基于嵌入式Linux的船舶远程监控系统
摘要
近年来，随着船舶航运向着数字化、智能化、网络化的方向发展，航运企业为优化物流管理、提高营运效率、掌握船舶动态航行信息特别是避免船舶遇险等需要，对航行船舶实施远程信息监控技术提出了更高的要求。
Internet技术的飞速发展和嵌入式技术的日益成熟，使得基于嵌入式的网络化远程监控系统已成为当前研究的热点。本文通过对当前船舶远程监控系统的现状和发展的调研，提出了一种新的船舶远程监控系统设计方案，将嵌入式技术与卫星网络通信相结合，船舶终端控制系统采用ARM9内核的S3C2440微处理器和Linux操作系统，组合了船载自动识别系统(AIS)和船舶保安报警系统(SSAS)构建平台，实现了基于嵌入式Linux的船舶远程监控系统。
本文首选分析了船舶远程监控系统的发展和现状，提出了嵌入式技术应用于船舶远程监控系统中的必然趋势，并论述了课题拟实现的目标。然后重点研究了INMARSAT卫星通信系统、Linux内核及其关键技术的实现机制，针对系统的实现需求，移植了BootLoader和Linux内核，搭建了其硬件和软件平台，并在此基础上，设计并实现了基于嵌入式Linux的船舶终端数据采集监控系统，软件设计基于模块化，兼具可移植性和可扩展性，包括底层串口通信模块、数据采集模块、数据发送和接收模块、船舶局域网网络通信模块等，最终完成整个系统的软件程序集成。同时，基于安全性的考虑，给出了系统的安全性解决方案，包括CGI安全编程和包过滤防火墙的建立。
在无人值守的情况下，系统能够自动、快速、可靠地对陆地端的远程请求做出响应，通信效率高，实现了陆地端监控中心对船舶端的远程实时数据采集、控制与管理。不仅为船舶的航行安全提供了有力的技术保障，也为船舶的自动化和现代化管理提供了很好的技术平台。
In recent years, with the development of shipping industry that tends to be digital, intelligent and networked, Higher requirement of remote monitoring technology for sailing ships has been proposed by shipping company to optimize logistics management, improve operational efficiency and to master ship navigation information, especially to avoid ship in distress.
With the rapid development of Internet technology and the increasingly mature embedded technology, Remote monitoring system based on embedded technology has become a hot research topic. This paper proposes a new remote monitoring system architecture after investigating the current development of remote monitoring systems for ships. The terminal control system that consists of AIS(Automatic Identification System) and SSAS(Ship Security Alarm System) combines the embedded technology and satellite communication technology. It adopts embedded system design based on ARM9 and Linux to realize remote monitoring system from ship to land.
To start with, this paper analyzes the development and status quo of the remote monitoring system for ships, proposes it is an inevitable trend to develop remote monitoring system for ships based on embedded technology, and discusses what this paper wants to achieve. Afterwards, the INMARSAT system and Linux kernel, including the mechanism for implementation of Linux key technology are researched emphatically. Because of demanding for the realization of system, the Bootloader and Linux kernel are ported. Thus the system's hardware and software platforms are structured. On the basis of this, the supervisory control and data acquisition system for ships based on embedded Linux is designed and realized. This system that based on modular software design has strong expansibility and portability. It includes the bottom serial communication module, data acquisition module, transmitter and receiver module, ships LAN network communication module and so on. Finally, the whole system software is integrated. At the same time, by taking into account the security of the system, this paper gives the system's security solutions, including security CGI programming and the establishment of the packet filter firewall.
In unattended environment, the system can automatically, rapidly and reliably respond to requests from ship to land. It high efficiently realizes real-timely remote supervisory control and data acquisition from ship to land. This design scheme will adequately safeguard the ships navigation security and improve the level of ship automation and modern management.
