摘要:我们都知道海洋里有着非常丰富的矿产和生物资源，为了捍卫我国的海洋权益，完成将我国发展成为海洋强国的建设目标，积极落实国家推行的可持续发展，对水下机器人（AutonomousUnderwaterVehicle）进行深入的探讨研究以及完善其相关功能，显得异常重要。民用上可以应用于海洋矿产勘探、海底地形探测，沉船打捞，水下考古，海洋生物探测等；军事上可以用来反水雷，作为自航水雷的载体、监察海战时水下敌情等，同样也具有极高的地位。论文从硬件平台设计，监控界面的显示，软件编程等几方面对AUV水面监控系统进行论述。

首先，论文分析了自主式水下机器人（AUV）的研发背景，意义以及世界各国当前的研究状况。接着综述AUV监控系统的设计，包含水面和海洋中两部分。其次，在详细全面的理解水面控制系统原理的基础上，按照其所要求达到的功能，从硬件和软件两方面进行阐述。硬件部分，主要介绍控制台和水面监控的通讯方式，通讯模块中包括各种通讯方式的介绍与对比，以及通信涉及到的硬件模块如：无线数传电台，光纤，光电转换器等的原理，选型和所要实现的功能的说明。

软件部分，开发了一套具有人机交互的上位机监控软件，监控软件基于MFC平台的VC语言开发而成，包括视频显示、数据保存、报警等功能，实现AUV实时数据传输，图像显示以及与水下的通信。

关键词：自主式水下机器人；控制系统；通信；VC++

Abstract:As we all known, there is rich in minerals and biological resources in the ocean, in order to defend our maritime rights and interests and achieve our country into a marine power development goals as well as implement the sustainable development strategy actively, it is very important to carry out the research of autonomous underwater vehicle (AUV) and improve its function. Meantime, Autonomous underwater vehicle (AUV) also has a very high military status. So, in the process of AUV research, it becomes important to design the control system and perfect this system. The control system design occupies the core status in the process of AUV research, the paper will discuss listed segments, including the hardware platform design, monitoring interface display, software programming and other aspects of the AUV surface monitoring system.

First of all, the paper analyzes the development background and significance of AUV, of course which also includes the current research status at home and abroad. Then it reviews the design of AUV monitoring system, including water and underwater. Secondly, according to the function that monitoring requires to achieve it, paper introduces system from two aspects including the hardware and software. Hardware part mainly introduces the console and the surface monitoring of the communication, communication module, including unlimited number of radio, fiber, photoelectric converter and other principles, selection and function to be achieved.

Software part, it uses MFC-based VC++language to program the software, which develops a set of real-time display data and finishes interaction function of the host computer monitoring. Of course, it can achieve AUV real-time data transmission, display image and communicate with parts of the underwater.

Keywords: AUV; control system; communication; VC++

目录

第一章 绪论 1

1.1论文研究背景以及意义 1

1.2AUV水下机器人国内外研究现状及发展趋势 3

1.2.1AUV水下机器人国内外研究现状 3

1.2.2AUV水下机器人发展趋势 6