CN107145145A - A kind of autonomous unmanned boat of dual control - Google Patents
A kind of autonomous unmanned boat of dual control Download PDFInfo
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- CN107145145A CN107145145A CN201710266073.9A CN201710266073A CN107145145A CN 107145145 A CN107145145 A CN 107145145A CN 201710266073 A CN201710266073 A CN 201710266073A CN 107145145 A CN107145145 A CN 107145145A
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- 230000009977 dual effect Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000001141 propulsive effect Effects 0.000 claims 3
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention belongs to unmanned boat field, and disclose a kind of autonomous unmanned boat of dual control, including hull and the rectifier, electric-controlled plate, the first screw propulsion mechanism, the second screw propulsion mechanism, remote control receiver, the second screw propulsion mechanism, microcontroller, GPS, inertial navigation system, wireless digital broadcasting station, solid-state relay and the GPS sensor that are commonly mounted on the hull；Solid-state relay is used to control electric-controlled plate to connect with remote control receiver or controls electric-controlled plate to be connected with microcontroller, so as to realize the navigation of remote control control unmanned boat and the dual control navigation of PC control unmanned boat.The present invention can pass through host computer and micro-controller communications, and the motion of screw propulsion mechanism is controlled by microcontroller, autonomous navigation is realized, and the motion of screw propulsion mechanism can also be controlled by remote control, with the control of boat-carrying autonomous navigation and two kinds of control models of remote control device.
Description
Technical field
The invention belongs to unmanned boat field, more particularly, to a kind of autonomous unmanned boat.
Background technology
Water surface unmanned boat is that one kind has autonomous navigation ability in open waters, can be by carrying different function lists
Member completes the navigation unit by water of corresponding task.Increase and the maturation of automatic technology with mankind's seafari activity, from
Main unmanned boat is gradually devoted in market, and the auxiliary mankind carry out ocean engineering operation.Due to a large amount of manpower and materials can be saved,
Unmanned boat is shown up prominently in terms of marine environmental monitoring, hydrographic survey, coastline patrol.
The autonomous unmanned boat technology of recent year is quickly grown, and major colleges and universities and research institute have been achieved with necessarily studying into
Really.In Beijing Olympic Games Olympic Sailing competition in Qingdao, the China first developed by Shenyang Xin Guang companies of China Aerospace Science and Industry Corporation
Unmanned maritime meteorological detecting ship " astronomical phenomena one " successfully provides Meteorological safeguard and service for grand sports meet.The development that astronomical phenomena one
It is related to the multinomial cutting edge technologies such as automatic Pilot, autonomous collision prevention, satellite communication, image transmitting, its endurance was up to 20 days left sides
The right side, and meteorological detection work can be carried out under high sea situation.But at present domestic unmanned surveying vessel mainly using remote control control as
Main, common remotely pilotless ship has very strong dependence, and easily by external interference, precision and stability is not high.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of autonomous unmanned boat of dual control, nobody
Ship can be navigated by water under ipc monitor, with two kinds of mode of operations of autonomous navigation and remote control control, and allow monitoring flat
Platform remotely switches two kinds of mode of operations.
To achieve the above object, it is proposed, according to the invention, there is provided a kind of autonomous unmanned boat of dual control, including hull and common installation
Rectifier, electric-controlled plate, the first screw propulsion mechanism, the second screw propulsion mechanism and remote control receiver on the hull,
The rectifier connects the electric-controlled plate, the first screw propulsion mechanism and the second screw propulsion mechanism, the electric-controlled plate point respectively
The first screw propulsion mechanism and the second screw propulsion mechanism are not connected, it is characterised in that
Also include microcontroller, GPS, inertial navigation system, the wireless data sending being commonly mounted on the hull
Radio station, solid-state relay and GPS sensor, the microcontroller connect the GPS, inertial navigation system, nothing respectively
Line data radio station and solid-state relay, the GPS connect the GPS sensor, and the solid-state relay is connected respectively
Remote control antenna, the wireless digital broadcasting station are connected with the electric-controlled plate and remote control receiver, the remote control receiver
On be connected with radio antenna；
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless data sending
Station telecommunication, so that the host computer carries out information exchange with the microcontroller；
The solid-state relay is used to make electric-controlled plate connect with remote control receiver or make electric-controlled plate connect with microcontroller,
So that unmanned boat is by remote control control or by PC control.
