CN106444767B - A linkage and combined autonomous navigation unmanned ship control system based on APM and I7 smart chip - Google Patents
A linkage and combined autonomous navigation unmanned ship control system based on APM and I7 smart chip Download PDFInfo
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- CN106444767B CN106444767B CN201610925745.8A CN201610925745A CN106444767B CN 106444767 B CN106444767 B CN 106444767B CN 201610925745 A CN201610925745 A CN 201610925745A CN 106444767 B CN106444767 B CN 106444767B
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- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 238000012545 processing Methods 0.000 abstract description 7
- 238000013500 data storage Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 description 4
- 230000003138 coordinated effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010835 comparative analysis Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of, and independent navigation unmanned boat control system is combined in the linkage based on APM and I7 intelligent chip, including ground control centre and boat-carrying control centre, boat-carrying control centre includes five power supply system, communication system, autonomous navigation system, propulsion system and heading control loop subsystems again；Connection between ground control centre and boat-carrying control centre is realized by orienting the 2.4G network between WIFI wireless network between omnidirectional antenna and the remote control controlled module in itself and heading control loop this subsystem in the orientation omnidirectional antenna in ground control centre and communication system this subsystem.The present invention takes full advantage of the compatibility of the compatibility of APM system and I7 intelligent chip and the operational capability of I7 intelligent chip and port, effectively realize the transmission to unmanned boat autonomous navigation data, processing and storage, the data storage capacities of boat-carrying control centre can support 8G running memory up to 512G.Achievable 10 kilometer round trip autonomous navigation task of still water in unmanned boat 1 hour.
Description
Technical field
The invention belongs to computer communication and automatic fields, more particularly to a kind of based on APM and I7 intelligent chip
Linkage combination independent navigation unmanned boat control system.
Background technique
Independent navigation unmanned boat is a kind of novel monitoring platform waterborne, wherein with rivers and creeks, lake, reservoir, seashore and port
The waters such as gulf are object, and using spitkit as carrier, integrated positioning navigation, communication and control equipment can carry a variety of monitorings and pass
Sensor completes the specific hydrology and seawater environmental parameters monitoring with remote control/autonomous working method.Since unmanned boat has arrangement spirit
It the features such as work, cost economy, automatic measurement, is commented in hydrographic features observation, monitoring water environment, reservoir and channel sediment deposition amount
Estimate, hydraulic engineering addressing and underwater archaeology etc. have broad application prospects.
However, with the gradually extension of unmanned boat application field, it is high-precision fixed positioned at navigation, accurate flexible ship meeting
Only while the functional requirements such as control, accurate gesture stability, also to unmanned boat vessel volume, control system energy consumption and specificity
Etc. put forward higher requirements.The Integrated Trait of different sensors requires higher and higher, the increasing of unit time data acquisition amount
Very big pressure can be brought to remote data transmission by adding.In addition, modification and the advanced control algorithm of unmanned boat relevant control algorithm
It proposes, requires control system data processing with higher, analysis and the transmittability of unmanned boat.Current control system is deposited
Level of integrated system, data-handling capacity and in terms of function it is also weaker, this requires design compatibility and
Scalability is more preferable, level of integrated system is higher, data-handling capacity is stronger and the faster unmanned boat control system of transmission rate.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of independent navigation based on APM and I7 intelligent chip nobody
Ship control system, the system is by the building of boat-carrying control centre and ground control centre Liang Ge control centre with them in difference
APM system and I7 intelligence in synergistic effect between course sector distance and the self-navigation subsystem in boat-carrying control centre
The good compatibility of chip chamber and the operational capability of I7 intelligent chip and the compatibility of port, effectively improve unmanned course data
Data-handling capacity and transmission rate, and improve unmanned boat complete formulate course line task efficiency.
