基于STM32单片机的无人水下航行器设计

Design of unmanned underwater vehicle based on STM32 microcontroller

文章以实际应用为出发点,设计了运用于江河湖泊水底探索工作的无人水下航行器。无人水下航行器动作姿态主要参考四翼无人机飞行原理,以STM32F446RET6单片机为控制核心,其自身姿态调节控制主要依靠MPU6050芯片。同时,MPU6050也起着计算位置,测量速度,检查自身四翼是否损坏的任务。本设计通过MS5803压力传感器进行深度与温度数据采集,最终通过LoRa模块将数据返回给上位机。

Based on practical application,this paper designs an unmanned underwater vehicle for underwater exploration of rivers and lakes.The unmanned underwater vehicle is mainly referred to the quadcopter flight principle.The STM32F446RET6 microcontroller is used as the control core.Its own attitude adjustment control mainly depends on the MPU6050 chip.At the same time,the MPU6050 also performs the task of calculating the position,measuring the speed,and checking whether its four wings are damaged.It collects the depth and temperature data through the MS5803 pressure sensor,and finally returns the data to the upper computer through the LoRa module.