WO2023221586A1 - 一种无人船自主航行系统及其方法 - Google Patents
一种无人船自主航行系统及其方法 Download PDFInfo
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- WO2023221586A1 WO2023221586A1 PCT/CN2023/077602 CN2023077602W WO2023221586A1 WO 2023221586 A1 WO2023221586 A1 WO 2023221586A1 CN 2023077602 W CN2023077602 W CN 2023077602W WO 2023221586 A1 WO2023221586 A1 WO 2023221586A1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 3
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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
Definitions
- the invention belongs to the technical field of autonomous ship navigation and relates to an autonomous ship navigation system and a method thereof.
- An unmanned ship is an intelligent surface vehicle that does not rely on human control, has a certain degree of autonomous navigation capabilities, and can realize tasks such as real-time environment perception and real-time data monitoring.
- unmanned ships With the rapid development of computers, communications, navigation and control technologies, unmanned ships are gradually being used in military ocean patrols, reconnaissance and surveillance, and mine clearance.
- unmanned ships are gradually It is widely used in civil fields such as ocean rescue, garbage cleanup, hydrological and terrain detection, environmental and climate monitoring, and disaster early warning.
- unmanned ships Compared with traditional manually operated ships, unmanned ships have higher navigation accuracy and more stable operation effects, and have outstanding advantages in reducing manpower input and reducing mission risk. Therefore, with the highly developed information technology and the maturation of unmanned driving technology, unmanned ships are becoming more and more popular in applications.
- the purpose of the present invention is to overcome the shortcomings of the existing technology and provide an autonomous navigation system and method for an unmanned ship, which can transmit back navigation information and image information such as the navigation attitude, position, and status of the unmanned ship in real time, thereby realizing the realization of an unmanned ship. Stable and reliable autonomous navigation along the planned trajectory.
- the present invention adopts the following technical solutions:
- An autonomous navigation system for an unmanned ship of the present invention includes:
- the ship end part is used for the navigation motion attitude detection, position information detection, navigation data collection, and actuator control of the unmanned ship; it includes Raspberry Pi, Pixhawk, GPS module, navigation attitude detection module, and the ESC driven by the First ESC The first motor and the second motor driven by the second ESC; Pixhawk provides a relatively stable and efficient way to realize automatic driving; the GPS module provides accurate positioning information for the unmanned ship; the attitude detection module provides real-time information for the unmanned ship The heading and attitude information; the unmanned ship is propelled by the first motor and the second motor, and turns through the differential rotation of the two motors; the Raspberry Pi runs on the Linux operating system and is programmed using the Python language. And there is a corresponding library to access Pixhawk;
- Testers can use the API to communicate with the unmanned ship through the Mavlink protocol, thereby achieving programmatic access to the status and parameter information of the unmanned ship, as well as direct control of the movement of the unmanned ship;
- the shore-based part includes a wireless transceiver for data transmission between the shore and Pixhawk, a remote controller for sending control instructions from the shore to the ship, and a ground station; the ground station runs on the shore-based PC.
- Software applications including remote control platforms or PCs, communicate with the unmanned ship through wireless means, control the unmanned ship during navigation, upload new tasks and set parameters; the operator observes various aspects of the unmanned ship in real time through the ground station Item information: position, waypoint, course, speed, settings Prepare the remaining power and adjust the system's online parameters in real time.
- the ground station is a virtual cockpit that can display real-time data on the attitude and position of the unmanned ship, the same instrument data as the real-driving unmanned ship, and real-time video from the ship's Raspberry Pi camera; the version used by the ground station For Mission Planner under Windows.
- the remote control is Radix R9DS
- the wireless transceiver is XB Radio PRO
- the Pixhawk version is Pixhawk 2.4.8
- the attitude detection module is Beiwei BWK218.
- An autonomous navigation method of an unmanned ship of the present invention adopts the above-mentioned autonomous navigation system of an unmanned ship, and the method includes:
- the first stage According to the actual situation of the unmanned ship, firmware configuration and parameter adjustment of the unmanned ship autonomous navigation system; its firmware can directly apply the unmanned ship firmware released by the open source flight control community; its internal functions and parameters need to be based on the unmanned ship's autonomous navigation system.
