译者序
前言
致谢
第 1 章 绪论 ····························· 1
1.1 嵌入式系统概述 ························· 1
1.2 基于 Athena III PC104 的嵌入式
系统示例 ·································· 2
1.3 基于 ARDUINO 的嵌入式系统
示例 ········································ 3
1.4 基于树莓派的嵌入式系统示例 ······· 5
1.5 基于 PIC 的嵌入式系统示例 ·········· 5
1.6 动机 ········································ 6
1.7 嵌入式系统原型的系统设计方法 ···· 8
参考文献 ······································· 11
第 2 章 基于 Linux 的嵌入式系统
设计 ····························13
2.1 Linux 操作系统 ·························13
2.2 为嵌入式系统构建 Linux 环境 ·······15
2.3 Linux 中的程序设计 ···················20
2.4 系统设计与架构 ························21
2.4.1 主进程设计 ·······················23
2.4.2 传感器进程设计 ··················27
2.4.3 传感器融合线程设计 ············28
2.4.4 控制进程设计·····················31
2.4.5 执行器驱动程序设计 ············31
2.4.6 网络通信线程设计 ···············32
2.5 控制系统组件的测试 ··················33
2.5.1 惯性测量单元·····················33
2.5.2 DVL 传感器单元 ·················38
2.5.3 图像视频单元·····················41
2.5.4 深度传感器单元 ··················44
2.6 卡尔曼滤波器 ···························46
2.7 图形用户界面 ···························49
参考文献 ·······································53
第 3 章 嵌入式水下航行器系统的
建模与仿真 ···················54
3.1 概述 ·······································54
3.2 ROV 概览 ································54
3.3 ROV 动力学建模 ·······················55
3.3.1 水动力阻尼模型 ··················57
3.3.2 水动力附加质量模型 ············62
3.4 实验结果验证 ···························66
3.4.1 升沉模型辨识·····················66
3.4.2 偏航模型辨识·····················69
3.5 ROV 模型仿真 ··························73
3.6 仿真 ROV 模型的外部扰动 ··········78
3.7 布放和回收过程模型 ··················80
3.8 控制系统设计 ···························81
3.8.1 滑模控制 ··························82
3.8.2 面向 SMC 的模糊遗传算法 ····83
3.8.3 PID 方法 ···························90
3.9 ROV 海上实验 ··························
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