Internet技术的飞速发展和嵌入式技术的日益成熟，使得基于嵌入式的网络化远程监控系统已成为当前研究的热点。本文通过对当前船舶远程监控系统的现状和发展的调研，提出了一种新的船舶远程监控系统设计方案，将嵌入式技术与卫星网络通信相结合，船舶终端控制系统采用ARM9内核的S3C2440微处理器和Linux操作系统，组合了船载自动识别系统(AIS)和船舶保安报警系统(SSAS)构建平台，实现了基于嵌入式Linux的船舶远程监控系统。
本文首选分析了船舶远程监控系统的发展和现状，提出了嵌入式技术应用于船舶远程监控系统中的必然趋势，并论述了课题拟实现的目标。然后重点研究了INMARSAT卫星通信系统、Linux内核及其关键技术的实现机制，针对系统的实现需求，移植了BootLoader和Linux内核，搭建了其硬件和软件平台，并在此基础上，设计并实现了基于嵌入式Linux的船舶终端数据采集监控系统，软件设计基于模块化，兼具可移植性和可扩展性，包括底层串口通信模块、数据采集模块、数据发送和接收模块、船舶局域网网络通信模块等，最终完成整个系统的软件程序集成。同时，基于安全性的考虑，给出了系统的安全性解决方案，包括CGI安全编程和包过滤防火墙的建立。
在无人值守的情况下，系统能够自动、快速、可靠地对陆地端的远程请求做出响应，通信效率高，实现了陆地端监控中心对船舶端的远程实时数据采集、控制与管理。不仅为船舶的航行安全提供了有力的技术保障，也为船舶的自动化和现代化管理提供了很好的技术平台。
In recent years, with the development of shipping industry that tends to be digital, intelligent and networked, Higher requirement of remote monitoring technology for sailing ships has been proposed by shipping company to optimize logistics management, improve operational efficiency and to master ship navigation information, especially to avoid ship in distress.
With the rapid development of Internet technology and the increasingly mature embedded technology, Remote monitoring system based on embedded technology has become a hot research topic. This paper proposes a new remote monitoring system architecture after investigating the current development of remote monitoring systems for ships. The terminal control system that consists of AIS(Automatic Identification System) and SSAS(Ship Security Alarm System) combines the embedded technology and satellite communication technology. It adopts embedded system design based on ARM9 and Linux to realize remote monitoring system from ship to land.
To start with, this paper analyzes the development and status quo of the remote monitoring system for ships, proposes it is an inevitable trend to develop remote monitoring system for ships based on embedded technology, and discusses what this paper wants to achieve. Afterwards, the INMARSAT system and Linux kernel, including the mechanism for implementation of Linux key technology are researched emphatically. Because of demanding for the realization of system, the Bootloader and Linux kernel are ported. Thus the system's hardware and software platforms are structured. On the basis of this, the supervisory control and data acquisition system for ships based on embedded Linux is designed and realized. This system that based on modular software design has strong expansibility and portability. It includes the bottom serial communication module, data acquisition module, transmitter and receiver module, ships LAN network communication module and so on. Finally, the whole system software is integrated. At the same time, by taking into account the security of the system, this paper gives the system's security solutions, including security CGI programming and the establishment of the packet filter firewall.
In unattended environment, the system can automatically, rapidly and reliably respond to requests from ship to land. It high efficiently realizes real-timely remote supervisory control and data acquisition from ship to land. This design scheme will adequately safeguard the ships navigation security and improve the level of ship automation and modern management.