- the steps for actual trimming of the boat include:
- S1.3 Set up and configure peripheral devices, including GPS module, attitude detection module, wireless transceiver, and remote control;
- the second stage, unmanned ship trajectory planning includes:
- the process of setting up and configuring peripheral devices described in the first stage includes: the external GPS module requires TTL level and is connected to the RX and ground ports of Pixhawk; Pixhawk sends out GPS configuration commands. If the GPS is not compatible, it will It causes interference to the GPS, so the TX port is not connected; after wiring, the GPS needs to be rotated 360 degrees to calibrate the module; software parameters such as GPS_RATE_MS and GPS_TYPE need to be configured in the Mission planner to set the transmission frequency and communication method of the GPS module; the attitude detection module It needs to be arranged directly above the Pixhawk and rotated together to initialize the hardware; the wireless transceiver needs to be configured with Mesh self-organizing network mode and SBUS mode; channels 1 and 2 of the remote control are set to control the left and right motors, and the PWM duty cycle of channel 5 is used for Navigation mode switching: duty cycle 0-10% is manual mode, 10-30% is autonomous cruise mode.
- the parameters in the unmanned ship firmware are adjusted and the control gain of the actual ship is modified to adapt the response of the unmanned ship to the overall configuration of the firmware parameters, including configuring the following key functions in the Mission planner. and parameters:
- ARMING_REQUIRE is configured as 1 and the hardware is powered on;
- BRD_SAFETYENABLE is configured as 1 to enable the Pixhawk safety unlock switch
- FENCE_ACTION is configured as 0, and the unmanned ship takes no action when it breaks through the electronic fence
- FENCE_ENABLE is configured as 0 to turn off the electronic fence
- FRAME_CLASS is configured as 2, and the ship firmware is used in the Mission planner software;
- FS_THR_ENABLE is configured as 1, and the fail-safe protection is enabled when the throttle is lower than the preset value
- PILOT_STEER_TYPE is configured as 1 to select the strategy when the unmanned ship yaws
- PIVOT_TURN_ANGLE is configured as 60, and when the heading angle is greater than this parameter, the point steering action is performed;
- SERVO1_FUNCTION is configured as 73, which is the left propeller control channel of the unmanned ship;
- SERVO3_FUNCTION is configured as 74, which is the right propeller control channel of the unmanned ship;
- the actual gain of the Pixhawk controlled motor is determined by adjusting the PID output of the SERVO1_OUTPUT and SERVO3_OUTPUT channels.
- the cruise modes of the unmanned ship include: non-autonomous cruise mode, which drives along the route planned in the Mission planner software; manual mode, which allows testers to remotely manually drive the unmanned ship; obstacle avoidance mode, which is based on The Raspberry Pi's image collection achieves avoidance effects by identifying obstacles on the water; in the hover mode, the unmanned ship performs the task of staying at the target point when the external wind and waves are large; in the one-click return mode, the unmanned ship can The manned ship returns to the initial point according to the original trajectory; in the intelligent return mode, the unmanned ship does not return according to the original trajectory, but combines the obstacle avoidance mode to return to the target point in a straight line from the current point.
- the present invention has the following advantages and beneficial effects:
- the present invention builds an autonomous navigation system for unmanned ships based on Raspberry Pi and Pixhawk, which can realize navigation control and real-time monitoring of system status of unmanned ships in operation, so that unmanned ships equipped with this system can navigate autonomously. ability.
- the present invention proposes a configuration method of the autonomous navigation system of the unmanned ship: S1 establishes a link between the ship end part and the ground station; S2 loads the unmanned ship firmware into Pixhawk hardware and obtain firmware parameters; S3 sets and configures the GPS module, attitude detection module, wireless transceiver, remote control and other peripheral equipment; S4 adjusts the parameters in the unmanned ship firmware and modifies the control gain of the real ship to make the unmanned ship
- the boat's response is adapted to the overall configuration of firmware parameters. This allows the universal Pixhawk firmware to be used in practical applications for unmanned ships.
- the present invention proposes an autonomous navigation method for the unmanned ship: power on to initialize the system and perform software self-check and hardware self-check, open the ground station and write through the software Enter the waypoint and generate a route, convert the route information into longitude and latitude information in Google Maps and transmit it to Pixhawk through the Mavlink protocol.
- the unmanned ship is in non-autonomous cruise mode and needs to be tested.
- the system will execute the preset autonomous cruise mission only when the personnel sends the autonomous cruise command through the remote control.
- the system In addition to the main cruise mode, the system also has manual mode, obstacle avoidance mode, hovering mode, one-key return mode, intelligent return mode/automatic berthing mode.
