水面无人艇导航与控制系统设计与实现

Design of Unmanned Vehicle Navigation Remote Control System

无人艇用于海面环境监测、海难搜寻救助、通航秩序辅助管理、海洋权益保护等方面具有广阔的应用前景,尤其是对于沿海沿江复杂水域具有明显的战略发展意义。以现有无人或小型作业艇船体及动力设备为基础,研究无人艇遥操作系统,包括岸基或母船控制台、艇载设备驱动系统及网络数据交换等方面内容,通过上位机海图实现艇运动路径规划,同时利用岸基或母船雷达及AIS获取的艇周目标信息提供在线避碰决策支持,根据无人艇采集的地理位置、航向姿态、航速及舵角等远程反馈数据产生对艇遥控指令,驱动无人艇上的车舵系统,实现自由加减速、前进、转向与停车等操作。系统通过推理及仿真试验,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,数据链路还能支持艇体搭载远程任务模块。

In order to solve the problem that traditional video monitoring system only can monitor acertain fixed area,unable to cover the whole or associated surveillance field,a intelligent videomonitoring system based on RADAR or AIS source localization is proposed in this paper.RADAR orAIS parameter is used to locate targer signals,then the local and remote CMOS camera are drived tomonitor guide position and a series of actions such as active objects recognition,video surveillance,alarm are executed.The hardware and software configurations and design of flow are introduced.Finally,the simulation result is also given in this paper.