基于有限状态机理论的导航软件设计与实现

【作者】 黄杨明；

【导师】 罗兵；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2006， 硕士

【摘要】 捷联惯性导航系统的软件在导航系统中发挥着至关重要的承载和核心作用。在军事上,随着武器性能的不断提高,导航系统的规模变大,交互性更强,约束增多,结构也更复杂,传统的导航系统软件开发方法已经不能满足需要,因而必须寻求新的方法。有限状态机是描述和刻画实时嵌入式系统复杂状态行为的有力工具,是分析和设计导航系统软件的合理选择。论文首先介绍了传统有限状态机的原理和不足之处,进而详细介绍了目前先进的Harel状态图原理及应用。其次,把Harel状态图应用于导航软件的分析与设计,详细探讨了从导航软件的需求分析到实现方案的过程。论文以软件的需求分析为基础,逐步设计了软件设计的控制流程图、数据流图、接口设计和控制变量。运用面向对象的方法,构建了软件的用例图、顺序图和状态图,并总结了如何用状态图快速实现导航软件功能需求的方法。再次,详细介绍了导航计算机板的硬件组成和中断分配,硬件和软件的初始化,软件的更新和升级,应用程序的调试与下载等软件实现的各个方面,并通过实验验证了导航软件。实验结果表明,该软件运行正常,稳定,达到了预期目的。更多还原

【Abstract】 The software of strapdown inertial navigation system(SINS)is of great importance in SINS.In military,as the improvement of the performance of the weapons,the navigation system is becoming larger,more complicated,strongly restricted.As a result,the tradition method of the software development are not able to deal with it.New methods are in great need.Navigation system is a realtime embeded reaction system,hence,it can make use of the theory and experience of the embeded system.Finite state machine(FSM) is an effective tool to describe and depict the complicate state action of the realtime embeded system. So,FSM is a reasonable choice to analysis and design of the software of the navigation system.The thesis first describes the theory of the tradition FSM and its shortcomings,and then it expatiates the theory of the advanced Harel diagram and its application in many fields.Secondly,it applies the Harel diagram into the analysis and design of the navigation software,makes a comprehensive research on how to carry out the software from the requirement to the realization.It bases on the requirement of the software ,then gradually completes the design throught flow chart,data flow,interface design and crucial control viarables.It applies the OO(Object-Oriented)method to the design and construction of the use case view,sequence view and state charts.At last,it draws a conclusion on how to turn the requirement into state charts rapidly.Finally,the thesis makes a detail description of the hardware of the navigation computer and the distribution of the interrupts with the combination of the DSP and Rhapsody.It also describes the initialization of the hardware and software,the update of the application program,the debug and download of the software,and so on.Experiments are carried out to testify the design.The result of the experiment demonstrates that the software runs well and steadily.更多还原