PROGRAM PHILOSOPHY AND SOFTWARE ARCHITECTURE FOR THE HUGIN SEABED SURVEYING UUV

摘要

HUGIN is an untethered underwater vehicle (UUV) intended for bathymetric data collection for detailed seabed surveying. The sensor suite and hardware architecture is briefly described as a background for the software design of HUGIN's control system. The underlying program philosophy and the modular and layered software architecture are presented. Emphasis is put on critical program modules for error detection and error handling. Finally, a test concept based on a simulator and a mutual link communication protocol, which provides fiexible functionality for extensive and realistic testing of software and hardware in the UUV itself, is discussed.