基于工业以太网标准Modbus/TCP通信协议，提出了一种岸基监控台与无人水下航行器之间的实时通信方案，以对无人水下航行器的位姿、状态进行实时监视与远程控制，并完成了基于工业Modbus/TCP协议的无人水下航行器监控系统设计。文中给出了该监控系统的水面和水下两级结构与组成，并详细地讨论了通信协议的确定以及两级系统的硬件平台搭建和监控软件设计；最终，完成了对无人水下航行器监控系统的水池联调试验。水池联调试验结果表明：基于工业Modbus/TCP协议的无人水下航行器监控系统实时性好，可靠性高。%Based on industrial Ethernet standard Modbus / TCP, a method for real-time communication between the remote monitoring station and unmanned underwater vehicle is proposed, so that the real-time position, attitude and status of the unmanned underwater vehicle can be monitored and operated by the remote station. This paper presents the structure and composition of a two-level monitoring system for the unmanned underwater vehicle, gives the communication protocol, and shows the design of hardware and software systems. Finally, the two-level system is tested in a tank. Test results demonstrate that the system based on industrial Modbus/TCP has satisfactory real-time performance and high reliability in the aspects of monitoring and control.
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