基站雷达与AIS引导的水面无人艇遥控系统

The Unmanned Vehicle Remote Control System Based on Base-Station Radar and AIS

针对无人艇进行海面监测、海难搜救等具体任务需求,以现有小型舰船及动力操控设备为基础,设计并实现了一种水面无人艇导航与控制遥控系统。系统中路径规划/航迹监控模块可根据基站先验地理信息的路径规划及预设极限可航范围监控航行轨迹;危险评价/操控决策模块对雷达跟踪数据及AIS参数的实时分析,获取艇周目标与无人艇的碰撞危险评价,给出无人艇试操纵避让方案;信息交互模块利用4G网络通信技术实现艇上传感器与遥控系统间的数据交互;艇载工控机终端响应模块在收到指令后,仿云台控制利用PELCO-D协议驱动艇上车舵设备。基于某江域的试验结果表明,控制基站与艇数据交换可靠,艇车舵系统能有效响应遥指令。

For the unmanned boat to achieve the sea environmental monitoring, searching and rescuing a remote operating system is designed for the unmanned boat based on the hull and power control equipment on an operational boat. Based on a priori, the path planning of geographical information and the preset navigable limit scope, the route planning and monitoring module of system control USV track. The real-time avoidance collision decisions from the risk assessment/manipulation decision module is made by the information around the unmanned boat from the AIS（automatic identification system） and the radar at shore or mother ship. In- formation interaction module uses wireless network to realize the data interaction between the sensor on the boat and the remote control system, and sent remote control commands to the craft. The craft uses PELCOD agreement instruction to drive the maneuvering equipment. The test in Yangzi River indicate that the data exchange between the controlling station and the unmanned boat is reliable and the system of main engine and the rudder can responds the boat remote controlling commands effectively.