小型移动在线水质监测系统的研究
|
摘要
最近几年我国城市水源地突发性污染事件日益增加,自动监测站由于位置固定难以实时发现和跟踪污染,国内常用的移动监测设备多为人工驾驶的水质监测车和水质监测船,不仅成本高而且存在二次污染,现有的无人监测船存在体积大、携带不方便等缺点。低成本的便携式移动在线水质监测设备是一个急待解决的问题。
本文在分析国内外移动在线水质监测系统应用现状和先进技术的基础上,设计了小型移动在线水质监测系统。该系统可用于水质污染事件的应急监测和跟踪,以及水源地水质的日常巡检,具有体积小、成本低、检测速度快、远程数据传输等优点。
本文的主要内容如下：
(1)介绍了国内外移动在线水质监测系统的发展状况、典型产品及其不足之处,分析了现有产品中所使用的先进技术。
(2)完成了小型移动在线水质监测系统的整体设计。系统由采样模块、监测终端、监控中心和手持终端所组成。单个采样模块支持接入最多8路水质传感器,能实现水质快速检测、高精度采样和实时在线安全评价。采用无线数据通信和GPS定位的方法。
(3)完成了系统各组成模块的硬件电路设计和软件设计,包括高精度采样电路和多通道水质传感器接口。
(4)在监控中心服务器上编写了水质安全评价软件,能够根据移动监测系统提供的实时数据,实现对饮用水水源地的水质实时在线评价。
本文的主要特色或创新点如下：
(1)所设计的小型移动在线水质监测系统,具有成本低、体积小、便携性好和操作简便等优点,适用于对地表水源地进行移动监测以及实时跟踪突发性污染。
(2)移动平台采用电子罗盘和GPS进行组合导航,不仅方便运动控制,同时也能进行自主导航。
(3)采用快速响应的水质传感器,满足移动检测的需要。
(4)采用基于水厂工艺的水质评价方法对水质采样数据进行实时评价,同时提供预警信息。
In recent years, the sudden pollution incidents of urban source water in China have increased and they are hard to be detected and tracked in time by automatic monitoring stations because of their fixed positions. Besides these automatic monitoring stations, the commonly mobile monitoring equipments are water quality monitoring trucks or vessels which are manned drived, they need high cost and may bring secondary pollution. What's more, some unmanned monitoring vessels have the shortcomings of large size and bad portability. Therefore, the low-cost and portable mobile online monitoring equipment for water quality is urgent to be developed.
Based on the analysis of national and international mobile water quality monitoring system applications and their advanced techniques, a small mobile online water quality monitoring system was designed in this paper with the advantages of small size, low cost,fast detection and remote data transmission. It can be used for emergency monitoring and tracking of water pollution incidents, as well as the daily water quality inspection of the source water.
The main contents of this paper are as follows.
(1)The development, typical products and disadvantages of the national and international mobile water quality monitoring system were described, and the advanced techniques of the existing products were analyzed.
(2) The small mobile water quality monitoring system was designed, it consists of the sampling module, monitoring terminal, monitoring center and handheld terminal and it can achieve rapid detection of water quality, high-precision water quality sampling and online evaluation. One sampling module supports the interface of 1 to 8 water quality sensors. The communication and positioning of this system was based on the wireless/GPS.
(3) The hardware and software of the system had been completed, especially the high-precision sampling circuit and multi-channel water quality sensor interface.
(4) The water quality evaluation software was finished in the monitoring center server, it could evaluate the source of drinking water based on the real time data which were provided by the mobile online monitoring system.
The main innovations of this paper are as follows.
(1) The designed small mobile online water quality monitoring system has some advantages such as small size, low cost, good portability and easy to be operated. It is suitable for mobile monitoring of the surface source water and real-time tracking of unexpected contamination.
(2) The electronic compass and GPS were used for navigation, which are not only convenient for moving control, but also capable of autonomous navigation.
(3) The water quality sensors with fast responses meet the needs of mobile testing.
(4) The water quality evaluation method which is based on water plant process can provide real-time evaluation and early warning information based on the water quality sampling data.
