北斗卫星导航系统在近海无人水下航行器路径跟踪方面的应用

BDS application of offshore UUV path tracking

针对无人水下航行器(UUV)沿给定路径航行时会出现各种偏差的问题,设计了一款运用高性能STM32单片机与UM220-ⅣN定位模块搭建的导航定位分系统.将其应用于UUV特定的路径跟踪方面,通过单片机将北斗定位模块采集到的UUV位置坐标、航速航向等数据发送到上位机,上位机将其与给定跟踪路径数据进行对比,计算路径偏差并通过单片机控制UUV的驱动模块改变UUV运动方向,实现对给定路径的精确跟踪.同时通过无线通讯模块,将UUV路径轨迹及采集的水质信息实时显示在岸基监控系统上位机软机界面.水下实验表明,UUV路径跟踪精度明显提高,为纠正UUV路径跟踪偏差提供了一种参考方法.

In order to solve the problem of various deviations when unmanned underwater vehicle(UUV)navigates along a given path.A system combining STM32 and UM220-IV N module based on Beidou Navigation Satelite System(BDS)is designed and applied to the specific path tracking of unmanned underwater vehicle.The position coordinates,velocity and direction data of UUV collected by the BDS positioning module are sent to the upper computer through the single-chip microcomputer module.The upper computer compares the data with the given tracking path data,calculates the path deviation,and controls the UUV driving module to change the UUV motion direction,so as to achieve accurate tracking of the given path.At the same time,through the wireless communication module,the water quality information collected by the UUV path track and information acquisition module can be displayed on the upper computer interface of the shore based monitoring system in real time.The underwater experiments show that the accuracy of UUV path tracking is significantly improved,which provides a reference method for correcting the path tracking error of UUV.