引文
[1] 颜德文，王兴成，杨承恩．船舶航行数据远程采集系统．中国航运．2006，4：58-60．
[2] 赵丽宁，赵学俊，董晓永．基Inmarsat-C通信的船舶动态监控系统的设计与实现．世界航海．2003，26(6)：6-7．
[3] 何立居．同步定位卫星通信系统在海上船舶监控中的应用．航海技术．2007，B03：36-38．
[4] 梁爱忠．船舶AIS监控和GPRS监控之比较．天津航海．2007，1：55-57．
[5] 张学强，胡以怀，金晓军等．基于GPRS-Internet的船舶主机监测系统的实现．造船技术． 2006．6：25-28．
[6] 潘巨龙，黄宁，姚伏天等．ARM9嵌入式Linux系统构建与应有．北京：北京航空航天大学出版社，2006．
[7] 李善平，刘文峰，王焕龙．Linux与嵌入式系统．北京：清华大学出版社，2006．
[8] 于明，范书瑞，曾祥烨．ARM9嵌入式系统设计与开发教程．北京：电子工业出版社，2006．
[9] 刘淼．嵌入式系统接口设计与Linux驱动程序开发．北京：北京航空航天大学出版社，2006．
[10] 何玮玮，张维竞，刘晓伟等．嵌入式系统在船舶监控系统中的应用研究．造船技术．2007， 1：44-46．
[11] 陈德明．船舶保安报警系统(SSAS)．航海技术．2003，6：35-37．
[12] 谷溪，李军．船舶自动识别系统(AIS)的研究和应用．南通航运职业技术学院学报．2003， 2(1)：25-30．
[13] 张寿桂，彭过均．海监船舶导航与监控管理信息系统．上海海事大学学报．2006， 27(3)：31-35，46．
[14] 胡文骅，许开宇，吴震亚．基于Inmarsat-C的船舶监控技术的研究．航海技术．2002，6：34-36．
[15] 刘柚森，黄耀惊．GMDSS通信设备．大连：大连海事大学出版社，2005．
[16] http://www.chinaunix.net/.
[17] 赵炯．Linux内核完全注释．北京：机械工业出版社，2004．
[18] 慕春棣．嵌入式系统的构建．北京：清华大学出版社，2004．
[19] DANIEL P．BOVET，MARCO CESATI．Understanding the Linux Kernel(3nd Edition)．New York： O’Reilly & 南京：东南大学出版社，2006．
[20] 马忠梅，李善平，康慨等．ARM & Linux嵌入式系统教程．北京：北京航空航天大学出版社，2004．
[21] Kurt Wall等．GNU／Linux编程指南(第二版)．张辉译．北京：北京航空航天大学出版社，2004．
[22] http://www.hhcn.org/.
[23] http://www.ibm. com/developerworks/cn/linux/.
[24] 王田苗．嵌入式系统设计与实例——基于ARM微处理器与uc／OS-Ⅱ实时操作系统．北京：清华大学出版社，2002．
[25] 锐极电子科技有限公司．ARM & Linux嵌入式系统开发详解．北京：北京航空航天大学，2007．
[26] 郑灵翔等．嵌入式系统设计与应用开发．北京：北京航空航天大学出版社，2006．
[27] 李驹光，郑耿，江泽明．嵌入式Linux系统开发详解——基于EP93XX系列ARM．北京：清华大学出版社，2006．
[28] 毛勇强．基于日志结构的嵌入式文件系统研究与应用：(硕士学位论文)．武汉：华中师范大学，2004．
[29] 谢希仁．计算机网络(第四版)．大连：大连理工大学出版社，2004．
[30] ITU-R Recommendation M. 1371-1. Technical characteristics for a universal ship-borne automatic identification system using time division multiple access in the VHF maritime mobile band. 2001.
[31] IEC 61162-1 Second edition. Maritime navigation and radio communication equipment and systems-Digital interfaces-Part 1: Single talker and multiple listeners. 2002.
[32] Thrane & Thrane A/S. 3026L/M easyTrack Transceiver Software Interface Reference Manual. 2002.
[33] Thrane & Thrane A/S. TT-3OOOSSA Ship Security Alert System Installation Manual. 2004.
[34] 邹思轶．嵌入式Linux设计与应用．北京：清华大学出版社，2002．
[35] Michael R. Sweet. Serial Programming Guide for POSIX Operating Systems(5th Edition). http://digilander.libero.it/robang/rubrica/serial.htm.