本文在分析国内外移动在线水质监测系统应用现状和先进技术的基础上,设计了小型移动在线水质监测系统。该系统可用于水质污染事件的应急监测和跟踪,以及水源地水质的日常巡检,具有体积小、成本低、检测速度快、远程数据传输等优点。
本文的主要内容如下：
(1)介绍了国内外移动在线水质监测系统的发展状况、典型产品及其不足之处,分析了现有产品中所使用的先进技术。
(2)完成了小型移动在线水质监测系统的整体设计。系统由采样模块、监测终端、监控中心和手持终端所组成。单个采样模块支持接入最多8路水质传感器,能实现水质快速检测、高精度采样和实时在线安全评价。采用无线数据通信和GPS定位的方法。
(3)完成了系统各组成模块的硬件电路设计和软件设计,包括高精度采样电路和多通道水质传感器接口。
(4)在监控中心服务器上编写了水质安全评价软件,能够根据移动监测系统提供的实时数据,实现对饮用水水源地的水质实时在线评价。
本文的主要特色或创新点如下：
(1)所设计的小型移动在线水质监测系统,具有成本低、体积小、便携性好和操作简便等优点,适用于对地表水源地进行移动监测以及实时跟踪突发性污染。
(2)移动平台采用电子罗盘和GPS进行组合导航,不仅方便运动控制,同时也能进行自主导航。
(3)采用快速响应的水质传感器,满足移动检测的需要。
(4)采用基于水厂工艺的水质评价方法对水质采样数据进行实时评价,同时提供预警信息。
In recent years, the sudden pollution incidents of urban source water in China have increased and they are hard to be detected and tracked in time by automatic monitoring stations because of their fixed positions. Besides these automatic monitoring stations, the commonly mobile monitoring equipments are water quality monitoring trucks or vessels which are manned drived, they need high cost and may bring secondary pollution. What's more, some unmanned monitoring vessels have the shortcomings of large size and bad portability. Therefore, the low-cost and portable mobile online monitoring equipment for water quality is urgent to be developed.
Based on the analysis of national and international mobile water quality monitoring system applications and their advanced techniques, a small mobile online water quality monitoring system was designed in this paper with the advantages of small size, low cost,fast detection and remote data transmission. It can be used for emergency monitoring and tracking of water pollution incidents, as well as the daily water quality inspection of the source water.
The main contents of this paper are as follows.
(1)The development, typical products and disadvantages of the national and international mobile water quality monitoring system were described, and the advanced techniques of the existing products were analyzed.
(2) The small mobile water quality monitoring system was designed, it consists of the sampling module, monitoring terminal, monitoring center and handheld terminal and it can achieve rapid detection of water quality, high-precision water quality sampling and online evaluation. One sampling module supports the interface of 1 to 8 water quality sensors. The communication and positioning of this system was based on the wireless/GPS.
(3) The hardware and software of the system had been completed, especially the high-precision sampling circuit and multi-channel water quality sensor interface.
(4) The water quality evaluation software was finished in the monitoring center server, it could evaluate the source of drinking water based on the real time data which were provided by the mobile online monitoring system.
The main innovations of this paper are as follows.
(1) The designed small mobile online water quality monitoring system has some advantages such as small size, low cost, good portability and easy to be operated. It is suitable for mobile monitoring of the surface source water and real-time tracking of unexpected contamination.
(2) The electronic compass and GPS were used for navigation, which are not only convenient for moving control, but also capable of autonomous navigation.
(3) The water quality sensors with fast responses meet the needs of mobile testing.
(4) The water quality evaluation method which is based on water plant process can provide real-time evaluation and early warning information based on the water quality sampling data.
引文
[1]谢欢.基于遥感的水质监测与时空分析[D].上海,同济大学,2006.
[2]张杰,曹相生,孟雪征.水环境恢复原理与应用研究[J].北京工业大学学报,2006,32(2)：161-166.
[3]Larry W.Mays. Water Resources Engineering[M].Published by John Wiley and Sons,2009.
[4]姜爱玲.重大突发性水污染事件对应机制研究[C].全国环境资源法学研讨会论文集.南京,2008：576-578.
[5]朱明华.基于水质监测系统的数据处理方法[D].上海,上海大学,2008.
[6]Jerry G. Schulte. Development of a water quality monitoring and early warning detection system on the Allegheny and Monongahela rivers in Pennsylvania[EB/OL]. www.epa.gov/oem/docs/oil/fss/fss04/schulte_04.pdf.
[7]Gullick Richard W., Gaffney Leah J., Crockett Christopher S., etc. Developing Regional Early Warning Systems for U.S. Source Waters[J]. Journal of American Water Works Association,2004,96(6),68-82.
