CN108549395A - Underwater unmanned autonomous navigation device navigation control system and method - Google Patents
Underwater unmanned autonomous navigation device navigation control system and method Download PDFInfo
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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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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Abstract
A kind of unmanned autonomous navigation device navigation control system and method under water.The system includes main control unit and library file unit.Main control unit includes multiple and different function module, multiple function module is encapsulated with unified call interface, so that external control terminal calls one or more function modules by the unified call interface, library file unit includes the packed correspondence library file formed of multiple bottom layer driving files, when the one or more function module of calling executes corresponding function, corresponding bottom layer driving file is called from the library file unit to drive corresponding functional hardware to obtain corresponding data, and then judge to execute operation accordingly according to the data.Navigation control system provided by the invention is small, production cost is low, and is easy to carry out secondary development.
Description
Technical field
The present invention relates to underwater unmanned autonomous navigation device field more particularly to a kind of underwater unmanned autonomous navigation device navigation controls
System and method processed.
Background technology
Underwater unmanned autonomous navigation device not only has extensive and important military use as a kind of sea power multiplier
On the way or mankind's peace develops the indispensable important tool in ocean, has become each developed country's military affairs marine technology research
Forward position.
Underwater unmanned autonomous navigation device navigation control system mostly uses PC104 at present or other embedded industrial computers are made
For master control computer hardware, using systems such as Vxworks, DOS, Linux as host computer system.It is embedding based on PC104
Entering formula industrial computer has the characteristics that strong CPU frequency height, processing task ability, rich hardware resource, extended capability are strong, very
In being suitble to, it is large-scale, be not calculated as this, the underwater unmanned autonomous navigation device more than load and function, simultaneously because its volume is big, price
Costliness is not particularly suited for micro-low cost unmanned autonomous navigation device under water.It is counted as master control using systems such as Vxworks, DOS, Linux
Calculation machine system has many advantages, such as that real-time is high, can cut, is low in energy consumption, software sealed-in is good, but simultaneously also along with study at
This height, modular capability are weak, user wants to carry out secondary development with drawbacks such as very high technical thresholds.
Therefore, it is necessary to which providing a kind of new technical solution improves one or more problem present in said program.
Invention content
The disclosure is designed to provide a kind of unmanned autonomous navigation device navigation control system and method under water, and then at least
One or more is overcome the problems, such as caused by the limitation and defect of the relevant technologies to a certain extent.
According to the first aspect of the embodiments of the present disclosure, a kind of underwater unmanned autonomous navigation device navigation control system, packet are provided
It includes：
Main control unit, including multiple and different function modules, multiple function module are encapsulated with unified call and connect
Mouthful, so that external control terminal calls one or more function modules by the unified call interface；
Library file unit, including the packed correspondence library file formed of multiple bottom layer driving files；When one of calling or
When multiple function modules execute corresponding function, call corresponding bottom layer driving file to drive from the library file unit
Corresponding functional hardware obtains corresponding data, and then judges to execute operation accordingly according to the data.
In embodiment of the disclosure, the main control unit and library file unit are set in a microcontroller.
In embodiment of the disclosure, the plurality of different function module include attitude algorithm module, speed analog module,
Videoscanning module, task control module, navigation positioning module, data transmit-receive module, safe first aid module, Heading control mould
Block, depth control block and power control module.
In embodiment of the disclosure, the functional hardware includes accelerometer, gyroscope, magnetometer, SD card, GPS, camera shooting
Head, wireless module, WIFI, network interface, LED, servo driving, serial ports, motor driving, depth transducer, ADC voltage acquisitions.
In embodiment of the disclosure, between the multiple function module independently of each other, the increase of any function module is deleted
Subtract, change the calling for having no effect on other function modules.
In embodiment of the disclosure, between the multiple library file independently of each other, the increase of any function module, delete,
Modification has no effect on the calling of other library files.
According to the second aspect of the embodiment of the present disclosure, a kind of underwater unmanned autonomous navigation device navigation control method, packet are provided
It includes：
Step 1：Call initialization function module；
Step 2：Judge the underwater unmanned autonomous navigation device navigation pattern；
Step 3：Corresponding task is executed according to determining navigation pattern；
Step 4：Judge whether to reach the default control period, step 2 is jumped back to if reaching.
In embodiment of the disclosure, the initialization function module that the step 1 is called includes：Attitude algorithm module, speed
Analog module, videoscanning module, task control module, navigation positioning module, data transmit-receive module, safe first aid module, boat
To control module, depth control block, power control module.
