基于物联网的无人水面艇航行状态监测系统设计

Design of Navigation Condition Monitoring System for Unmanned Surface Vessel Based on Internet of Things

针对无人水面艇(Unmanned Surface Vessel,USV)航行状态监测及试航性能评估试验中的参数获取问题,设计一套USV航行状态监测系统。以物联网(Internet of Things,IoT)3层架构为基础,设计小尺寸、低功耗的监测方案。以多源传感器和STM32微控制器作为感知层,以远距离无线电(Long Range Radio,LoRa)网关及LoRa终端作为数据远程传输途径,以传输控制协议(TCP)作为数据远程传输协议,以云平台作为系统应用层,实现数据采集、传输和应用功能。基于监测系统要求,在应用层设置阈值实现航行状态预警功能。对系统功能及性能进行测试,结果表明,系统横、纵摇精度为±0.02°RMS,风速为(0.2±0.03)m/s,风向为±2.5°,所有监测参数技术指标均符合要求,且丢包率在通信距离小于1.4 km时为1.5%,较传统方法降低约22%。该系统可为进一步完善USV航行状态监测提供技术支持。

In view of the parameter acquisition problem in the navigation condition monitoring and trial performance evaluation test of Unmanned Surface Vessel(USV),a USV navigation condition monitoring system is designed.Based on the 3-layer architecture of Internet of Things(IoT),a small size and low power consumption monitoring scheme is designed.The multi-source sensors and STM32 microcontroller are used as the sensing layer,the Long Range Radio(LoRa)gateway and LoRa terminal are used as the remote data transmission channel,Transmission Control Protocol(TCP)is used as the remote data transmission protocol,the cloud platform is used as the system application layer,and the data collection,transmission,and application functions are realized.Based on the requirements of monitoring system,the threshold value is set in the application layer to realize the navigation condition warning function.The test results of system function and performance show that the rolling and pitching accuracy is±0.02°RMS,the wind speed is(0.2±0.03)m/s,the wind direction is±2.5°,all the monitoring parameters meet the requirements,and the packet loss rate is 1.5%when the communication distance is less than 1.4 km,which is about 22%lower than the traditional method.The system can provide technical support for further improving the USV navigation condition monitoring.