The range of unit fixed-point measurement on water quality monitoring system is limited,and the cost for multipoint measurement is high.In order to solve these problems,the automatic cruise system for water quality mo...The range of unit fixed-point measurement on water quality monitoring system is limited,and the cost for multipoint measurement is high.In order to solve these problems,the automatic cruise system for water quality monitoring was designed.Sage-Husa adaptive Kalman filtering algorithm was adopted to correct the error in GPS positioning.The boat was equipped with ship control module,water quality parameters acquisition module,power-supply module,GPS module and GPRS-DTU packet data transmission module.An Android application was developed so that individual users can use smartphone to communicate with the boat at all time and places.The results show that the boat can basically cruise in the set route to monitor the water quality.In a 4 m^(2) aquatic plants areas,the dissolved oxygen monitored in different time were about 10.2%,8.5%and 8.3%,respectively,higher than other areas,and the pH values were 4.1%,3.8%and 3.7%higher than those in other waters,which shown that plants photosynthesis released oxygen consumption of carbon dioxide will affect the dissolved oxygen content and pH value.This system can widen the measurement range,and lower the measuring cost that can be widely used in the water quality monitoring in aquaculture and river management.展开更多
设计了一款轻便小巧的水质监测无人船,结合一体化水质监测电控系统进行水质温度、溶解氧质量浓度、氨氮质量浓度、pH的监测。硬件部分采用模块化结构设计,以Raspberry Pi 3B+作为主控模块,协同运行电源管理模块、数据采集模块、导航定...设计了一款轻便小巧的水质监测无人船,结合一体化水质监测电控系统进行水质温度、溶解氧质量浓度、氨氮质量浓度、pH的监测。硬件部分采用模块化结构设计,以Raspberry Pi 3B+作为主控模块,协同运行电源管理模块、数据采集模块、导航定位模块、避障模块、视觉采集模块、电机驱动模块、无线通信模块及岸基上位机。软件设计包括主程序、自主航行模式程序、遥控航行模式程序及无线通信模块程序的设计。将无人船放在城市湖面和河道进行实验,结果显示,5个固定监测点的监测参数在正常范围内,10个随机监测点的监测数据与专业仪器监测的数据相比,可决系数在0.94~0.99,验证了无人船运行的可行性以及监测数据的可靠性。展开更多
基金The study was financially supported by the National Natural Science Foundation of China(31172243)the Agricultural Science and Technology Support Program of Jiangsu Province(BE2013402)the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD,NO.6-2011).
文摘The range of unit fixed-point measurement on water quality monitoring system is limited,and the cost for multipoint measurement is high.In order to solve these problems,the automatic cruise system for water quality monitoring was designed.Sage-Husa adaptive Kalman filtering algorithm was adopted to correct the error in GPS positioning.The boat was equipped with ship control module,water quality parameters acquisition module,power-supply module,GPS module and GPRS-DTU packet data transmission module.An Android application was developed so that individual users can use smartphone to communicate with the boat at all time and places.The results show that the boat can basically cruise in the set route to monitor the water quality.In a 4 m^(2) aquatic plants areas,the dissolved oxygen monitored in different time were about 10.2%,8.5%and 8.3%,respectively,higher than other areas,and the pH values were 4.1%,3.8%and 3.7%higher than those in other waters,which shown that plants photosynthesis released oxygen consumption of carbon dioxide will affect the dissolved oxygen content and pH value.This system can widen the measurement range,and lower the measuring cost that can be widely used in the water quality monitoring in aquaculture and river management.
文摘设计了一款轻便小巧的水质监测无人船,结合一体化水质监测电控系统进行水质温度、溶解氧质量浓度、氨氮质量浓度、pH的监测。硬件部分采用模块化结构设计,以Raspberry Pi 3B+作为主控模块,协同运行电源管理模块、数据采集模块、导航定位模块、避障模块、视觉采集模块、电机驱动模块、无线通信模块及岸基上位机。软件设计包括主程序、自主航行模式程序、遥控航行模式程序及无线通信模块程序的设计。将无人船放在城市湖面和河道进行实验,结果显示,5个固定监测点的监测参数在正常范围内,10个随机监测点的监测数据与专业仪器监测的数据相比,可决系数在0.94~0.99,验证了无人船运行的可行性以及监测数据的可靠性。