[8]宋金莲.水质在线自动监测及预警系统的研究开发[D].广州,华南理工大学,2005.
[9]水质监测的现状与问题[EB/OL].http://www.ccxuexi.com/html/gps/200806/398. htm.
[10]水质自动监测系统应用现状与发展趋势[EB/OL]. http://article.cechina.cn/755_Application_Case.htm.
[11]Global Water. Water Quality Sampling System[EB/OL]. http://www.globalw.com /downloads/WQSB.pdf,2011.
[12]Zhu, Xiuna; Li, Daoliang; He, Dongxian etc. A remote wireless system for water quality online monitoring in intensive fish culture[J]. Computer and Electronics in Agriculture,2010(71):S3-S9.
[13]阳艳武.关于自治水面艇导航控制的探索研究[J].广东造船,2010,29(2)：39-41.
[14]冯大伟,沈鑫.小型无人自动测量船水质采样及在线监测系统[J].油气田地面 工程,2010,29(2)：93-94.
[15]Zhao, XiaoQiang; Cheng, Wen. A kind of Remote Intellectualized System in Water Quality Analyzing. Conference Title:International Conference on Automation, Communication, Architectonics and Materials[J]. Advanced Research on Automation, Communication, Architectonics and Materials, PTS 1 AND 2.2011(1-2):1067-1070.
[16]Pascale Rouault, Kompetenzzentrum Wasser Berlin. Monitoring of water quality parameters in combined sewer overflows[Z]. Berlin, Germany,2009.
[17]Wasif Naeem, Tao Xu, Robert Sutton.etc. Design of an unmanned catamaran with pollutant tracking and surveying capabilities[C].UKACC Control,2006,Mini Symposia,99-113.
[18]Matthew Dunbabin, Alistair Grinham, James Udy. An Autonomous Surface Vehicle for Water Quality Monitoring[C]. Australasian Conference on Robotics and Automation,2009,Sydney, Australia.
[19]M.Dunbabin, P.Corke, I.Vascilescu.etc. Data muling over underwater wire-less sensor networks using autonomous underwater vehicles[C]. International Confernce on Robotics and Automation, pages 2091-2098,2006.
[20]B.Zhang and G.S.Sukhatme. Adaptive sampling for estimating a scalar field using robotic boat and a sensor network[C]. International Conference on Robotics and Automation, pages 3673-3680, April 2007.
[21]Octavian Adrian Postolache, J.Miguel Dias Pereira. Self-Organizing Maps Application in a Remote Water Quality Monitoring System[J]. IEEE Transactions on Instrumentation and Measurment,2005,54(1):322-329.
[22]Justin E.Manley. Unmanned Surface Vehicles,15 Years of Development[C]. Oceans,pages 1-4,Sept 2008.
[23]Yutaka Kaizu, Munetaka lio, Hiroyuki Yamada.etc. Development of unmanned airboat for water-quality mapping[J]. Biosystems Engineering,109(2011)338-347.
[24]Geosystem Res Copr(Korea Republic). Remote control water quality and meteorological environmental monitoring ship, has soluble substances sensor sensing water quality condition and stepping motor controlling electric motor part connected to propeller[P]. Patent Number(s):KR883046-B1.
[25]Pereira Arvind, Das Jnaneshwar, Sukhatme Gauraw S. An experimental study of station keeping on an underactuated ASV[C].International Conference on Intelligent Robots and Systems, vol 1-3,3164-3171,2008.
[26]绵阳市首台“水质流动监测车”投入使用[EB/OL].http:/mianyang.scol.com.cn /ms/content/2011-11/22/content 51169725.htm?node=155378.
[27]湖北第一台流动水质应急监测车上岗[EB/OL]. http://www.hb.chinanews.com/news/2011/0628/83779.html.
[28]水质监测船巢湖显身手[EB/OL]. http://www.cenews.com.cn/xwzx/zhxw/qt/ 201107/t20110714 704276.html.
[29]Cat 4000-Unmanned Surface Vehicle (USV) Specifications[EB/OL]. http://www.unmanned.co.uk/autonomous-unmanned-vehicles/usv-data-specs-fact-she ets/cat-4000-unmanned-surface-vehicle-usv-specifications/.
