基于Mission Planner的多功能水产养殖作业船自主导航控制系统设计与实现

Design and implementation of autonomous navigation and control system for multi-functional aquaculture operation ship based on Mission Planner

针对目前市场对水产养殖产品需求日益旺盛,而水产养殖设备自动化程度低、人工成本高等问题,设计一种基于Mission Planner开源地面站和GNSS(Global Navigation Satellite System)结合的多功能自主导航水产养殖作业船。该系统装置由明轮动力船、APM控制器、Mission Planner地面测控等系统组成。作业船有手动和自动导航两种控制模式,可以实现巡线、增氧、投饵、施药、水质监测等功能。在自动导航模式下,利用Mission Planner地面测控系统的通信模块、地图模块、数据保存模块和数据交互模块,可以实现无人船的航迹点路径规划、目标点读取、创建巡线任务以及显示作业船位置和航行轨迹等功能,规划船体指定的作业航线,实现全水域自主航行作业。使用该作业船进行GNSS—GPS北斗系统定位和作业船自动导航对比试验,系统试验结果表明作业船的定位误差控制在30 cm以内,自动导航模式下船体在转弯与直行时偏离航道的最大误差分别为0.37 m和0.09 m,基本符合实际作业的精确度和安全性要求。本文可为今后开展全自动水产养殖技术设备的研发提供理论和实践参考。

At present,the market has a growing demand for aquaculture products,but the aquaculture equipment has low automation and high labor costs.Under these circumstances,This paper designs a multifunctional autonomous navigation aquaculture operation ship based on the combination of Mission Planner open source ground station and GNSS(Global Navigation Satellite System).The system consists of the power boat,APM controller,mission planner ground measurement control system.The operation ship has two control modes.They are manual mode and automatic mode.The operation ship can realize the functions of line patrol,oxygenation,baiting,pesticide application,water quality monitoring.The operation ship can realize the Functions such as path planning of unmanned ships,reading target points,the creating line patrol task and display navigation trajectory of the boat.Plan the operation route designated by the hull,and realize the autonomous navigation operation in the whole water area.The comparison test of GNSS—GPS Beidou system positioning and automatic navigation of the workboat is carried out.The test results show that under the automatic navigation mode the positioning error of the workboat is controlled within 30 cm,and the maximum error of the ship’s deviation from the channel during turning and straight travel is 0.37 m and 0.09 m respectively.This result meets the accuracy and safety requirements of actual operations.This article can provide theoretical and practical references for the future development of fully automatic aquaculture technology equipment.