CSD_CAN card module used in this device is written, and the serial port communication under QNX, Ethernet communication and CAN network communication are finally realized. Based on the extended Kalman filter, the received navigation data are optimized. Deeply analyze the Photon graphics microkernel architecture. At the same time, combined with the requirement of human-computer interaction and the function of the equipment, the graphic interface of the equipment is designed in detail, and the concrete realization of the interface is completed under PhAB. Finally, the test environment is built to test the function of the system, and the test results verify the correctness and effectiveness of the design.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TN966;TP368.1

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