[30]珠海云洲智能科技有限公司.MM70自动在线监测船[EB/OL]. http://www.yunzhou-tech.com/products_monitoring_mm70.html.
[31]钱塘江杭州段的8个水质监测站24小时火眼金睛盯牢饮用水源[EB/OL]. http://news.sina.com.cn/c/2007-11-18/044312922778s.shtml.
[32]首套国产浮标式水质自动监测系统投用[EB/OL]. http://www.chem17.com/Product_News/Detail/23858.html.
[33]贺艳峰.无人自动测量船水质采样及在线监测系统探究分析[J].才智2011,25：60.
[34]卢金锁.水厂源水水质监测、预测、数据传输系统研究[D].西安,西安建筑科技大学,2004.
[35]上海泽泉科技270-WQ系列水质传感器[EB/OL]. http://www.zealquest.com/product/view.asp?id=691.
[36]吴新峰,杨瑞峰.基于MSP430F2013的智能变送器[J].仪表技术与传感器,2008,6：68-69,87.
[37]赵汉宾,和卫星,吕继东等.低功耗高精度体温计设计[J].计算机测量与控制,2011,19(3)：676-678.
[38]倪秀辉,张琳琳,任国兴.基于MSP430的热敏电阻高精度测温设计[J].仪表技术与传感器,2009,3：100-101,120.
[39]和卫星,王彬,吴文亚等.基于MSP430的高精度压力计设计[J].化工自动化及仪表,2010,37(12)：70-72.
[40]Analog Intergrations Corporation.MC34063A DC/DC Converter Control Circuit[EB/OL].
[41]HJ495-2009.水质采样方案设计技术规定[S].
[42]Texas Instruments. Getting Started With TMS320F28x Digital Signal Controllers[EB/OL],2009.
[43]Texas Instruments. TMS320x28xx,28xxx DSP Peripheral Reference Guide[EB/OL],2009.
[44]李飞飞.遥控式移动水质监测系统的设计[D].杭州,浙江大学,2011.
[45]赵毅强,管大年,陈豪敏.电子罗盘在精确定位平台中的应用[J].传感技术学报,2005,18(1)：140-142.
[46]张勤,田增山.INS/GPS/电子罗盘组合导航系统研究[J].计算机测量与控制,2010,18(5)：1225-1227.
[47]肖文平,叶家伟.磁阻传感器电子罗盘及其在船舶导航中的应用[J].广东造船,2003(4)：23-27.
[48]胡宁博,李剑,赵榉云.基于HMC5883的电子罗盘设计[J].传感器世界,2011(6)：35-38.
[49]蒋建虎,张振江.基于GPRS和GPS的移动水质监测系统设计[J].自动化技术与应用,2006,25(8)：66-68,81.
[50]蒋建虎.基于GPRS和GPS的野外移动环境监测技术研究[D].南京,南京航空航天大学,2006.
[51]朱向庆,陈志雄.采用GPS和GPRS的移动目标监控导航系统设计[J].计算机测量与控制,2011,19(5)：1133-1135,1157.
[52]魏雄,王仁波,李跃忠等.基于GPS/GPRS的滑坡监测系统[J].仪器仪表学报,2008,29(11)：2456-2460.
[53]陈军,盛占石,陈照章.基于GPRS的水质自动监测系统的设计[J].传感器与微 系统,2009,28(7)：77-79.
[54]席飞.基于ARM和GPRS网络的水质监测系统设计[D].无锡,江南大学,2009.
[55]吴志强.基于GPRS的流量计远程维护系统设计[D].杭州,浙江大学,2010.
[56]上海复控华龙,433M系列产品[EB/OL]. http://www.fkhl.sh.cn/product.asp?cid=112&z=3.
[57]王贵恩,孙永林,叶鸣.基于船位推算和GPS的嵌入式内河船舶远程终端设计[J].交通与计算机,2007,3(25)：91-93.
[58]徐玮.小巧实用的51单片机GPS开发板[J].无线电,2010(7)：68-71.
[59]孙国杰,吴长奇.基于大容量存储卡数据采集器开发研究[J].仪表技术与传感器,2010(10)：72-74.
[60]刘玥.基于DSP的便携式数据采集器设计[J].应用科技,2010,37(12)：56-59.
[61]刘晓明,邵敏,万艳华.基于TMS320VC5509A的SD卡文件系统的开发应用[J].工业控制计算机,2008,21(6)：79-80.