Preferably, during original state, the solid-state relay connects electric-controlled plate and remote control receiver.
Preferably, the switching of the switch of the upper function control solid-state relay.
Preferably, the first screw propulsion mechanism includes the first driver, the first motor and the first propeller, described whole
Stream device and electric-controlled plate connect first driver, first driver and first motor connection, described first respectively
First propeller is installed in the rotating shaft of motor.
Preferably, the second screw propulsion mechanism includes the second driver, the second motor and the second propeller, described whole
Stream device and electric-controlled plate connect second driver, second driver and second motor connection, described second respectively
Second propeller is installed in the rotating shaft of motor.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
The present invention can be by host computer and micro-controller communications, and controls by microcontroller the fortune of screw propulsion mechanism
It is dynamic, autonomous navigation is realized, and the motion of screw propulsion mechanism can also be controlled by remote control, and therefore, the unmanned gear
There are the control of boat-carrying autonomous navigation and two kinds of control models of remote control device, and can realize that unmanned boat controls mould in host computer platform
The switching of formula, it is ensured that the autonomous unmanned boat of dual control can pass through remote control device mode in self-control system failure or dead electricity
Return, improve the reliability of unmanned boat autonomous navigation.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the schematic diagram that control section of the present invention carries out information exchange.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Reference picture 1, Fig. 2, a kind of autonomous unmanned boat of dual control, including hull 1 and the rectification being commonly mounted on the hull 1
Device 5, electric-controlled plate 2, the first screw propulsion mechanism 3, the second screw propulsion mechanism 6 and remote control receiver 4,5 points of the rectifier
The electric-controlled plate 2, the first screw propulsion mechanism 3 and the second screw propulsion mechanism 6 are not connected, and the electric-controlled plate 2 connects institute respectively
The first screw propulsion mechanism 3 and the second screw propulsion mechanism 6 are stated, in addition, the autonomous unmanned boat of this dual control also includes being commonly mounted on
Microcontroller 7, GPS 8, inertial navigation system 9, wireless digital broadcasting station 10, the and of solid-state relay 11 on the hull 1
GPS sensor 12, the microcontroller 7 connects the GPS 8, inertial navigation system 9, wireless digital broadcasting station 10 respectively
With solid-state relay 11, the GPS 8 connects the GPS sensor 12, and the solid-state relay 11 connects described respectively
Remote control antenna 20, the wireless digital broadcasting station are connected with electric-controlled plate 2 and remote control receiver 4, the remote control receiver 4
Radio antenna 21 is connected with 10；Electric-controlled plate 2 and rectifier 5 are powered by lithium battery 13, and GPS 8 passes through 12V batteries
14 power supplies, microcontroller 7 is powered by 5V batteries 15.
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless data sending
Radio station 10 communicates, so that the host computer carries out information exchange with the microcontroller 7；
The solid-state relay 11 is used to make electric-controlled plate 2 connect with remote control receiver 4 or make electric-controlled plate 2 and microcontroller
7 connect, so that unmanned boat can thus pass through the first screw propulsion mechanism 3 by remote control control or by PC control
The speed and course angle of hull 1 are adjusted with the second screw propulsion mechanism 4.
Further, during original state, the solid-state relay 11 connects electric-controlled plate 2 and remote control receiver 4.
Further, the switching of the switch of the upper function control solid-state relay 11.
Further, the first screw propulsion mechanism 3 includes the first driver 16, the first motor 17 and the first propeller,
The rectifier 5 and electric-controlled plate 2 connect first driver 16, first driver 16 and first motor 17 respectively
First propeller is installed in connection, the rotating shaft of first motor 17.