[36] 孙文力，孙文强．船载自动识别系统．大连：大连海事大学出版社，2004．
[37] IALA. IALA Guidelines on Universal Ship-borne Automatic Identification System. 2002.
[38] 赵学俊，董晓永，赵丽宁．AIS与船舶航行安全．世界航海．2003，26(2)：24-26．
[39] IEC61993-2. New IEC 61162-1 sentences due to AIS. 2001.
[40] IEC 61162-420 Second edition. Maritime navigation and radio communication equipment and systems-Digital interfaces. 1999.
[41] 张国镇．基Inmarsat-C站的船舶保安报警系统主控单元的研制．航海技术．2004，4：35-38．
[42] W．Richard Stevens，Stephen A．Rago．UNIX环境高级编程(第二版)．尤晋元，张亚英，戚正伟译． 北京：人民邮电出版社，2006．
[43] 顾春华，张雪芹，付歌．Web程序设计．上海：华东理工大学出版社，2006．
[44] Stephen Asbury．CGI编程指南．胡宝兰，李梅等译．杭州：浙江科学技术出版社，1998．
[45] 蔡奇玉，连振汉，张志强．CGI编程指南．北京：机械工业出版社，1997．
[46] 王国伟，宋铁成，陈正石．基于嵌入式Web Server的视频监控服务器．计算机工程．2005， 31(22)：202-204．
[47] 许炜，任志国．基于PowerPC开发板的嵌入式Linux防火墙的实现．现代电子技术．2005， 28(23)：54-56，59．
[48] Mugdha Vairagade. Introduction to netfilter/iptables—Configuring firewalls for Linux (kernel 2.4. x) using netfilter/iptables, http://www-128.ibm.com/developerworks/library/s-netip/.
[2] 赵丽宁，赵学俊，董晓永．基Inmarsat-C通信的船舶动态监控系统的设计与实现．世界航海．2003，26(6)：6-7．
[3] 何立居．同步定位卫星通信系统在海上船舶监控中的应用．航海技术．2007，B03：36-38．
[4] 梁爱忠．船舶AIS监控和GPRS监控之比较．天津航海．2007，1：55-57．
[5] 张学强，胡以怀，金晓军等．基于GPRS-Internet的船舶主机监测系统的实现．造船技术． 2006．6：25-28．
[6] 潘巨龙，黄宁，姚伏天等．ARM9嵌入式Linux系统构建与应有．北京：北京航空航天大学出版社，2006．
[7] 李善平，刘文峰，王焕龙．Linux与嵌入式系统．北京：清华大学出版社，2006．
[8] 于明，范书瑞，曾祥烨．ARM9嵌入式系统设计与开发教程．北京：电子工业出版社，2006．
[9] 刘淼．嵌入式系统接口设计与Linux驱动程序开发．北京：北京航空航天大学出版社，2006．
[10] 何玮玮，张维竞，刘晓伟等．嵌入式系统在船舶监控系统中的应用研究．造船技术．2007， 1：44-46．
[11] 陈德明．船舶保安报警系统(SSAS)．航海技术．2003，6：35-37．
[12] 谷溪，李军．船舶自动识别系统(AIS)的研究和应用．南通航运职业技术学院学报．2003， 2(1)：25-30．
[13] 张寿桂，彭过均．海监船舶导航与监控管理信息系统．上海海事大学学报．2006， 27(3)：31-35，46．
[14] 胡文骅，许开宇，吴震亚．基于Inmarsat-C的船舶监控技术的研究．航海技术．2002，6：34-36．
[15] 刘柚森，黄耀惊．GMDSS通信设备．大连：大连海事大学出版社，2005．
[16] http://www.chinaunix.net/.
