介绍了用于对20 kg级便携式AUV的运行状态进行控制的软件设计以及实现.该软件是基于MFC对话框运行于Windows操作系统下的程序,使用了多线程编程技术和串口通信技术.串口操作线程用于向串口读取或写入数据,并且在处理后把最终结果发送给主线程和导航线程.在主线程中将数据显示到界面上,在导航线程根据导航算法计算出用于导航的数据并写入串口以控制AUV的运行状态,包括AUV上浮、下潜、前进、后退、左转弯、右转弯.实验结果表明,该软件达到了预定效果.%The design and implementation of control software for portable AUVs at 20 kg level are introduced. The software is based on MFC dialog-box program, runs under Windows operating system, and uses multi-thread programming and serial communication technologies. Serial operation thread is used to read the data from serial port and write the data to it, and to send the final results to the main thread and navigation thread after processing. Data is displayed on the interface in the main thread. In the navigation thread, the data used for navigation is calculated on the basis of the navigation algorithm, and is written into the serial port to control the status of AUV, including AUV floating, diving, going forward, going backward, turning left or right.
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