A Software Based Operator Interface For An Unmanned Underwater Vehicle

There are many advantages to using low cost workstations for the operator interface to an unmanned underwater vehicle. They provide greater design and operational flexibility and can provide more detail to the user. An implementation using a UNM computer running Xwindows is detailed. This computer sends operator commands to the vehicle and displays the status reported back. Status messages are received at regular intervals and stored in an array, thus allowing the operator to observe performance over time. Vehicle faults are reported via popup windows. Data is sent in a low level format allowing it to be displayed in raw and processed formats. Since the program is event driven, some traditional programming approaches don’t work; techniques for circumventing these limitations are discussed. A state free design is used; control items function as both status and command inputs with separate code for each. This allows multiple control stations to be used.