本文介绍了一个水下智能机器人导航仿真系统的软硬件体系结构,重点阐述以黑板结构为主体的设计思想和系统内的定时问题,并对系统的工作过程作了全面的描述.系统的运行结果证明设计是成功和合理的. This paper introduces a hardware and software architecture of underwater intelligent robot navigation and simulation system, focusing on the blackboard structure as the main body of the design and timing issues within the system, and the system’s work process is fully described. The results of the operation of the system Prove the design is successful and reasonable.