CN108287538A - One kind being based on the unmanned boat system of RTK technologies - Google Patents
One kind being based on the unmanned boat system of RTK technologies Download PDFInfo
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- CN108287538A CN108287538A CN201710015943.5A CN201710015943A CN108287538A CN 108287538 A CN108287538 A CN 108287538A CN 201710015943 A CN201710015943 A CN 201710015943A CN 108287538 A CN108287538 A CN 108287538A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides one kind being based on the unmanned boat system of RTK technologies, and system includes the base station and driving ship of peripheral hardware；Base station is for sending RTK differential datas；Ship is driven to be equipped with：GNSS receiver, for acquiring the location information for driving ship；Radio station module, the RTK differential datas for being sent according to location information and base station carry out precision resolving, data acquisition module, for acquiring the running data for driving ship；Communication module, the telecommand for receiving external remote；Data fusion module, fusion, which is carried out, for the RTK differential datas after resolving running data, location information and precision obtains fused data, the telecommand instruction of ship main control unit, fused data and external remote for receiving data fusion module transmission generates control signal；Ship execution unit is connected with ship main control unit, and the control signal for responding ship main control unit simultaneously manipulates sounding boat execution corresponding operating.The present invention substantially increases the intelligent level and stability of unmanned boat.
Description
Technical field
The present invention relates to survey fields, more particularly to one kind being based on the unmanned boat system of RTK technologies.
Background technology
With the development of social technology, unmanned technology causes the concern of society, is answered in particular with unmanned air vehicle technique
With with development, unmanned ship platform (abbreviation unmanned boat) also take advantage of a situation appearance with grow up, for successful implementation such as maritime affairs
The special duties such as rescue, sea survey, dangerous material monitoring provide carrying platform, and there is great application prospect unmanned boats to be
One complicated system, it is integrated with the professional skill such as Ship Design, intelligent control, artificial intelligence, information processing, detection and conversion
Art, research contents are related to many aspects：Automatic Pilot, automatic obstacle avoiding, planning and navigation, pattern-recognition etc..Due to requiring
Unmanned boat under a variety of different marine environment can safe navigation, especially in over the horizon, the feelings that cannot play a role of remote control
Under condition, it has to be possible to independently carry out environment detection, target identification, automatic obstacle avoiding, autonomous path planning and be automatically performed mission.
Therefore, it is intelligently the most basic feature of unmanned boat, is also the largest difficult point.
Accurate location information is the major part of the technology composition of unmanned height intelligence, it is that unmanned boat automatically controls,
Automatic path planning, automatic obstacle avoiding important component.
Invention content
This system is for the low problem of positioning device positioning accuracy existing for current unmanned boat, in conjunction with RTK in GNSS system
Technology Precision is seamlessly applied to RTK technologies in unmanned boat system, makes the positioning accuracy of unmanned boat by sub-meter grade liter
Grade arrives Centimeter Level or even grade, substantially increases the intelligent level and stability of unmanned boat.
The present invention provides one kind being based on the unmanned boat system of RTK technologies, and system includes base station and the driving of peripheral hardware
Ship；
Base station is for sending RTK differential datas；
Ship is driven to be equipped with：
GNSS receiver, for acquiring the location information for driving ship；
Radio station module, radio station module are used to carry out precision solution according to the RTK differential datas that location information and base station are sent
It calculates,
Data acquisition module, for acquiring the running data for driving ship；
Communication unit, the telecommand for receiving external remote；
Data fusion module is merged for the RTK differential datas after resolving running data, location information and precision
Obtain fused data,
Ship main control unit refers to for receiving the remote control of fused data and external remote of data fusion module transmission
Instruction is enabled to generate control signal；
Ship execution unit is connected with ship main control unit, and the control signal for responding ship main control unit simultaneously manipulates
Sounding boat executes corresponding operating.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the data acquisition module includes：GPS unit, number
Transmission module, accelerometer, gyroscope, magnetometer and height barometer.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the sounding boat further includes network communication unit, outside
The telecommand that portion's remote controler is sent is transferred to ship main control unit by network communication unit.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the ship main control unit includes Task-decomposing module
And task control module,
The Task-decomposing module be used for fused data carry out clearing obtain direction control command, control of collision avoidance instruction,
Rate control instruction, self-service cruise control instruction and relief control instruction, task control module according to the direction control command obtained,
Control of collision avoidance instruction, rate control instruction, the instruction of self-service cruise control and/or relief control instruction are corresponding to be issued to driving ship
Module.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the ship execution unit includes action control module
And action executing module, the action control module are used to execute phase according to corresponding control instruction come control action execution module
The operation answered；
The action executing module includes hull propeller, stern deflector and rescue aid.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the shell for driving ship is added using carbon fibre material
Work is made.
