基于无线数传技术的无人船控制系统设计与实现

Design of unmanned ship's surface navigation controller based on wireless data transmission module

摘要:

针对于现有的无人船（Unmanned Surface Vehicle）存在的问题，为提高其控制行驶最大距离，设计一种以无线数传模块为传输介质的系统，传输下位机与上位机之间的数据；从激光雷达的二维扫描图像信息,根据SLAM (Simultaneous Localization and Mapping)算法制作出水面环境的栅极地图,持续时刻的扫描图相匹配方式估算无人船相对位置并定位在构建的栅极地图，以达到按路径规划行进的目的；设计了基于MFC框架的软件和基于STM32的控制器；无人船位姿信息发送到上/下位机，上位机得到信息向下位机传输实现远程遥控行驶的目的；试验结果表明，与常规的网络信号发射和接收传输数据不一样,在无网络基站环境中仍能够在1300m以内保持良好的远程控制且自主行进定位误差在16cm以内，证实了系统的可靠性和准确性。

Abstract:

Aiming at the problems existing in the existing unmanned surface vehicle, in order to improve its maximum control distance, a system using wireless data transmission module as the transmission medium is designed to transmit the data between the lower computer and the upper computer; From the two-dimensional scanning image information of the laser radar, the grid map of the water surface environment is made according to the Slam (simultaneous localization and mapping) algorithm. The relative position of the unmanned ship is estimated by matching the scanning map at the continuous time and positioned on the constructed grid map, so as to achieve the purpose of traveling according to the path planning; The software based on MFC framework and the controller based on STM32 are designed; The position and attitude information of the unmanned ship is sent to the upper / lower computer, and the upper computer gets the information and transmits it to the lower computer to realize the purpose of remote control driving; The test results show that, unlike the conventional network signal transmission and receiving transmission data, it can still maintain good remote control within 1300m in the environment without network base station, and the autonomous travel positioning error is within 15cm, which confirms the reliability and accuracy of the system.