双通信通道无人艇遥控系统设计
|
摘要
针对海洋探测无人艇的遥控需求,提出了利用大功率数传电台和北斗短报文系统同时传输控制指令的双通道通信遥控设计方案,保证无人艇在近岸或近母船时控制的时效性以及在远海或远离母船时控制的可达性。给出了双通道通信系统整体设计,制定了通信协议,包含校验字节和命令号字节,通过校验保证数据帧的正确性,基于命令号实现丢帧时超时重发,以及北斗通信延时命令不混乱,保证无人艇遥控的可靠性。根据此方案设计的无人艇遥控系统,在东海某海域进行实际航行试验,无人艇安全可控,表明了此设计方案的实用性和有效性。
In order to control the unmanned surface vehicle(USV) remotely,dual communication channels which consist of data radio and Beidou are involved so that the USV can be controlled timely at short range and availably at long range.The overall scheme of the dual communication channels is presented in this paper.Special protocols are proposed with parity check and command number judgement.Based on the command number,the timeout retransmission is carried out when data loss and the interpretation of command will not be in confusion when the Beidou data delayed.A real USV remote control system is carried out base on the proposed scheme and is tested in a certain sea area in the East China Sea.
In order to control the unmanned surface vehicle(USV) remotely,dual communication channels which consist of data radio and Beidou are involved so that the USV can be controlled timely at short range and availably at long range.The overall scheme of the dual communication channels is presented in this paper.Special protocols are proposed with parity check and command number judgement.Based on the command number,the timeout retransmission is carried out when data loss and the interpretation of command will not be in confusion when the Beidou data delayed.A real USV remote control system is carried out base on the proposed scheme and is tested in a certain sea area in the East China Sea.
引文
[1]申云磊,高霄鹏.无人艇的研究现状与进展[J].船电技术,2018,38(9):7-10
[2]郎舒妍.民用无人艇的发展与应用[J].船舶物资与市场,2018(2):45-47
[3]林剑峰,马善伟.水面高速无人艇自主控制系统研究分析[J].船舶与海洋工程,2014(4):57-60
[4]永泽,舒军勇,王真亮,等.基于GPS定位的无人艇自主导航[J].重庆理工大学学报(自然科学),2016,30(8):117-121
[5]陈霄,刘忠,罗亚松,王潋,等.海洋环境下欠驱动无人艇航迹跟踪控制算法[J].哈尔滨工业大学学报,2018,50(10):110-117
[6]朱明明.一种四旋翼无人机控制系统的设计和实现[D].武汉:华中师范大学,2018
[7]徐风云,万隆君,徐轶群,等.基于北斗的无人船艇数据传输系统研发[J].机电工程技术,2018,47(6):31-35,76
[8]邓锐,王峰,陈海生,等.基于北斗卫星通信的船载数据采集系统[J].海洋技术学报,2014,33(6):28-33
[9]高迪驹.基于北斗卫星通信系统的船载终端串口通信[J].上海海事大学学报,2008,29(4):10-14
[10]Wang Q,Shu L,Chen H,et al.Application of Beidou satellite timing and communication technology in power system fault location[C]∥International Conference on Electric Utility Deregulation&Restructuring&Power Technologies.IEEE,2016
[11]Islam M K,Rongke L.Beidou communication(BeiComm)device for rescue in disaster[C]∥International Conference on Future Generation Communication Technology. IEEE, 2013
[2]郎舒妍.民用无人艇的发展与应用[J].船舶物资与市场,2018(2):45-47
[3]林剑峰,马善伟.水面高速无人艇自主控制系统研究分析[J].船舶与海洋工程,2014(4):57-60
[4]永泽,舒军勇,王真亮,等.基于GPS定位的无人艇自主导航[J].重庆理工大学学报(自然科学),2016,30(8):117-121
[5]陈霄,刘忠,罗亚松,王潋,等.海洋环境下欠驱动无人艇航迹跟踪控制算法[J].哈尔滨工业大学学报,2018,50(10):110-117
[6]朱明明.一种四旋翼无人机控制系统的设计和实现[D].武汉:华中师范大学,2018
[7]徐风云,万隆君,徐轶群,等.基于北斗的无人船艇数据传输系统研发[J].机电工程技术,2018,47(6):31-35,76
[8]邓锐,王峰,陈海生,等.基于北斗卫星通信的船载数据采集系统[J].海洋技术学报,2014,33(6):28-33
[9]高迪驹.基于北斗卫星通信系统的船载终端串口通信[J].上海海事大学学报,2008,29(4):10-14
[10]Wang Q,Shu L,Chen H,et al.Application of Beidou satellite timing and communication technology in power system fault location[C]∥International Conference on Electric Utility Deregulation&Restructuring&Power Technologies.IEEE,2016
[11]Islam M K,Rongke L.Beidou communication(BeiComm)device for rescue in disaster[C]∥International Conference on Future Generation Communication Technology. IEEE, 2013