- the corresponding mode switching command can be sent through the remote control and the corresponding mode can be executed. navigation mission.
- the present invention can realize navigation control and real-time monitoring of system status of the unmanned ship in operation, provides a complete experimental plan for the autonomous navigation of the unmanned ship, and is conducive to improving modules in the field of unmanned ship navigation research. level of ization and standardization.
- Figure 1 is an overall architecture diagram of an autonomous navigation system for an unmanned ship according to an embodiment of the present invention.
- Figure 2 is a parameter adjustment flow chart of the autonomous navigation firmware of an unmanned ship according to an embodiment of the present invention.
- Figure 3 is a workflow diagram of unmanned ship trajectory planning according to an embodiment of the present invention.
- Figure 4 is a schematic diagram of a ground station equipped with the shore-based part of the autonomous navigation system of an unmanned ship according to an embodiment of the present invention.
- Figure 5 is a schematic diagram of the ship end of an autonomous navigation system equipped with an unmanned ship according to an embodiment of the present invention.
- Figure 6 is a trajectory planning diagram of an unmanned ship responsible for cleaning water surface garbage in a certain water area of the Yangtze River according to an embodiment of the present invention.
- an autonomous navigation system for an unmanned ship of the present invention includes:
- the ship end part is used for the motion attitude detection, position information detection, navigation data collection, actuator control and other functions of the unmanned ship.
- the ship-end part includes Raspberry Pi, Pixhawk, GPS module, attitude detection module, first ESC, second ESC, first motor, and second motor.
- the shore-based part includes ground stations, wireless transceivers, and remote controls.
- the ground station is a software application running on the shore-based PC, including the remote control platform or PC. Operators can observe various information of the unmanned ship in real time through the ground station: position, waypoint, course, speed, remaining power of the equipment, etc., and can also make real-time adjustments to online parameters.
- the specific model of the Raspberry Pi on the ship is Raspberry Pi 4B. It runs on the Linux operating system and is programmed in Python. It has corresponding libraries to access Pixhawk. Testers can use the API to communicate with the unmanned ship through the Mavlink protocol. Communication, thereby achieving programmatic access to the status and parameter information of the unmanned ship, as well as direct control of the movement of the unmanned ship.
- the specific version of Pixhawk mentioned is Pixhawk 2.4.8. This platform provides a relatively stable and efficient way to implement autonomous driving and is mainly used on drones and unmanned vehicle platforms.
- the specific model of the GPS module is NEO-M8N, which mainly provides accurate positioning information for unmanned ships.
- the specific model of the attitude detection module is Beiwei BWK218, which provides real-time heading and attitude information for unmanned ships.
- the first ESC and the second ESC provide drive for the first motor and the second motor respectively.
- the first motor and the second motor provide propulsion for the unmanned ship.
- the steering of the unmanned ship is driven by the differential speed of the two motors. It can be realized by turning without installing a special rudder system and it has excellent maneuverability.
- the specific model of the wireless transceiver in the shore-based part is XB Radio PRO, which is used to complete data transmission between the shore-based and Pixhawk.
- the specific model of the remote control is Ledi R9DS, which is used to send control instructions from the shore to the ship.
- the ground station is a software application running on a shore-based PC and communicates with the unmanned ship wirelessly.
- the ground station displays real-time data on the attitude and position of the unmanned ship. It is a virtual cockpit that displays the same instrument data as the real unmanned ship.
- the ground station is also used to control the sailing unmanned ship, upload new tasks and set parameters. Also used to display live video from the ship's Raspberry Pi camera. There are many ground stations to choose from.
- the preferred ground station version used in this invention is Mission Planner under Windows.
- An autonomous navigation method for an unmanned ship of the present invention includes:
- the first stage Firmware configuration and parameter adjustment of the autonomous navigation system of the unmanned ship.
- Figure 2 shows the parameter adjustment flow chart of the autonomous navigation firmware of the unmanned ship.
- firmware configuration and parameter adjustments need to be performed based on the actual situation of the unmanned ship.