In embodiment of the disclosure, during the step 2 judges underwater unmanned autonomous navigation device navigation pattern, on
Electric default mode is user's remote control mode, if the main control unit receives independent navigation instruction, switches to independent navigation mould
Formula.
In embodiment of the disclosure, the navigation pattern that the step 3 confirms is：
User's remote control mode calls data transmit-receive module, waits user's telecommand to be received；Call safe first aid mould simultaneously
Block, to ensure the safety during straighforward operation；After receiving telecommand, the corresponding function module is called to hold according to telecommand
Row corresponding task.
Independent navigation pattern, calling task control module call corresponding function according to received task control command
Module executes corresponding task.
The technical scheme provided by this disclosed embodiment can include the following benefits：
In a kind of embodiment of the disclosure, the main control unit and library file unit are set in a microcontroller, work as outside
When control terminal calls one or more function modules to execute corresponding function by unified call interface, from the library file list
Corresponding bottom layer driving file is called in member to drive corresponding functional hardware to obtain corresponding data, and then is sentenced according to the data
It is disconnected to execute corresponding operation.In the systems and methods, microcontroller has as embedded engineer's entry level MCU chips that must be learned
Have the advantages that production cost is low, small, easy to learn, carrying out secondary development for later stage user provides hardware condition.It is another
Aspect user can cut library file according to own hardware and functional requirement, and the function of oneself needing arbitrarily is called in entrance function
Module.Simultaneously in addition user can also write in conjunction with underwater unmanned autonomous navigation device exploitation demand according to interface requirement actually required
Bottom layer driving library file and function module file, this high degree facilitate user software view carry out secondary development.
Description of the drawings
Fig. 1 shows underwater unmanned autonomous navigation device navigation control system architecture diagram in disclosure exemplary embodiment；
Fig. 2 shows the method schematic diagrams one of underwater unmanned autonomous navigation device Navigation Control in disclosure exemplary embodiment
Fig. 3 shows the method schematic diagram two of underwater unmanned autonomous navigation device Navigation Control in disclosure exemplary embodiment.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be in any suitable manner incorporated in one or more embodiments.
Referring to Fig.1, a kind of underwater unmanned autonomous navigation device navigation control system is provided firstly in this example embodiment,
The system includes main control unit 100 and library file unit 200.Wherein, the main control unit 100 includes multiple and different function mould
Block, multiple function module are encapsulated with unified call interface, so that external control terminal passes through the unified call interface tune
With one or more function modules.In specifically embodiment, user can interface determines according to actual conditions type, only
Ensure that each interface keeps unified.The library file unit 200 includes packed pair formed of multiple bottom layer driving files
Library file is answered, when the one or more function module of calling executes corresponding function, is adjusted from the library file unit 200
With corresponding bottom layer driving file to drive corresponding functional hardware to obtain corresponding data, and then judge to execute according to the data
Corresponding operation.For example, when calling attitude algorithm module, single driving file such as gyroscope can be called to drive from library file
File can also call multiple driving files such as gyroscope from library file, accelerate to drive gyroscope to obtain corresponding data
Degree meter, magnetometer etc. drive file to drive corresponding functional hardware to obtain corresponding data.
In one embodiment, the main control unit 100 and library file unit 200 are set in a microcontroller, the monolithic
Machine can select specific chip, the present invention not to restrict this according to the actually required function of user, dominant frequency, resource.
In the present embodiment, the plurality of different function module includes that attitude algorithm module, speed analog module, video are swept
Retouch module, task control module, navigation positioning module, data transmit-receive module, safe first aid module, Heading control module, depth
Control module, power control module.Wherein, between the multiple function module independently of each other, the increase of any function module is deleted
Subtract, change the calling for having no effect on other function modules.Specifically, user can according to actual conditions, in conjunction with it is underwater nobody from
In addition main aircraft exploitation demand writes actually required function module file according to interface requirement, the present invention does not make this rising limit
System.
In the present embodiment, the functional hardware includes accelerometer, gyroscope, magnetometer, SD card, GPS, camera, nothing
Wire module, WIFI, network interface, LED, servo driving, serial ports, motor driving, depth transducer, ADC voltage acquisitions.Wherein, described
Between multiple library files independently of each other, the increase of any library file deletes, changes the calling for having no effect on other library files.Tool
Body, user can be according to actual conditions, and in conjunction with underwater unmanned autonomous navigation device exploitation increase in demand or to delete required function hard
Part, the present invention do not restrict this.
