中文摘要：

根据潜水器控制要求,为了得到潜水器的潜水姿态、深度及距河（海）床高度,设计了基于C8051F310的潜水器位姿信息采集板。采用姿态测量单元获得姿态信息、压力传感器测量水压,进而推知潜水器的潜水深度、声呐高度计测量潜水器距河床高度,以保证潜水器安全工作。采集板上处理器得到以上三路信息后,打包处理后得到一路总信号并且经串口发出,并进行相应信号转换。上位机与下位机之间通过光缆通信,上位机根据所获下位机信号对潜水器提供相应控制。研究结果表明：可实现对潜水器的实时控制。

英文摘要：

According to the request of submarine control,to obtaining the diving posture,the depth and the height apart from the riverbed or seabed,the board of signal collection based on MCU C8051F310 was designed.The posture signal was obtained from attitude measuring unit,the depth of submarine was inferred from hydraulic pressure by the pressure transmitter,and the altitude apart from the river bed was obtained by a sonar altimeter to guarantee the submarine to work in safe.After the above,signal of three channels gathered by the processor on the board were packed and sent out through the universal asynchronous receiver/transmitter（UART）,and corresponding signal conversion was made.Communicating through the fiber optic cable,the PC commands were sent to get corresponding control of the submarine according to the signal form the MCU.The results indicate that it is feasible to achieve real time control of submarine.