It is above-mentioned based on the unmanned boat system of RTK technologies, wherein the base station by radio antenna, GNSS receiver,
Data radio station forms.
This system is for the low problem of positioning device positioning accuracy existing for current unmanned boat, in conjunction with RTK in GNSS system
Technology Precision is seamlessly applied to RTK technologies in unmanned boat system, makes the positioning accuracy of unmanned boat by sub-meter grade liter
Grade arrives Centimeter Level or even grade, substantially increases the intelligent level and stability of unmanned boat.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of schematic diagram based on the unmanned boat system of RTK technologies of the present invention；
Fig. 2 is principle functional diagram in one embodiment of the invention；
Fig. 3 is the circuit diagram for including main sensors in the present invention.
Specific implementation mode
In the following description, a large amount of concrete details are given in order to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid with the present invention obscure, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical scheme of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiment.
In the research process to unmanned boat, it is desirable to which unmanned boat can reach target, realize the nothing in final meaning
People drives, and sensing capability is basis and key.So-called sensing capability refers to operational configuration information of the unmanned boat to itself
The detection of (such as position, course) and surrounding enviroment information (such as position of periphery ship, the speed of a ship or plane, course information) is known
Not, so carry out Situation Assessment ability.Only when unmanned boat has stronger sensing capability, control core could basis
Assessment result formulates suitable hull control strategy, finally realizes corresponding function target in the case of unmanned intervene.
In order to realize above-mentioned technical proposal, the present invention provides one kind being based on the unmanned boat system of RTK technologies, system packet
It includes the base station including peripheral hardware and drives ship；
Base station is for sending RTK differential datas；
Ship is driven to be equipped with：
GNSS receiver, for acquiring the location information for driving ship；
Radio station module, radio station module are used to carry out precision solution according to the RTK differential datas that location information and base station are sent
It calculates,
Data acquisition module, for acquiring the running data for driving ship；
Communication unit, the telecommand for receiving external remote；
Data fusion module is merged for the RTK differential datas after resolving running data, location information and precision
Obtain fused data,
Ship main control unit refers to for receiving the remote control of fused data and external remote of data fusion module transmission
Instruction is enabled to generate control signal；
Ship execution unit is connected with ship main control unit, and the control signal for responding ship main control unit simultaneously manipulates
Sounding boat executes corresponding operating.
This system is for the low problem of positioning device positioning accuracy existing for current unmanned boat, in conjunction with RTK in GNSS system
Technology Precision is seamlessly applied to RTK technologies in unmanned boat system, makes the positioning accuracy of unmanned boat by sub-meter grade liter
Grade arrives Centimeter Level or even grade, substantially increases the intelligent level and stability of unmanned boat.
In the present invention, a GNSS receiver is mounted on unmanned boat, is received on the bank by the control radio station of unmanned boat
The differential data that base station is sent carries out high accuracy data resolving, and receiver real-time delivery high accuracy positioning information gives unmanned boat control
System processed, and be fused in the control algolithm of unmanned boat.
Data acquisition module includes in an optional embodiment of the invention：GPS unit, digital transmission module, accelerometer, top
Spiral shell instrument, magnetometer and height barometer.
Sounding boat further includes network communication unit, the remote control that external remote is sent in an optional embodiment of the invention
Instruction is transferred to ship main control unit by network communication unit.
Ship main control unit includes Task-decomposing module and task control module in an of the invention optional embodiment,
Task-decomposing module is used to carry out clearing to fused data to obtain direction control command, control of collision avoidance instruction, speed
Control instruction, self-service cruise control instruction and relief control instruction, task control module according to obtain direction control command, collision prevention
Control instruction, rate control instruction, the instruction of self-service cruise control and/or relief control instruction drive the corresponding mould of ship to be issued to
Block.
Ship execution unit includes action control module and action executing module in an optional embodiment of the invention, is moved
Make control module for executing corresponding operation according to corresponding control instruction come control action execution module；
Action executing module includes hull propeller, stern deflector and rescue aid.
The shell that ship is driven in an optional embodiment of the invention is processed into using carbon fibre material.
Base station is made of radio antenna, GNSS receiver, data radio station in an optional embodiment of the invention；
GNSS receiver is for acquiring location information.
In the present invention, unmanned boat system uses STM32F427 for master controller, and STM32F103 is at error protection association
Device is managed, running posture to hull by six axis gyro modules of MPU6000 captures, the posture information that master chip is captured
Operation, analysis, in conjunction with remote control commands and ground line are carried out with the information of the sensor feedbacks such as magnetometer, GNSS, accelerometer
Reason device instructs to control each hunchbacked machine and motor of unmanned boat.Wherein MPU6000 is 6 axis accelerometers/gyroscope, and L3GD20 is
Sixteen bit gyro, LSM303D are 14 positioner acceleration meters, and I80 is GNSS high-precision modules, specifically as shown in Fig. 2, Fig. 3 is shown
The present invention in one embodiment includes the circuit diagram of main sensors.
