The designsinclude hardwares and softwares, as follows navigation control subsystem, executiontask subsystem, communication program, data processing program and executionprogram et al.

• 包括：CAN 节点硬件设计，航行控制系统，任务执行系统，C 与汇编语言混合编写了通讯程序、数据处理与执行程序等。