双通信通道无人艇遥控系统设计

Remote Control for Unmanned Surface Vehicles Via Dual Communication Channels

针对海洋探测无人艇的遥控需求,提出了利用大功率数传电台和北斗短报文系统同时传输控制指令的双通道通信遥控设计方案,保证无人艇在近岸或近母船时控制的时效性以及在远海或远离母船时控制的可达性。给出了双通道通信系统整体设计,制定了通信协议,包含校验字节和命令号字节,通过校验保证数据帧的正确性,基于命令号实现丢帧时超时重发,以及北斗通信延时命令不混乱,保证无人艇遥控的可靠性。根据此方案设计的无人艇遥控系统,在东海某海域进行实际航行试验,无人艇安全可控,表明了此设计方案的实用性和有效性。

In order to control the unmanned surface vehicle (USV) remotely,dual communication channels which consist of data radio and Beidou are involved so that the USV can be controlled timely at short range and availably at long range.The overall scheme of the dual communication channels is presented in this paper.Special protocols are proposed with parity check and command number judgement.Based on the command number,the timeout retransmission is carried out when data loss and the interpretation of command will not be in confusion when the Beidou data delayed.A real USV remote control system is carried out base on the proposed scheme and is tested in a certain sea area in the East China Sea.