The configuration of the present invention is simple, at low cost, autgmentability is strong, while unmanned boat system accuracy is high, and stability is strong.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this field
It applies；Any technical person familiar with the field, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit any simple modifications, equivalents, and modifications made to the above embodiment of the present invention, still fall within the present invention
In the range of technical solution protection.
Claims (7)
1. one kind being based on the unmanned boat system of RTK technologies, which is characterized in that the system comprises the base station of peripheral hardware and driving
Ship；
The base station is for sending RTK differential datas；
The driving ship is equipped with：
GNSS receiver, for acquiring the location information for driving ship；
Radio station module, the radio station module are used to carry out precision solution according to the RTK differential datas that location information and base station are sent
It calculates,
Data acquisition module, for acquiring the running data for driving ship；
Communication module, the telecommand for receiving external remote；
Data fusion module carries out fusion for the RTK differential datas after resolving running data, location information and precision and obtains
Fused data,
The telecommand of ship main control unit, fused data and external remote for receiving data fusion module transmission refers to
It enables and generates control signal；
Ship execution unit is connected with the ship main control unit, and the control signal for responding ship main control unit simultaneously manipulates
Sounding boat executes corresponding operating.
2. being based on the unmanned boat system of RTK technologies as described in claim 1, which is characterized in that the data acquisition module
Including：GPS unit, digital transmission module, accelerometer, gyroscope, magnetometer and height barometer.
3. being based on the unmanned boat system of RTK technologies as claimed in claim 3, which is characterized in that the sounding boat further includes
Network communication unit, the telecommand that external remote is sent are transferred to ship main control unit by network communication unit.
4. being based on the unmanned boat system of RTK technologies as claimed in claim 2, which is characterized in that the ship main control unit
Including Task-decomposing module and task control module,
The Task-decomposing module is used to carry out clearing to fused data to obtain direction control command, control of collision avoidance instruction, speed
Control instruction, self-service cruise control instruction and relief control instruction, task control module according to obtain direction control command, collision prevention
Control instruction, rate control instruction, the instruction of self-service cruise control and/or relief control instruction drive the corresponding mould of ship to be issued to
Block.
5. being based on the unmanned boat system of RTK technologies as claimed in claim 4, which is characterized in that the ship execution unit
Including action control module and action executing module, the action control module is dynamic for being controlled according to corresponding control instruction
Make execution module and executes corresponding operation；
The action executing module includes hull propeller, stern deflector and rescue aid.
6. being based on the unmanned boat system of RTK technologies as described in claim 1, which is characterized in that the shell for driving ship
It is processed into using carbon fibre material.
7. being based on the unmanned boat system of RTK technologies as described in claim 1, which is characterized in that the base station is by radio station
Antenna, GNSS receiver, data radio station composition.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710015943.5A CN108287538A (en) | 2017-01-10 | 2017-01-10 | One kind being based on the unmanned boat system of RTK technologies |
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| CN201710015943.5A CN108287538A (en) | 2017-01-10 | 2017-01-10 | One kind being based on the unmanned boat system of RTK technologies |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109144060A (en) * | 2018-08-22 | 2019-01-04 | 江苏路智达交通科技有限公司 | A kind of dangerous discernment method and system of steamer line |
| CN110471416A (en) * | 2019-08-20 | 2019-11-19 | 天津大学 | Unmanned boat control system based on RTK high accuracy positioning |
| CN111280105A (en) * | 2018-12-10 | 2020-06-16 | 天津市宏宇天翔航天航空科技有限公司 | Automatic feeding system of unmanned ship |
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| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN104298192A (en) * | 2014-09-05 | 2015-01-21 | 武汉理工大学 | Unmanned ship ship-mounted intelligent terminal and control platform system adopting multi-protocol conversion |
| CN105882900A (en) * | 2016-06-08 | 2016-08-24 | 于进勇 | Unpiloted water aircraft |
| CN105937899A (en) * | 2015-10-12 | 2016-09-14 | 北京林业大学 | Unmanned ship surveying and mapping system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8219799B1 (en) * | 2008-04-25 | 2012-07-10 | Lockheed Martin Corporation | Secure communication system |
| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN104298192A (en) * | 2014-09-05 | 2015-01-21 | 武汉理工大学 | Unmanned ship ship-mounted intelligent terminal and control platform system adopting multi-protocol conversion |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109144060A (en) * | 2018-08-22 | 2019-01-04 | 江苏路智达交通科技有限公司 | A kind of dangerous discernment method and system of steamer line |
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| CN110471416A (en) * | 2019-08-20 | 2019-11-19 | 天津大学 | Unmanned boat control system based on RTK high accuracy positioning |
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