[62]宋健.基于L298的直流电机PWM调速器[J].潍坊学院学报,2004,4(4)：87-88.
[63]STMicroelectronics. L298 Dual Full-Bridge Driver [EB/OL].2000.
[64]龚真春,李平,宋执环.超小型无人机GPS/MIMU组合导航定位系统研究[J].航空电子技术,2004,35(3)：15-18,34.
[65]梁秋憧,程维明.超小型飞行器GPS自主导航算法的研究[J].无线电工程,2002,32(12)：27-30.
[66]梁秋憧,程维明,黄欣.GPS自主导航原理、算法及应用[J].机床与液压,2003,4：48-50.
[67]黄鸣敏,组合导航系统在水下潜器中的应用[D].南京,南京理工大学,2007.
[68]徐克宝,王军成,曾庆良等.自学式GPS车辆自主导航仪的研究[J].仪器仪表学报,2007,28(2)：317-321.
[69]Jin-xua Yu, Zi-xing Cai, Zhuo-hua Duan,et al. Design of dead reckoning system for mobile robot[J].Journal of Central South University of Technology,2006,13(5)542-547.
[70]Abillio Azenha, Adriano Carvalho. Dynamic analysis of AGV control under dead-reckoning algorithm[J].Robotica,2008,26(5):635-641.
[71]Matthew Dunbabin, Jonathan Roberts, Kane Usher,et al. A Hybrid AUV Design for Shallow Water Reef Navigation[C].Proceedings of the 2005 IEEE, International Conference on Robotics and Automation,Barcelona, Spain April 2005:2105-2110.
[72]杨江,冀海峰,张龙等.预警系统中的水质评价软件开发[J].中国建设信息,2010,11：46-48.
[2]张杰,曹相生,孟雪征.水环境恢复原理与应用研究[J].北京工业大学学报,2006,32(2)：161-166.
[3]Larry W.Mays. Water Resources Engineering[M].Published by John Wiley and Sons,2009.
[4]姜爱玲.重大突发性水污染事件对应机制研究[C].全国环境资源法学研讨会论文集.南京,2008：576-578.
[5]朱明华.基于水质监测系统的数据处理方法[D].上海,上海大学,2008.
[6]Jerry G. Schulte. Development of a water quality monitoring and early warning detection system on the Allegheny and Monongahela rivers in Pennsylvania[EB/OL]. www.epa.gov/oem/docs/oil/fss/fss04/schulte_04.pdf.
[7]Gullick Richard W., Gaffney Leah J., Crockett Christopher S., etc. Developing Regional Early Warning Systems for U.S. Source Waters[J]. Journal of American Water Works Association,2004,96(6),68-82.
[8]宋金莲.水质在线自动监测及预警系统的研究开发[D].广州,华南理工大学,2005.
[9]水质监测的现状与问题[EB/OL].http://www.ccxuexi.com/html/gps/200806/398. htm.
[10]水质自动监测系统应用现状与发展趋势[EB/OL]. http://article.cechina.cn/755_Application_Case.htm.
[11]Global Water. Water Quality Sampling System[EB/OL]. http://www.globalw.com /downloads/WQSB.pdf,2011.
[12]Zhu, Xiuna; Li, Daoliang; He, Dongxian etc. A remote wireless system for water quality online monitoring in intensive fish culture[J]. Computer and Electronics in Agriculture,2010(71):S3-S9.
[13]阳艳武.关于自治水面艇导航控制的探索研究[J].广东造船,2010,29(2)：39-41.
[14]冯大伟,沈鑫.小型无人自动测量船水质采样及在线监测系统[J].油气田地面 工程,2010,29(2)：93-94.
[15]Zhao, XiaoQiang; Cheng, Wen. A kind of Remote Intellectualized System in Water Quality Analyzing. Conference Title:International Conference on Automation, Communication, Architectonics and Materials[J]. Advanced Research on Automation, Communication, Architectonics and Materials, PTS 1 AND 2.2011(1-2):1067-1070.
[16]Pascale Rouault, Kompetenzzentrum Wasser Berlin. Monitoring of water quality parameters in combined sewer overflows[Z]. Berlin, Germany,2009.
[17]Wasif Naeem, Tao Xu, Robert Sutton.etc. Design of an unmanned catamaran with pollutant tracking and surveying capabilities[C].UKACC Control,2006,Mini Symposia,99-113.