- Its firmware is the unmanned ship firmware released by the open source flight control community and can be directly applied, but the internal functions and parameters need to be adjusted according to the actual unmanned ship. Includes the following steps:
- the S1 ship end part establishes a link with the ground station
- S2 loads the unmanned ship firmware into the Pixhawk hardware and obtains the firmware parameters;
- S3 sets and configures the GPS module, attitude detection module, wireless transceiver, remote control and other peripheral devices;
- S3 sets and configures peripheral devices such as GPS module, attitude detection module, wireless transceiver, and remote control;
- S4 adjusts the parameters in the unmanned ship's firmware and modifies the control gain of the actual ship to adapt the response of the unmanned ship to the overall configuration of the firmware parameters.
- the S1 ship end part establishes a link with the ground station: power on the system to initialize the ship end and shore end, and the shore end establishes a link with the ship end Pixhawk through a wireless transceiver.
- the S2 loads the unmanned ship firmware into the Pixhawk hardware and obtains the firmware parameters: first determine whether the device in the system is the autopilot Pixhawk, and then determine whether the firmware in the autopilot Pixhawk is the unmanned ship firmware. If so, execute the following First step, if not, personnel need to modify the firmware, and then obtain the parameters in the unmanned ship firmware after updating.
- the S3 sets and configures the GPS module, attitude detection module, wireless transceiver, remote control and other peripheral devices:
- the external GPS module requires TTL level and is connected to the RX and ground port of Pixhawk. Pixhawk will send out GPS configuration commands. If the GPS is not compatible, it will cause interference to the GPS, so the TX port is not connected; after wiring, the GPS needs to be rotated 360 degrees to calibrate the module; software parameters such as GPS_RATE_MS and GPS_TYPE need to be configured in the Mission planner to set the GPS module’s transmission frequency and communication method etc.
- the attitude detection module it needs to be placed directly above the Pixhawk and rotated together to initialize the hardware.
- the wireless transceiver needs to be configured with Mesh self-organizing network mode and SBUS mode.
- Channels 1 and 2 of the remote control are set to control the left and right motors.
- the PWM duty cycle of channel 5 is used to switch the navigation mode, such as duty cycle 0-10%. It is manual mode, 10-30% is autonomous cruise mode, and so on.
- the S4 adjusts the parameters in the unmanned ship firmware and modifies the control gain of the actual ship to adapt the response of the unmanned ship to the overall configuration of the firmware parameters.
- the following key functions and parameters need to be configured in the Mission planner:
- ARMING_REQUIRE is configured as 1 and the hardware is powered on;
- BRD_SAFETYENABLE is configured as 1 to enable the Pixhawk safety unlock switch
- FENCE_ACTION is configured as 0, and the unmanned ship takes no action when it breaks through the electronic fence
- FENCE_ENABLE is configured as 0 to turn off the electronic fence
- FRAME_CLASS is configured as 2, and the ship firmware is used in the Mission planner software;
- FS_THR_ENABLE is configured as 1, and the fail-safe protection is enabled when the throttle is lower than the preset value
- PILOT_STEER_TYPE is configured as 1 to select the strategy when the unmanned ship yaws
- PIVOT_TURN_ANGLE is configured as 60, and when the heading angle is greater than this parameter, the point steering action is performed;
- SERVO1_FUNCTION is configured as 73, which is the left propeller control channel of the unmanned ship;
- SERVO3_FUNCTION is configured as 74, which is the right propeller control channel of the unmanned ship.
- the actual gain of the Pixhawk controlled motor is determined by adjusting the PID output of the SERVO1_OUTPUT and SERVO3_OUTPUT channels.
- the second stage Carry out trajectory planning of the unmanned ship.
- Figure 3 shows the workflow chart of unmanned ship trajectory planning.
- unmanned ship autonomous navigation system configuration and parameter adjustment After the above-mentioned unmanned ship autonomous navigation system configuration and parameter adjustment are completed, restart the system, initialize the system and perform software self-test and hardware self-test, open the ground station and write waypoints through the software and generate routes, and the algorithm for generating routes from waypoints Fit a B-spline curve. After fitting the route, convert the route information into the latitude and longitude information in Google Maps and pass The Mavlink protocol is transmitted to Pixhawk, and the remote control is used to send the unlocking command through the SBUS protocol. At this time, the unmanned ship is in non-autonomous cruise mode. The tester needs to send the autonomous cruise command through the remote control before the system will execute the preset autonomous cruise task. .
- the system In addition to the main cruise mode, the system also has manual mode, obstacle avoidance mode, hovering mode, one-key return mode, intelligent return mode/automatic berthing mode.
