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A Control System for Unmanned Surface Vehicle Based on ARM

Author: LiangGuanHui
Tutor: JiYuQiang；ZhengQuanAn
School: First Institute of Oceanography of State Oceanic Administration
Course: Physical oceanography
Keywords: Unmanned boat Control ARM
CLC: U664.82
Type: Master's thesis
Year: 2011
Downloads: 156
Quote: 0
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Abstract


Unmanned boat platform is widely used in the protection of the marine environment and the development of marine resources, and can be equipped with different sensor systems to complete a variety of tasks, the importance of monitoring of the marine environment, observing marine hydrological data, and the exploration of marine resources and marine disaster warning means. No one in the military aspects of the ship also play an important role, it is able to complete the military mission: port security, mine clearance and the target ship. In order to further research and development of unmanned vessels used in marine scientific research platform, RC Boat hull design of the control system of the unmanned ship. The unmanned ship design and development of the control system is mainly based on ARM technology, GPS technology, wireless communication technology and PWM control technology, consists of two parts: the shipborne system and the ground monitoring system. The shipboard system design and development based on the ARM core around integrated GPS module, wireless communication module and servo control module, ground control system consists of a PC computer and wireless communication module, so that you can achieve remote unmanned ship control and monitoring functions. The development of the system, including the establishment of hardware and related software and hardware platform development. Hardware development including ARM microprocessor development board GPS receiver board, wireless communication module and the steering gear control circuit design; applied to the ARM microprocessor software is written in assembly language and C language-based tools is the ADS The main content of the programming is complete: GPS data acquisition, wireless communications and servo control. Ground control system software development to realize the function of wireless communication and processing of GPS data in the LabVIEW development platform. The paper first discusses the application of unmanned surveillance vessel in marine scientific research as well as domestic and foreign application examples, this paper the development of the control system of unmanned ship technology theory: embedded systems, ARM microprocessor as well as the principle of GPS positioning , and then propose a framework diagram of the control system of the unmanned ship, described the design of the unmanned ship control system hardware and software work. The specific work of the system hardware design including the selection of the individual modules, hardware circuit design and production. The shipboard systems software development including the preparation of the ARM microprocessor serial application to complete the acquisition of GPS data, communicate with the ground control system and send control commands to the servo controller tasks; ground control system software development is to use LabVIEW control the serial port to communicate with shipboard systems and parse GPS data acquisition, display and save. Finally, in the still water of the unmanned ship control system test results show that the system can be achieved on the the unmanned ship's course and speed control, display and save and the the unmanned ship sailed trajectory.

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CLC: > Transportation > Waterway transport > Marine Engineering > Ship machinery > Marine Systems > Ship Steering Control System
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