[18]Matthew Dunbabin, Alistair Grinham, James Udy. An Autonomous Surface Vehicle for Water Quality Monitoring[C]. Australasian Conference on Robotics and Automation,2009,Sydney, Australia.
[19]M.Dunbabin, P.Corke, I.Vascilescu.etc. Data muling over underwater wire-less sensor networks using autonomous underwater vehicles[C]. International Confernce on Robotics and Automation, pages 2091-2098,2006.
[20]B.Zhang and G.S.Sukhatme. Adaptive sampling for estimating a scalar field using robotic boat and a sensor network[C]. International Conference on Robotics and Automation, pages 3673-3680, April 2007.
[21]Octavian Adrian Postolache, J.Miguel Dias Pereira. Self-Organizing Maps Application in a Remote Water Quality Monitoring System[J]. IEEE Transactions on Instrumentation and Measurment,2005,54(1):322-329.
[22]Justin E.Manley. Unmanned Surface Vehicles,15 Years of Development[C]. Oceans,pages 1-4,Sept 2008.
[23]Yutaka Kaizu, Munetaka lio, Hiroyuki Yamada.etc. Development of unmanned airboat for water-quality mapping[J]. Biosystems Engineering,109(2011)338-347.
[24]Geosystem Res Copr(Korea Republic). Remote control water quality and meteorological environmental monitoring ship, has soluble substances sensor sensing water quality condition and stepping motor controlling electric motor part connected to propeller[P]. Patent Number(s):KR883046-B1.
[25]Pereira Arvind, Das Jnaneshwar, Sukhatme Gauraw S. An experimental study of station keeping on an underactuated ASV[C].International Conference on Intelligent Robots and Systems, vol 1-3,3164-3171,2008.
[26]绵阳市首台“水质流动监测车”投入使用[EB/OL].http:/mianyang.scol.com.cn /ms/content/2011-11/22/content 51169725.htm?node=155378.
[27]湖北第一台流动水质应急监测车上岗[EB/OL]. http://www.hb.chinanews.com/news/2011/0628/83779.html.
[28]水质监测船巢湖显身手[EB/OL]. http://www.cenews.com.cn/xwzx/zhxw/qt/ 201107/t20110714 704276.html.
[29]Cat 4000-Unmanned Surface Vehicle (USV) Specifications[EB/OL]. http://www.unmanned.co.uk/autonomous-unmanned-vehicles/usv-data-specs-fact-she ets/cat-4000-unmanned-surface-vehicle-usv-specifications/.
[30]珠海云洲智能科技有限公司.MM70自动在线监测船[EB/OL]. http://www.yunzhou-tech.com/products_monitoring_mm70.html.
[31]钱塘江杭州段的8个水质监测站24小时火眼金睛盯牢饮用水源[EB/OL]. http://news.sina.com.cn/c/2007-11-18/044312922778s.shtml.
[32]首套国产浮标式水质自动监测系统投用[EB/OL]. http://www.chem17.com/Product_News/Detail/23858.html.
[33]贺艳峰.无人自动测量船水质采样及在线监测系统探究分析[J].才智2011,25：60.
[34]卢金锁.水厂源水水质监测、预测、数据传输系统研究[D].西安,西安建筑科技大学,2004.
[35]上海泽泉科技270-WQ系列水质传感器[EB/OL]. http://www.zealquest.com/product/view.asp?id=691.
[36]吴新峰,杨瑞峰.基于MSP430F2013的智能变送器[J].仪表技术与传感器,2008,6：68-69,87.
[37]赵汉宾,和卫星,吕继东等.低功耗高精度体温计设计[J].计算机测量与控制,2011,19(3)：676-678.
[38]倪秀辉,张琳琳,任国兴.基于MSP430的热敏电阻高精度测温设计[J].仪表技术与传感器,2009,3：100-101,120.
[39]和卫星,王彬,吴文亚等.基于MSP430的高精度压力计设计[J].化工自动化及仪表,2010,37(12)：70-72.
[40]Analog Intergrations Corporation.MC34063A DC/DC Converter Control Circuit[EB/OL].
[41]HJ495-2009.水质采样方案设计技术规定[S].
[42]Texas Instruments. Getting Started With TMS320F28x Digital Signal Controllers[EB/OL],2009.