A kind of underwater unmanned autonomous navigation device navigation control method is additionally provided in this example embodiment, with reference in figure 2
Shown, this method may include：
Step 1 S101：Call initialization function module；
Step 2 S102：Judge the underwater unmanned autonomous navigation device navigation pattern；
Step 3 S103：Corresponding task is executed according to determining navigation pattern；
Step 4 S104：Judge whether to reach the default control period, step 2 is jumped back to if reaching.
Each step of the above method in this example embodiment is described in detail referring to figs. 2 and 3.
In step S101, the initialization function module of calling includes：Attitude algorithm module, speed analog module, video
Scan module, task control module, navigation positioning module, data transmit-receive module, safe first aid module, Heading control module, depth
Control module, power control module etc. are spent, it can be according to user demand sets itself.By calling the bottom of the corresponding function module to drive
Dynamic file to drive corresponding functional hardware to obtain corresponding data, initialization serial ports, network interface, system time, sensor interface,
Communication interface, system mode, parameter setting (speed, longitude and latitude, depth, control instruction etc.), opening document data record etc..
In step s 102, it is user's remote control mode that underwater unmanned autonomous navigation device, which powers on default mode, if the master control
Unit receives independent navigation instruction, then switches to independent navigation pattern.
In step s 103, if navigation pattern is user's remote control mode, data transmit-receive module is called, waits user to be received distant
Control instruction；Safe first aid module is called simultaneously, to ensure the safety during straighforward operation.After receiving telecommand, according to
Telecommand calls the corresponding function module to execute corresponding task, such as calls Heading control module, and driving motor and steering engine execute
Telecommand.If navigation pattern is independent navigation pattern, calling task control module, the target information in assignment file is read,
Such as longitude and latitude, speed, depth, GPS calibration state, load condition call corresponding function mould further according to the information received
Block executes corresponding task.For example, data recordin module is called to record each item data, safe first aid module is called to ensure autonomous navigation
Period safety with save oneself, call every sensing data refresh module, call Navigation Control algorithm and guiding rate algoritic module, navigate
To control and depth control block, driving motor and steering engine execute Heading control and deep-controlled instruction.
In step S104, the default control period can be according to user demand sets itself.
Below using STM32F405 microcontrollers as main control computer, using underwater camera as functional requirement, to the specific of the present invention
A more detailed description is done in implementation：
Using STM32F405 microcontrollers as main control computer, inexpensive underwater unmanned autonomous navigation device is built according to table 1 and is navigated
Control system hardware platform, gyroscope, magnetometer, accelerometer, GPS module, wireless module, SD card module, motor are driven,
The driving of the functional hardwares such as servo driving, serial ports, network interface, camera is packaged into library file.Simultaneously by main control software according to function
Independently it is written as attitude algorithm module, speed analog module, videoscanning module, task control module, navigation positioning module, number
It is advised according to transceiver module, safe first aid module, Heading control module, depth control block, power control module etc. and according to calling
Then write unified interface file.
1 main hardware resource table of table
| Resource name | Resource type | Resource function |
| STM32F405 | Main control MCU | Complete module master control function |
| AD7175-8 | ADC chips | It completes to gyroscope plus meter sampling |
| CRM100、CRM200 | Gyroscope | Angular velocity measurement chip |
| ADXL203 | Accelerometer | Acceleration analysis chip |
| QMC5883 | Magnetometer | Magnetic-field measurement chip |
| NEO M8N | GPS module | Positioning |
| MS5837-30BA | Depth transducer | Depth measurement element |
| USART | Serial ports | With PERCOM peripheral communication |
| ETH | Network interface | It is interacted with external data |
| DCMI | Webcam driver | Acquisition camera data |
Unmanned autonomous navigation device navigation control method is under water for this：
Call initialization function module, initialization serial ports, network interface, system time, sensor (gyroscope, magnetometer, acceleration
Spend meter, depth transducer etc.) interface, communication (GPS, wireless module etc.) interface, system mode, parameter setting (speed, longitude and latitude
Degree, depth, control instruction etc.), open document data record etc..
Judgement is user's remote control mode or independent navigation pattern, and it is that user is remotely controlled mould to power on acquiescence submarine navigation device pattern
Formula.If it is user's remote control mode, then carrying out：Data transmit-receive module is called, user's telecommand to be received is waited；Call safety
First aid module, the respective drives such as LED light ensure safety during straighforward operation；After receiving telecommand, Heading control mould is called
Block, driving motor and steering engine execute manipulation instruction.
