介绍了RT-Linux,μCLinux,μC/OS2Ⅱ和eCos四种源码公开的嵌入式实时操作系统,详细分析比较了关键实现技术—任务管理、任务及中断间的同步通信机制、存储器管理、中断管理等,指出了不同应用领域所适合的ERTOS。-Describes the RT-Linux, μCLinux, μC/OS2 Ⅱ and four kinds of open-source eCos real-time embedded operating system, detailed analysis and comparison of the key implementation techniques- task management, task synchronization and communication mechanism between interrupts, memory management, interrupt management, etc. that are suitable for different application areas of ERTOS.