In order to achieve the above objectives, the technical solution adopted by the present invention is that construct it is a kind of based on APM and I7 intelligent chip from
Leading boat unmanned boat control system, which includes ground control centre and Liang Ge control centre, boat-carrying control centre, wherein ground
Face control centre is made of orientation omnidirectional antenna, remote control control end, I7 intelligent chip and mobile battery；Boat-carrying control centre packet
Five subsystems such as power supply system, self-navigation subsystem, propulsion system, heading control loop and communication system are included；
The communication system includes router and orientation omnidirectional antenna, is attached by antenna cables therebetween；Road
It is attached by device by electric wire and the power supply system；It orients omnidirectional antenna and passes through wireless WIFI and the ground control centre
In orientation omnidirectional antenna be attached；
The self-navigation subsystem includes GPS compass, I7 intelligent chip and APM system, GPS compass and I7 intelligent chip
Between connected by serial port data line and module, I7 intelligent chip connect by electric wire with power supply system, and pass through wireless data sending and
APM system is attached, and is connect also by RJ45 cable with the router in communication system；
The propulsion system includes electricity tune, engine and battery peculiar to vessel；Electricity adjust by electric wire respectively with engine and
Battery connection peculiar to vessel, and be attached by numerical control line and the APM system in the self-navigation subsystem；
The heading control loop includes steering engine and remote control controlled module, and the two all passes through numerical control line and the self-navigation
APM system in subsystem is attached；Controlled module is remotely controlled to pass through in 2.4G wireless network and the ground control centre
Orientation omnidirectional antenna is attached.
Effect of the present invention is:
(1) combination of the APM system in boat-carrying control centre and I7 intelligent chip has compatibility well, the compound system
System takes full advantage of the operational capability of I7 intelligent chip and the compatibility of port, can effectively realize the number to APM processing system
According to processing.Under composite system operation, the data storage capacities of unmanned boat control system can support 8G to transport up to 512G
Row memory.
(2) in unmanned boat control system of the invention in two controls in set ground control centre and boat-carrying control centre
The heart ordinatedly transmits unmanned boat course data, is handled during unmanned boat navigates by water according to navigation area distance cooperation
And storage, this coordinated effect improves the transmission rate of unmanned boat course data, during navigation, presets the number of destination
According to processing speed up to 1MB/S.Meanwhile the raising of unmanned boat course data transmission and processing speed, it is complete to also improve unmanned boat
At the efficiency for formulating course line task, achievable 10 kilometer round trip autonomous navigation task of still water in unmanned boat 1 hour.
Detailed description of the invention
The composition of Fig. 1 linkage combination independent navigation unmanned boat control system of the invention based on APM and I7 intelligent chip
Figure.
In figure: 1, ground control centre；2, boat-carrying control centre；3, omnidirectional antenna is oriented；4, remote control control end；5,I7
Intelligent chip；6, mobile battery；7, power supply system；8, self-navigation subsystem；9, propulsion system；10, direction controlling system
System；11, communication system；12, router；13, omnidirectional antenna is oriented；14, GPS compass；15, I7 intelligent chip；16, APM system；
17, electricity is adjusted；18, engine；19, battery peculiar to vessel；20, steering engine；21, it is remotely controlled controlled module.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1, independent navigation unmanned boat control system is combined in the linkage of the invention based on APM and I7 intelligent chip
Design construction thought be that the system exists in terms of data-handling capacity and transmission rate for existing unmanned boat control system
Deficiency, construct 2 Liang Ge control centre of ground control centre 1 and boat-carrying control centre.In leading automatically for boat-carrying control centre 2
The operation of good compatibility and I7 intelligent chip 15 between APM system 16 and I7 intelligent chip 15 is made full use of in boat subsystem 8
Ability and port compatible ability, effectively improve the data-handling capacity of APM system 16.Ground control centre set by the system
1 and 2 Liang Ge control centre, boat-carrying control centre by two wireless communication networks of 2.4G wireless network and WIFI wireless network into
Row connection respectively transmits destination and course data according to unmanned boat navigation area distance during unmanned boat navigation
And processing, it is used by the coordinated of Liang Ge control centre, improves the transmission rate of unmanned boat course data, and then improve nothing
People's ship is completed to formulate the efficiency of course line task.According to attached drawing to the linkage based on APM and I7 intelligent chip provided by the present invention
The independent navigation process and course data transmission process of unmanned boat under combination independent navigation unmanned boat control system control are said
It is bright as follows:
I7 intelligence core before unmanned boat starts navigation, first in the self-navigation subsystem 8 in boat-carrying control centre
Course line and way point information are set on piece 15, after presetting, open the switch of battery 19 peculiar to vessel in propulsion system 9, and lead to
Crossing electricity adjusts 17 to provide power to engine 18, and unmanned boat starts to navigate by water.During unmanned boat navigation, the course line and position of unmanned boat
Confidence breath is collected by the GPS compass 14 in self-navigation subsystem 8, and passes through serial port data line and module for collection
Information is transferred to I7 intelligent chip 15, by preset course line and destination before collected information and navigation in I7 intelligent chip 15
Information compares and analyzes, and analyzes result by wireless data sending and is transferred to APM system 16, also by RJ45 network cable transmission to communication
Router 12 in system 11, then via antenna cables be transferred to orientation omnidirectional antenna 13 after, transmitted by wireless WIFI network
I7 intelligent chip 5 is transferred to the orientation omnidirectional antenna 3 in ground control centre 1, and by antenna cables.