If it is independent navigation pattern, then carrying out：Calling task control module reads the target information in assignment file
(longitude and latitude, speed, depth, GPS calibration state, load condition etc.) calls data recordin module to record each item data, calls peace
Full first aid module ensures during autonomous navigation safety and saves oneself, and calls every sensing data refresh module, calling Navigation Control
Algorithm and guiding rate algoritic module, Heading control and depth control block, driving motor and steering engine execute Heading control and depth
Control instruction.
Judge whether that the controlling cycle for reaching user's sets itself redirects second step execution if reached.
In the description of this specification, term " first ", " second " are used for description purposes only, and should not be understood as instruction or dark
Show relative importance or implicitly indicates the quantity of indicated technical characteristic.The feature of " first ", " second " is defined as a result,
It can explicitly or implicitly include one or more this feature.In the description of the disclosure, the meaning of " plurality " is two
It is a or more than two, unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the disclosure.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
What can be combined in any suitable manner in one or more embodiments or example.In addition, those skilled in the art can say this
Different embodiments or examples described in bright book are engaged and are combined.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (10)
1. a kind of underwater unmanned autonomous navigation device navigation control system, which is characterized in that including：
Main control unit, including multiple and different function modules, multiple function module are encapsulated with unified call interface, with
One or more function modules are called by the unified call interface for external control terminal；
Library file unit, including the packed correspondence library file formed of multiple bottom layer driving files；When the one or more of calling
When the function module executes corresponding function, it is corresponding to drive that corresponding bottom layer driving file is called from the library file unit
Functional hardware obtain corresponding data, and then judged according to the data to execute corresponding operation.
2. underwater unmanned autonomous navigation device navigation control system according to claim 1, which is characterized in that the main control unit
It is set in a microcontroller with library file unit.
3. underwater unmanned autonomous navigation device navigation control system according to claim 2, which is characterized in that the multiple difference
Function module include attitude algorithm module, speed analog module, videoscanning module, task control module, navigator fix mould
Block, data transmit-receive module, safe first aid module, Heading control module, depth control block, power control module.
4. underwater unmanned autonomous navigation device navigation control system according to claim 3, which is characterized in that the functional hardware
Including accelerometer, gyroscope, magnetometer, SD card, GPS, camera, wireless module, WIFI, network interface, LED, servo driving, string
Mouth, motor driving, depth transducer, ADC voltage acquisitions.
5. underwater unmanned autonomous navigation device navigation control system according to claim 2, which is characterized in that the multiple function
Between module independently of each other, the increase of any function module deletes, changes the calling for having no effect on other function modules.
6. underwater unmanned autonomous navigation device navigation control system according to claim 2, which is characterized in that the multiple library text
Between part independently of each other, the increase of any library file deletes, changes the calling for having no effect on other library files.
7. a kind of underwater unmanned autonomous navigation device navigation control method, which is characterized in that including：
Step 1：Call initialization function module；
Step 2：Judge the underwater unmanned autonomous navigation device navigation pattern；
Step 3：Corresponding task is executed according to determining navigation pattern；
Step 4：Judge whether to reach the default control period, step 2 is jumped back to if reaching.
8. underwater unmanned autonomous navigation device navigation control method according to claim 7, which is characterized in that the step 1 tune
Initialization function module includes：Attitude algorithm module, videoscanning module, task control module, is led at speed analog module
Navigate locating module, data transmit-receive module, safe first aid module, Heading control module, depth control block, power control module.
9. underwater unmanned autonomous navigation device navigation control method according to claim 7, which is characterized in that the step 2 is sentenced
During lower unmanned autonomous navigation device navigation pattern of cutting off the water supply, it is user's remote control mode to power on default mode, if the master control list
Member receives independent navigation instruction, then switches to independent navigation pattern.
10. underwater unmanned autonomous navigation device navigation control method according to claim 7, which is characterized in that the step 3
The navigation pattern of confirmation is：
User's remote control mode calls data transmit-receive module, waits user's telecommand to be received；Safe first aid module is called simultaneously,
To ensure the safety during straighforward operation；After receiving telecommand, the corresponding function module is called to execute according to telecommand
Corresponding task.
Independent navigation pattern, calling task control module call corresponding function module according to received task control command
Execute corresponding task.
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