基于STM32的无人船控制系统设计与实现

Design and Implementation of an Unmanned Ship Control System Based on STM32

摘要:

针对现有水面无人船(Unmanned Surface Vehicles, USV)自主导航问题，设计了一种基于STM32单片机的无人船运动控制系统。该系统以STM32F103芯片作为主控板核心芯片，采用了双MCU(Microcontroller Unit；微控制单元)架构，通过CAN总线形式实现数据采集板与运动控制板之间的通信；通过卡尔曼滤波算法实现全球定位系统(GPS)和捷联惯导系统(SINS)对无人船定位信息的数据处理，使无人船的定位更加准确；通过自抗扰控制算法实现无人船对航向角的闭环控制，以达到路径跟踪的目的；采用4G网络通信方式实现无人船的远程操控功能；同时设计了基于Java开发的上位机软件。实验结果表明，无人船在航向跟踪方面均方差可控制在2.18°左右，在路径跟踪方面垂直距离的均方差可控制在0.53m左右，证明了系统设计的准确性及可行性。

Abstract:

Aiming at the existing problem of autonomous navigation of the Unmanned Surface Vehicles (USV), a kind of USV motion control system based on STM32 microcontrollers was designed. The STM32F103 chip is the core chip of the main control board, and the dual MCU(Microcontroller Unit) architecture was adopted in the system. The data acquisition board and the motion control board was communicated by the CAN bus form. In order to the positioning of the USV is more accurate, the data processing of the USV positioning information by the global positioning system(GPS) and the strapdown inertial navigation system(SINS) was accomplished by the Kalman filter algorithm. The closed-loop control of the USV's heading angle to achieve the purpose of path tracking was implemented by the active disturbance control algorithm. And the remote control function of the USV was realized by using 4G network communication mode. At the same time, the upper computer software based on Java was designed to facilitate the use of personnel. The experimental results showed that the unbiased variance of the USV in the heading tracking can be controlled at about 2.18 °, the mean square error of the vertical distance in the path tracking can be controlled at about 0.53 m. The accuracy and feasibility of the system were proved.