In boat-carrying control centre 2, when the I7 intelligent chip 15 in self-navigation subsystem 8 divides collected information
Analysis is when unmanned ship route and way point information are with the preset destination of I7 intelligent chip 15 and consistent route information as the result is shown, unmanned boat
Continuation is navigated by water forward；When the I7 intelligent chip 15 in self-navigation subsystem 8 to the analysis of collected information as the result is shown without
When deviation occur in the course line and way point information that people's ship route and way point information and I7 intelligent chip 15 are set, APM system 16 can be according to
According to analysis as a result, passing through the switch of steering engine 20 in numerical control line opening direction control system 10, unmanned boat navigation direction is adjusted
It is whole, return to unmanned boat navigation direction on course line and destination set by the I7 intelligent chip 15 in self-navigation subsystem 8.
In ground control centre 1, I7 intelligent chip 5 can be passed through according to the I7 intelligent chip 15 in self-navigation subsystem 8
It is handled and is analyzed by the comparative analysis result that router 12, orientation omnidirectional antenna 13 and orientation omnidirectional antenna 3 are transmitted.Together
Sample in the self-navigation subsystem 8 I7 intelligent chip 15 to the analysis of collected information unmanned boat route information as the result is shown
When the course line set with I7 intelligent chip 15 and consistent way point information, unmanned boat continuation is navigated by water forward；When self-navigation subsystem 8
In I7 intelligent chip 15 to the analysis of collected information unmanned boat navigation direction and position and I7 intelligent chip as the result is shown
When deviation occur in course line set by 15 and way point information, I7 intelligent chip 5 can be adjusted course line to route information, and
It is operated at remote control control end 4, after operational order is transmitted to omnidirectional's directional aerial 3, extremely by 2.4G wireless network transmissions
Remote control controlled module 21 in boat-carrying control centre 2 in heading control loop 10, is then transmitted to APM system by numerical control line
16, APM systems 16 navigate by water direction and position to unmanned boat again by the switch of steering engine 20 in numerical control line opening direction control system 10
It sets and is adjusted, the I7 intelligent chip 15 for returning to unmanned boat navigation direction and position in self-navigation subsystem 8 is default
On course line and destination.
Orientation omnidirectional antenna 3 of the invention is using (brand: Wei Qiao communication, model: 2400D300)；Remote control control end 4
Using (brand: the world flies, model: WFT06X-A)；I7 intelligent chip 5 and 15 uses (PCM3-QM77)；Mobile battery 6 uses
(brand: happy easy electricity, model: Z80000)；Router 12 uses (brand: AFOUNDRY, model: EW500)；Orient omnidirectional antennas
Line 13 uses (brand: LAFALINK, model: LF-ANT2412)；GPS compass 14 uses (U-BLOX NEO-M8N)；APM system
16 use (ArduPilotMega controller (2.8 version))；Electricity adjusts 17 to use and (brand: extremely runs QuicRun, model: WP-
1060ESC)；Engine 18 uses (brand: HASWING, model: Osapian 40lbs)；Battery 19 peculiar to vessel using (brand:
SaiL/ sail, model: 6-QW-105)；Steering engine 20 uses (brand: KKPI model: 1373)；It is remotely controlled controlled module 21 and uses (product
Board: the world flies, model: WFR07S 2.4G).
During unmanned boat navigation, when unmanned boat navigation area distance is when other than 400m range, controlled by boat-carrying
Realize the collection, transmission and adjustment work of unmanned ship route and way point information in center 2；When unmanned boat navigation area distance is in 400m
When in range, ground control centre 1 assist boat-carrying control centre 2 unmanned ship route and way point information are collected, transmit and
Adjustment；In this way, improving control by the coordinated effect between 2 Liang Ge control centre of ground control centre 1 and boat-carrying control centre
Collection, analysis and treatment effeciency of the system processed to unmanned ship route and destination data, and then improve unmanned boat and complete to formulate course line
The efficiency of task.
