Intro

Control Architecture and Software Design

The main software component of the Icefin system is composed of a customized version of Greensea’s Balefire software. This software provides a framework for streaming sensor data and vehicle status to a control station, calculating inertial navigation estimates onboard the vehicle in real time, controlling the vehicle actuators in real time, and transferring high-level control signals from the surface control station to the vehicle during mission operation. The control software provides the capability for both real-time human operator control as well as autonomous control of the vehicle. Vehicle state and estimated position information is presented through a graphical interface to the operator at the surface control station

From Modular Controls and Instrumentation Software for Icefin ROV