Further, the second screw propulsion mechanism 6 includes the second driver 18, the second motor 19 and the second propeller,
The rectifier 5 and electric-controlled plate 2 connect second driver 18, second driver 18 and second motor 19 respectively
Second propeller is installed in connection, the rotating shaft of second motor 19.
The present invention is added with lower module on the basis of original common remotely pilotless ship：Microcontroller 7, GPS sensor
12nd, GPS 8, inertial navigation system 9, wireless digital broadcasting station 10, boosting battery etc., constitute boat-carrying self-control system,
Boat-carrying self-control system includes autonomous navigation control algolithm, it is possible to achieve autonomous navigation is controlled.Microcontroller 7 is received and located
The data message of each on-board sensor is managed, and the movement state information of the sensor information and unmanned boat itself after processing is whole
A data frame is combined into, ipc monitor platform record is transmitted by wireless digital broadcasting station 10 and analyzed.According to remote control
The corresponding relation of the control signal form that device receiver 4 is sent and unmanned boat speed of a ship or plane size, design driven program makes single-chip microcomputer can
With the control signal of analog telecommand device receiver 4, the similar pwm signal control speed of a ship or plane is produced, boat-carrying self-control system is realized
Set up and be connected with propulsion system.Unmanned boat control signal switching circuit is devised, unmanned boat is realized by control relay switch
The selection of control signal --- monolithic machine control signal or remote control control signal.Signal switching can be remote by ipc monitor platform
Process control, the autonomous unmanned boat of dual control can be returned in self-control system failure or dead electricity by remote control device mode.
Further, the microcontroller 7 of unmanned boat uses STM32F103RCT6, and GPS positioning device is to measure day by GPS600
Line and TimeNav time service navigation receivers composition, horizontal positioning accuracy is 2m, and rate accuracy 0.03m/s, maximum data updates frequency
Rate is 20Hz；Inertial navigation system 9 uses MTi-300AHRS, and for obtaining the course angle of unmanned boat, course angle measurement accuracy is
±1°；The use WDS2510/MDS EL7052 type half-duplex data transmission radio stations of wireless digital broadcasting station 10, power output 25W, most
Remote communication distance is more than 10km；Relay uses SRD-05VDC-SL-C two-ways solid-state relay 11.
This unmanned boat communication distance brings up to 10km by the 1km of common unmanned boat, and microcontroller 7 can be embedded in autonomous navigation
Control algolithm, realizes autonomous navigation.Meanwhile, there is the unmanned boat remote control device and boat-carrying autonomous navigation to control two kinds of control moulds
Formula, and the switching of unmanned boat control model can be realized in the host computer platform of independent development, it is ensured that the autonomous unmanned boat of dual control
It can be returned in self-control system failure or dead electricity by remote control device mode, improve the reliable of unmanned boat autonomous navigation
Property.Meanwhile, component used is easily chosen in this method, and can select low- medium- high level according to demand, with very big flexibility,
It is adapted to use in marketing.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (5)
1. a kind of autonomous unmanned boat of dual control, including hull and the rectifier, electric-controlled plate, the first spiral shell that are commonly mounted on the hull
Propulsive mechanism, the second screw propulsion mechanism and remote control receiver are revolved, the rectifier connects the electric-controlled plate, the first spiral shell respectively
Propulsive mechanism and the second screw propulsion mechanism are revolved, the electric-controlled plate connects the first screw propulsion mechanism and the second spiral respectively
Propulsive mechanism, it is characterised in that
Also include being commonly mounted on microcontroller on the hull, GPS, inertial navigation system, wireless digital broadcasting station,
Solid-state relay and GPS sensor, the microcontroller connect the GPS, inertial navigation system, wireless data sending respectively
Radio station and solid-state relay, the GPS connect the GPS sensor, and the solid-state relay connects the electricity respectively
Control to be connected with plate and remote control receiver, the remote control receiver on remote control antenna, the wireless digital broadcasting station and connect
There is radio antenna；
Host computer and wireless module are set on the coast, and the wireless module passes through wireless network and the wireless digital broadcasting station
Communication, so that the host computer carries out information exchange with the microcontroller；
The solid-state relay is used to make electric-controlled plate connect with remote control receiver or make electric-controlled plate connect with microcontroller, so that
Make unmanned boat by remote control control or by PC control.
