基于ARM的无人水面航行器开发与试验

Development and Experiments of Unmanned Surface Vehicle Based on ARM

无人水面航行器(USV),简称无人船,作为人类开发和利用海洋的重要工具之一,凭借其模块化、无人化、小型化、智能化等优点,受到越来越多的重视。该系统基于32位内嵌ARM CortexTM-M0核的NUC140RE3AN,提供自主和半自主两种驾驶模式,提高了航行器的实用性,利用高性能GPS进行定位,通过姿态传感器的反馈信息进行闭环控制,实现航向锁定。同时,利用图形化语言LabVIEW编写的上位机控制软件,能实现两种驾驶模式的切换,实时计算各种参数,绘制航迹。

USV, short form of Unmanned Surface Vehicle, as one of the important instruments for people to develop and use ocean re- sources, is becoming more and more popular because of its advantages such as unmanned. , miniaturization and intelligentialize. This system is based on NUC140RE3AN, which is embeded with ARM CortexTM M0, and can be navigated in independent and half-independent mode, which improved the practicality of the vehicle. This USV is located by high-performance GPS, use the feedback of the attitude sensor to real- ize closed loop control and can lock the heading angle. At the same time, the PC control software developed by the graphic programming lan guage LabVIEW can switch the two navigation modes, calculate various parameters in time and draw the track of the USV.