A Robot-Fish Navigate Simulate Platform Based on the Framework/Addon Structure

this thesis design and realized a new Framework/Add on robot-fish navigate simulate platform. Full DbC design was included in this thesis and the design of module interface was detailly discussed. The primary simulate loop is introduced. To solve the custom parameter problem, a translator was designed. To get the best time precision, a high pricision clock and a data with time-stamp was designed. At last, a SINS algorithm was realized to show the function of simulate platform.