[43]Texas Instruments. TMS320x28xx,28xxx DSP Peripheral Reference Guide[EB/OL],2009.
[44]李飞飞.遥控式移动水质监测系统的设计[D].杭州,浙江大学,2011.
[45]赵毅强,管大年,陈豪敏.电子罗盘在精确定位平台中的应用[J].传感技术学报,2005,18(1)：140-142.
[46]张勤,田增山.INS/GPS/电子罗盘组合导航系统研究[J].计算机测量与控制,2010,18(5)：1225-1227.
[47]肖文平,叶家伟.磁阻传感器电子罗盘及其在船舶导航中的应用[J].广东造船,2003(4)：23-27.
[48]胡宁博,李剑,赵榉云.基于HMC5883的电子罗盘设计[J].传感器世界,2011(6)：35-38.
[49]蒋建虎,张振江.基于GPRS和GPS的移动水质监测系统设计[J].自动化技术与应用,2006,25(8)：66-68,81.
[50]蒋建虎.基于GPRS和GPS的野外移动环境监测技术研究[D].南京,南京航空航天大学,2006.
[51]朱向庆,陈志雄.采用GPS和GPRS的移动目标监控导航系统设计[J].计算机测量与控制,2011,19(5)：1133-1135,1157.
[52]魏雄,王仁波,李跃忠等.基于GPS/GPRS的滑坡监测系统[J].仪器仪表学报,2008,29(11)：2456-2460.
[53]陈军,盛占石,陈照章.基于GPRS的水质自动监测系统的设计[J].传感器与微 系统,2009,28(7)：77-79.
[54]席飞.基于ARM和GPRS网络的水质监测系统设计[D].无锡,江南大学,2009.
[55]吴志强.基于GPRS的流量计远程维护系统设计[D].杭州,浙江大学,2010.
[56]上海复控华龙,433M系列产品[EB/OL]. http://www.fkhl.sh.cn/product.asp?cid=112&z=3.
[57]王贵恩,孙永林,叶鸣.基于船位推算和GPS的嵌入式内河船舶远程终端设计[J].交通与计算机,2007,3(25)：91-93.
[58]徐玮.小巧实用的51单片机GPS开发板[J].无线电,2010(7)：68-71.
[59]孙国杰,吴长奇.基于大容量存储卡数据采集器开发研究[J].仪表技术与传感器,2010(10)：72-74.
[60]刘玥.基于DSP的便携式数据采集器设计[J].应用科技,2010,37(12)：56-59.
[61]刘晓明,邵敏,万艳华.基于TMS320VC5509A的SD卡文件系统的开发应用[J].工业控制计算机,2008,21(6)：79-80.
[62]宋健.基于L298的直流电机PWM调速器[J].潍坊学院学报,2004,4(4)：87-88.
[63]STMicroelectronics. L298 Dual Full-Bridge Driver [EB/OL].2000.
[64]龚真春,李平,宋执环.超小型无人机GPS/MIMU组合导航定位系统研究[J].航空电子技术,2004,35(3)：15-18,34.
[65]梁秋憧,程维明.超小型飞行器GPS自主导航算法的研究[J].无线电工程,2002,32(12)：27-30.
[66]梁秋憧,程维明,黄欣.GPS自主导航原理、算法及应用[J].机床与液压,2003,4：48-50.
[67]黄鸣敏,组合导航系统在水下潜器中的应用[D].南京,南京理工大学,2007.
[68]徐克宝,王军成,曾庆良等.自学式GPS车辆自主导航仪的研究[J].仪器仪表学报,2007,28(2)：317-321.
[69]Jin-xua Yu, Zi-xing Cai, Zhuo-hua Duan,et al. Design of dead reckoning system for mobile robot[J].Journal of Central South University of Technology,2006,13(5)542-547.
[70]Abillio Azenha, Adriano Carvalho. Dynamic analysis of AGV control under dead-reckoning algorithm[J].Robotica,2008,26(5):635-641.
[71]Matthew Dunbabin, Jonathan Roberts, Kane Usher,et al. A Hybrid AUV Design for Shallow Water Reef Navigation[C].Proceedings of the 2005 IEEE, International Conference on Robotics and Automation,Barcelona, Spain April 2005:2105-2110.
[72]杨江,冀海峰,张龙等.预警系统中的水质评价软件开发[J].中国建设信息,2010,11：46-48.