摘要
针对多传感器融合系统在动态、不确定环境下应用要求,提出了一种基于实时操作系统的软件结构。该结构具有鲁棒性,结构开放性,传感器可动态重构性以及传感器任务完成时间可预测性的特点。该结构由五种任务组成:传感器采样任务(SST),传感器数据处理任务(SDPT),融合任务(FT),管理任务(MT)和人机界面任务(MMIT)。最后,通过一个基于这种软件结构的医疗辅助机器人系统验证了该结构的可行性。
In this paper, a software architecture based on RTOS for multisensor fusion system (MFS) in dynamic environment is described. Thearchitecture has the characters of robustness, 'plug-in-play' for sensor, dynamically reconfigurable framework, and predictability of sensor action. Thesoftware architecture consists of five kinds of tasks: Sensor Sampling Task (SST), Sensor Data Processing Task (SDPT), Fusion Task (FT), ManagementTask (MT) and Man/Machine Interface Task (MMIT). A system based on this software architecture has been designed and developed to prove thefeasibility of this software architecture.
出处
《微型电脑应用》
2011年第7期24-28,70,共6页
Microcomputer Applications
