DUNE
DUNE Unified Navigation Environment
Embedded software at the heart of the vehicle: modules for control, navigation, simulation, networking, sensing, and actuation.
DUNE is the on-board software running on the vehicle, which is responsible not only for every interaction with sensors, payload and actuators, but also for communications, navigation, control, maneuvering, plan execution and vehicle supervision. It is CPU architecture independent (Intel x86 or compatible, Sun SPARC, ARM, PowerPC and MIPS) as well as operating system independent (Linux, Solaris, Apple Mac OS X, FreeBSD, NetBSD, OpenBSD, eCos, RTEM, Microsoft Windows 2000 or above and QNX Neutrino). Thanks to its modularity and versatility, DUNE does not only run in our ASVs, ROVs, AUVs and UAVs, but also in our Manta communication gateways.
Features
Message Passing Concept
Write tasks, from sensor drivers to PID controllers, that run independently from each other on separate threads or processes, while exchanging data using the message bus mechanism.
CPU Architecture Independent
Portable among Intel x86 or compatible, Sun SPARC, ARM, PowerPC and MIPS
OS Independent
Portable among the Linux, Solaris, Apple Mac OS X, FreeBSD, NetBSD, OpenBSD, eCos, RTEM, Microsoft Windows 2000 or above and QNX Neutrino operating systems.
Small Memory Footprint
DUNE will run on a small memory footprint (no larger than 16 Megabyte).
Sensor drivers included
DUNE source code includes drivers for a large number of sensors related to navigation and control of unmanned systems.
Navigation Filter and Autopilot Included
DUNE source code includes a control architecture which comprises our navigation filter, autopilot, maneuvering controllers and supervisors for unmanned systems.