[17] 赵炯．Linux内核完全注释．北京：机械工业出版社，2004．
[18] 慕春棣．嵌入式系统的构建．北京：清华大学出版社，2004．
[19] DANIEL P．BOVET，MARCO CESATI．Understanding the Linux Kernel(3nd Edition)．New York： O’Reilly & 南京：东南大学出版社，2006．
[20] 马忠梅，李善平，康慨等．ARM & Linux嵌入式系统教程．北京：北京航空航天大学出版社，2004．
[21] Kurt Wall等．GNU／Linux编程指南(第二版)．张辉译．北京：北京航空航天大学出版社，2004．
[22] http://www.hhcn.org/.
[23] http://www.ibm. com/developerworks/cn/linux/.
[24] 王田苗．嵌入式系统设计与实例——基于ARM微处理器与uc／OS-Ⅱ实时操作系统．北京：清华大学出版社，2002．
[25] 锐极电子科技有限公司．ARM & Linux嵌入式系统开发详解．北京：北京航空航天大学，2007．
[26] 郑灵翔等．嵌入式系统设计与应用开发．北京：北京航空航天大学出版社，2006．
[27] 李驹光，郑耿，江泽明．嵌入式Linux系统开发详解——基于EP93XX系列ARM．北京：清华大学出版社，2006．
[28] 毛勇强．基于日志结构的嵌入式文件系统研究与应用：(硕士学位论文)．武汉：华中师范大学，2004．
[29] 谢希仁．计算机网络(第四版)．大连：大连理工大学出版社，2004．
[30] ITU-R Recommendation M. 1371-1. Technical characteristics for a universal ship-borne automatic identification system using time division multiple access in the VHF maritime mobile band. 2001.
[31] IEC 61162-1 Second edition. Maritime navigation and radio communication equipment and systems-Digital interfaces-Part 1: Single talker and multiple listeners. 2002.
[32] Thrane & Thrane A/S. 3026L/M easyTrack Transceiver Software Interface Reference Manual. 2002.
[33] Thrane & Thrane A/S. TT-3OOOSSA Ship Security Alert System Installation Manual. 2004.
[34] 邹思轶．嵌入式Linux设计与应用．北京：清华大学出版社，2002．
[35] Michael R. Sweet. Serial Programming Guide for POSIX Operating Systems(5th Edition). http://digilander.libero.it/robang/rubrica/serial.htm.
[36] 孙文力，孙文强．船载自动识别系统．大连：大连海事大学出版社，2004．
[37] IALA. IALA Guidelines on Universal Ship-borne Automatic Identification System. 2002.
[38] 赵学俊，董晓永，赵丽宁．AIS与船舶航行安全．世界航海．2003，26(2)：24-26．
[39] IEC61993-2. New IEC 61162-1 sentences due to AIS. 2001.
[40] IEC 61162-420 Second edition. Maritime navigation and radio communication equipment and systems-Digital interfaces. 1999.
[41] 张国镇．基Inmarsat-C站的船舶保安报警系统主控单元的研制．航海技术．2004，4：35-38．
[42] W．Richard Stevens，Stephen A．Rago．UNIX环境高级编程(第二版)．尤晋元，张亚英，戚正伟译． 北京：人民邮电出版社，2006．
[43] 顾春华，张雪芹，付歌．Web程序设计．上海：华东理工大学出版社，2006．
[44] Stephen Asbury．CGI编程指南．胡宝兰，李梅等译．杭州：浙江科学技术出版社，1998．
[45] 蔡奇玉，连振汉，张志强．CGI编程指南．北京：机械工业出版社，1997．
[46] 王国伟，宋铁成，陈正石．基于嵌入式Web Server的视频监控服务器．计算机工程．2005， 31(22)：202-204．
[47] 许炜，任志国．基于PowerPC开发板的嵌入式Linux防火墙的实现．现代电子技术．2005， 28(23)：54-56，59．
[48] Mugdha Vairagade. Introduction to netfilter/iptables—Configuring firewalls for Linux (kernel 2.4. x) using netfilter/iptables, http://www-128.ibm.com/developerworks/library/s-netip/.