Embodiment 1
The unmanned boat control that the application is invented is installed in the hull that length is respectively 3300mm, 850mm and 420mm
System processed.After unmanned boat equipment, in Tianjin, Tuan Bohu is tested its autonomous navigation performance and message transmission rate.
It is 10 kilometers in the course sector of boat-carrying control centre setting, destination quantity is 20 before unmanned boat navigation.Ground control centre
Boat-carrying control centre is assisted to be adjusted and control unmanned ship route and waypoint location by remote control terminal.Test result
It was found that the message transmission rate of unmanned ship route and destination reaches 1MB/S during unmanned boat navigation, it is just complete at 50 minutes
At the course line task formulated.
In conclusion the contents of the present invention are not limited in the above embodiments, the knowledgeable people in same area can
Can propose other embodiments easily within technological guidance's thought of the invention, but this embodiment is included in this hair
Within the scope of bright.
Claims (1)
1. independent navigation unmanned boat control system is combined in a kind of linkage based on APM and I7 intelligent chip, which is characterized in that including
Ground control centre (1) and boat-carrying control centre (2) Liang Ge control centre；Ground control centre is by orientation omnidirectional antenna (3), distant
Device control terminal (4), I7 intelligent chip (5) and mobile battery (6) is controlled to constitute；Boat-carrying control centre (2) includes power supply system
(7), (11) five self-navigation subsystem (8), propulsion system (9), heading control loop (10) and communication system subsystems
System；
Communication system (11) includes router (12) and orientation omnidirectional antenna (13), is connected by antenna cables therebetween
It connects；Router (12) is attached by electric wire with power supply system (7)；It orients omnidirectional antenna (13) and passes through wireless WIFI and ground
Orientation omnidirectional antenna (3) in control centre (1) is attached；
Self-navigation subsystem (8) includes GPS compass (14), I7 intelligent chip (15) and APM system (16), GPS compass (14)
It is connect between I7 intelligent chip (15) by serial port data line and module, I7 intelligent chip (15) passes through electric wire and power supply system
(3) it connects, and (16) is carried out with APM system by wireless data sending and are connect, also by RJ45 cable and communication system (11)
Router (12) connection；
Propulsion system includes that electricity adjusts (17), engine (18) and battery peculiar to vessel (19)；Electricity adjust (17) by electric wire respectively with
Engine (18) and battery peculiar to vessel (19) connection, and by the APM system (16) in numerical control line and self-navigation subsystem (8) into
Row connection；
Heading control loop (10) includes steering engine (20) and remote control controlled module (21), and the two all passes through numerical control line and self-navigation
APM system (16) in subsystem (8) is attached；Controlled module (21) are remotely controlled to control by 2.4G wireless network and the ground
Orientation omnidirectional antenna (3) in center (1) processed is attached.
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| CN201610925745.8A CN106444767B (en) | 2016-10-24 | 2016-10-24 | A linkage and combined autonomous navigation unmanned ship control system based on APM and I7 smart chip |
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| CN201610925745.8A CN106444767B (en) | 2016-10-24 | 2016-10-24 | A linkage and combined autonomous navigation unmanned ship control system based on APM and I7 smart chip |
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| CN106444767B true CN106444767B (en) | 2019-06-21 |
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| CN107145145B (en) * | 2017-04-21 | 2018-05-11 | 华中科技大学 | A kind of autonomous unmanned boat of dual control |
| CN107229276A (en) * | 2017-05-27 | 2017-10-03 | 浙江大学 | Intelligent unattended ship platform and its control method based on ARM Cortex M7 processors |
| CN110471416A (en) * | 2019-08-20 | 2019-11-19 | 天津大学 | Unmanned boat control system based on RTK high accuracy positioning |
| CN111949034B (en) * | 2020-08-21 | 2022-05-03 | 闽江学院 | An autonomous navigation system for an unmanned ship |
| CN113207154B (en) * | 2021-04-30 | 2023-07-25 | 上海海事大学 | Multi-shore base station switching of ocean Internet and method for establishing communication with mobile ship |
| CN114924564A (en) * | 2022-05-26 | 2022-08-19 | 江苏科技大学 | Unmanned ship autonomous navigation control system |
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