摘要水下自主航行器（AUV）是一种先进的水下航行器或探测器，能够在水下实现自主航行，探测和采集工作。随着人们对海洋开发的日益深入，现阶段人们对自主水下机器人AUV 的使用向着远程、深海、多功能和集群作业的方向发展，对AUV 提出了更高的要求。但是目前 AUV 在自主决策、自主规划、故障诊断等自主能力方面发展仍不成熟。为了确保 AUV 在复杂、未知的海洋环境中能够安全高效地完成任务，实时显示 AUV 系统的当前状态及时地下达水面控制命令，从而弥补 AUV在自主航行能力上的不足，开发 AUV 水面监控软件平台是必不可少的。84845

本文针对自主式水下航行器试验平台及其实际应用需求，设计了基于Visual studio2012开发平台，运用Visual C#。NET的Windows窗体应用程序开发了一套通信稳定可靠，操作简单便捷水面监控软件。本论文设计的水面监控软件主要由以下几部分组成：水底影像采集显示模块用于对AUV水底航行状况做直观的监控；航迹与路径显示模块用于对AUV实际航行轨迹进行实时反馈；设备参数采集模块用于监控AUV在水下航行时的设备工作状态以及AUV实际地理参数的测量；控制模块用于对AUV发送任务规划指令，控制AUV的实际航行方向、速度和深度等。此外，还对水面监控系统的硬件进行了选型设计，考虑到AUV的特殊工作环境，选用了无线数传电台和卫星通信设备的水面通信硬件。本文最后还对所设计的水面监控软件的部分功能进行模拟实验，实验效果很好。

毕业论文关键字：水下自主航行器、水面监控软件、无线通信、Visual C#

Abstract AUV is an advanced underwater vehicle or detectors that can be achieved autonomous underwater navigation, detection and collection。 With the deepening of the marine development stage people use for AUV toward the direction of the remote, deep-sea, multi-cluster and job development, AUV put forward higher requirements。 But now AUV development in the autonomous decision-making autonomy, self-planning, fault diagnosis is still not mature。 To ensure that AUV in a complex, unknown marine environment can safely and efficiently complete the task, real-time display of the current state of AUV system promptly issued a water control commands, which make up AUV deficiencies in the autonomous navigation capabilities, develop AUV water monitoring software platform necessary。

This paper for autonomous underwater navigation device test platform and the practical application demand, design based on visual studio2012 development platform using Windows Forms applications of visual C#。NET developed a set of communication is stable and reliable, simple and convenient operation, surface surveillance software。 In this paper, the design of water monitoring software mainly consists of the following parts: underwater image acquisition display module is used for the AUV underwater navigation situation directly monitor, track and path display module is used for the AUV actual navigation path for real-time feedback; equipment parameter acquisition module used measure to control AUV underwater navigating equipment working status and the actual geographical parameters of AUV; control module is used for the AUV mission planning to send commands, to control the AUV actual sailing directions, the speed and the depth of。 In addition, the design of the hardware of the water surface monitoring system is selected, considering the special working environment of AUV, the water surface communication hardware of radio data transmission radio and satellite communication equipment is selected。 At the end of this paper, some functions of the water surface monitoring software are simulated, and the experiment is successful。

Keywords: autonomous underwater vehicle, water surface monitoring software, wireless communication, Visual C#