2. the autonomous unmanned boat of a kind of dual control according to claim 1, it is characterised in that during original state, the solid-state after
Electrical equipment connects electric-controlled plate and remote control receiver.
3. the autonomous unmanned boat of a kind of dual control according to claim 1, it is characterised in that the upper function control solid-state after
The switching of the switch of electrical equipment.
4. a kind of autonomous unmanned boat of dual control according to claim 1, it is characterised in that the first screw propulsion mechanism bag
The first driver, the first motor and the first propeller are included, the rectifier and electric-controlled plate connect first driver, institute respectively
State and first propeller is installed in the first driver and first motor connection, the rotating shaft of first motor.
5. a kind of autonomous unmanned boat of dual control according to claim 1, it is characterised in that the second screw propulsion mechanism bag
The second driver, the second motor and the second propeller are included, the rectifier and electric-controlled plate connect second driver, institute respectively
State and second propeller is installed in the second driver and second motor connection, the rotating shaft of second motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710266073.9A CN107145145B (en) | 2017-04-21 | 2017-04-21 | A kind of autonomous unmanned boat of dual control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710266073.9A CN107145145B (en) | 2017-04-21 | 2017-04-21 | A kind of autonomous unmanned boat of dual control |
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| CN107145145A true CN107145145A (en) | 2017-09-08 |
| CN107145145B CN107145145B (en) | 2018-05-11 |
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| CN201710266073.9A Active CN107145145B (en) | 2017-04-21 | 2017-04-21 | A kind of autonomous unmanned boat of dual control |
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| CN108803630A (en) * | 2018-08-29 | 2018-11-13 | 上海华测导航技术股份有限公司 | A kind of unmanned boat system and topographic method is carried out based on the unmanned boat system |
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| CN109163709A (en) * | 2018-08-29 | 2019-01-08 | 上海华测导航技术股份有限公司 | A kind of measurement method of unmanned boat integration underwater topography |
| CN109709950A (en) * | 2018-11-20 | 2019-05-03 | 广州南方卫星导航仪器有限公司 | A kind of unmanned surveying vessel remote control system and method |
| CN112947040A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院合肥物质科学研究院 | Unmanned naval vessel bimodulus control system of physics isolation |
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| CN108803630A (en) * | 2018-08-29 | 2018-11-13 | 上海华测导航技术股份有限公司 | A kind of unmanned boat system and topographic method is carried out based on the unmanned boat system |
| CN109163709A (en) * | 2018-08-29 | 2019-01-08 | 上海华测导航技术股份有限公司 | A kind of measurement method of unmanned boat integration underwater topography |
| CN109144075A (en) * | 2018-10-29 | 2019-01-04 | 长沙理工大学 | A kind of control system and control method of unmanned boat |
| CN109709950A (en) * | 2018-11-20 | 2019-05-03 | 广州南方卫星导航仪器有限公司 | A kind of unmanned surveying vessel remote control system and method |
| CN112947040A (en) * | 2021-01-29 | 2021-06-11 | 中国科学院合肥物质科学研究院 | Unmanned naval vessel bimodulus control system of physics isolation |
| CN112947040B (en) * | 2021-01-29 | 2022-04-19 | 中国科学院合肥物质科学研究院 | Unmanned naval vessel bimodulus control system of physics isolation |
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| Publication number | Publication date |
|---|---|
| CN107145145B (en) | 2018-05-11 |
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