Critical Real-Time Software for an AUV Navigation System

This work describes the navigation software for the AUV Pirajuba. It is considered a critical real-time system and, therefore it should be developed according to a critical real-time methodology. The methodology proposed was based into five guidelines: development process; norms; operating system tools, application tools, and mathematical tools. The GESAM control architecture is presented for achieving generality, extensibility, safety, reliability, deliberation and reactivity. Inside GESAM, an Extended Kalman Filter was implemented for integrating information from Inertial Measurement Unit, GPS and Compass sensors. Performance tests showed that the system could fulfill requirements using 38.3% of processing consumption.