下位机根据设备的实时数据和程序运行的结果发出控制指令，实现预定的运动位移和速度。
The lower processor outputs controlling instructions according to real-time data of the equipment and result of program running in order to realize determined movement and velocity.
地面接收控制处理系统显示飞机所在位置的经纬度、高度和探测资料，并可发出控制指令。
The ground based subsystem can also send command to the aircraft to manipulate its flight in a remote control manner.
水下机器人主要依据声纳传感器获取海洋环境和自身的信息，自主规划模块依据声纳传感器信息发出下一个控制指令。
Underwater vehicle get the information of Marine and itself from sonar, then according to sonar information autonomous route plan component send the next control information to control component.
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