基于北斗定位与通信的全海深ARV回收控制系统设计

BDS Based on Full Ocean Depth ARV Recovery Control System

针对全海深无人潜水器ARV海试作业后回收困难的问题,设计了一种基于STM32单片机、北斗BDM910模块、姿态传感器MPU6050模块、Elmo驱动器及推进器组成的全海深ARV定位与通信自主回收控制系统。采用北斗模块不仅可以向母船传输ARV位置信息和姿态航向数据,还可以通过发送母船位置信息实现ARV自主向母船靠拢完成回收。采用双闭环控制ARV的航线和航向角,既确保了航向角能够自动调整指向母船位置,又能通过控制推进器来缩小航线路径偏移量,减小了海流对潜器运动过程中航线的干扰。海试结果表明,该控制系统运行稳定,能够有效提高ARV回收效率。

It is well known that the recovery stage of most deep sea equipment is the most difficult and riskiest process for ocean engineers and operators.For a full ocean depth ARV(Autonomous Remotely Vehicle),the ve-hicle can be automatically recovered since it is self-powered by the battery and untethered after resurfacing.An automatic recovery control system of the full ocean depth ARV based on BDS was developed,which includes an STM32 microcontroller,a Beidou BMD910 module,an attitude transducer MPU6050 module and an auxiliary thruster.It can not only be used for the positioning of the resurfaced ARV,but also accept and execute simple commands such as returning automatically to a mother ship or a specified location,adjusting self-attitude auto-matically to help recovery,and cruising along a specified route path automatically.A double closed loop is used to ensure the control precision,and the sea trial shows that the control system is stable and can significantly im-prove the recovery operation of the ARV.