基于QNX的综合导航信息处理设备的研究与实现

发布时间：2018-05-30 06:22

本文选题：综导信息处理系统 + QNX　；参考：《哈尔滨工程大学》2012年硕士论文

【摘要】：综合导航信息处理设备是整个导航系统中的核心设备。它与导航系统中的所有设备相连，监视其工作状态，同时将接收到的导航信息利用卡尔曼滤波等技术进行综合优化处理，并将所得到的精准导航信息提供给舰船航行以及其它系统使用。可见对于这样一个核心设备，需要一个多任务的平台来实现其所有功能，同时此平台要提供一种基于优先级的调度策略，以保证紧急任务能够在规定时间内得到执行，而这些都是嵌入式实时操作系统的重要特点。QNX操作系统除了具有嵌入式实时操作系统的所有重要特点外，还以其独特的微内核架构和基于消息的进程间通讯方式在可靠性、实时性等方面都非常适合应用在综合导航信息处理设备上。本文以我校研制的综合导航信息处理设备为研究背景，为了进一步提高其可靠性及实时性，将其由VxWorks平台移植到QNX平台下。在此基础上通过使用嵌入式通讯技术、数据融合技术以及QNX自带的强大界面开发技术，对系统的通讯能力、数据优化能力以及显示能力等方面进行研究与设计，使其成为性能更加稳定可靠、人机交互更加友好的产品。从可靠性和实时性两个方面将VxWorks操作系统和QNX操作系统的性能做了对比，并最终确定选择QNX操作系统作为综合导航信息处理设备的系统软件平台。深入研究了QNX独特的微内核架构和基于消息的进程间通讯方式。根据综合导航信息处理设备的实际需求，对整个系统的软硬件平台进行了全面设计。利用QNX所提供的buildfile系统构建技术对运行在本设备上的嵌入式QNX系统按需进行了裁剪。编写了本设备所采用的CSD_CAN卡模块的驱动程序，并最终实现了设备在QNX下的串口通信、以太网通信和CAN网络通信。利用扩展卡尔曼滤波技术对接收到的导航数据进行了优化处理。深入分析Photon图形微内核架构。同时结合人机交互需求及设备的功能，，对设备图形界面做了详细的设计，并最终在PhAB下完成了对界面的具体实现。最后，搭建测试环境，对系统功能进行测试，测试结果验证了本设计的正确性和有效性。
[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.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TN966;TP368.1

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