- the corresponding mode switching instructions are sent through the remote control to enable the unmanned ship to perform corresponding operations. Navigation mission in mode.
- the cruise mode can drive along the route planned in the Mission planner software, with an error accuracy of 0.7 meters;
- the manual mode allows testers to remotely manually drive the unmanned ship;
- the obstacle avoidance mode can Based on Raspberry Pi image collection, the avoidance effect is achieved by identifying water obstacles;
- the hover mode is for the unmanned ship to perform the task of staying at the target point when the external wind and waves are large;
- the one-click return mode allows The unmanned ship returns to the initial point according to the original trajectory; in the intelligent return mode, the unmanned ship does not return according to the original trajectory, but returns to the target point in a straight line from the current point in combination with the obstacle avoidance mode.
- Figure 4 shows an example of a ground station equipped with an autonomous navigation system for unmanned ships.
- the main interface of the ground station is the navigation interface, which can display the heading, track, waypoint and other information of the unmanned ship; the upper left window displays the unmanned ship's attitude and other information, and the lower left window displays the speed, ground speed, absolute coordinates, distance to the next Information such as waypoint distance is of great significance in practical engineering applications.
- Figure 5 shows an example of the ship end part of the autonomous navigation system of an unmanned ship.
- the hull of the ship is a 920 self-righting ship. It has good maneuverability and good overturning resistance.
- the system is evenly arranged on The top of the hull.
- Figure 6 shows the track planning diagram of an unmanned ship responsible for cleaning water surface garbage in a certain water area of the Yangtze River.
- the location is the open Yangtze River water area opposite the Zhenjiang Maritime Safety Bureau.
- the unmanned ship cleaning water surface garbage equipped with the autonomous navigation system of the present invention is being planned. Water surface cleaning operations are carried out within a good electronic fence, and the effectiveness of this method is verified through illustrated routes and field experiments.
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Abstract
本发明公开了一种无人船自主航行系统及其方法，包括：船端部分，用于无人船的航行姿态和位置检测、数据采集、执行元件控制，含树莓派、Pixhawk、GPS、航姿检测模块、电机；岸基部分，包括无线收发器、用于从岸端向船端发送控制指令的遥控器和地面站；地面站包括远程控制平台或PC，和无人船无线通信并进行控制，上传新任务和设置参数；工作人员可用API通过Mavlink协议与无人船通信，实现对无人船状态和参数信息的编程访问，以及对无人船运动的直接控制；可通过地面站实时观测无人船的位置、航点、航速等信息，并对系统的在线参数实时调整。本发明无人船的自主航行程度高，有利于提高无人船的模块化和标准化水平。
Description
本发明属于船舶自主航行技术领域，涉及一种无人船自主航行系统及其方法。
无人船是一种不依赖于人员控制，具有一定程度的自主航行能力、可实现实时环境感知、实时数据监测等任务的智能水面航行器。随着计算机、通信、导航以及控制技术的迅速发展，无人船被逐渐应用于军事上的海洋巡视、侦查监视以及扫雷等工作；与此同时，通过搭载不同的功能模块，无人船也逐渐被广泛应用于海洋救援、垃圾清理、水文地形探测、环境气候监测以及灾害预警等民用领域中。相比于传统的人工操纵船舶，无人船具有更高的航行精度与更稳定的运行效果，并在减少人力投入，降低任务危险性等方面具有突出的优势。因此，随着信息技术的高度发达与无人驾驶技术的日渐成熟，无人船在应用上越来越受到人们的青睐。
目前，对无人船的研究还有很多关键技术需要突破。在自主航行技术领域，无人船在执行复杂任务时，往往需要有一名地面站操作人员看着无人船或对着船端的摄像头实时传回的画面持续控制才能进行，类似虚拟驾驶。此方案实质上是通过人员远程驾驶无人船实现的自主航行，航行时的精确性和稳定性目前都无法保证，严重依赖驾驶人员。如何使无人船自动沿着规划好的轨迹稳定可靠航行，是当前要迫切需要解决的问题。
发明内容
本发明的目的在于克服现有技术的缺陷，提供一种无人船自主航行系统及其方法，能够实时回传无人船航行姿态、位置、状态等航行信息和图像信息，从而实现无人船沿着规划好的轨迹稳定可靠的自主航行。
为解决上述技术问题，本发明采用以下技术方案：
本发明的一种无人船自主航行系统，包括：
船端部分，用于无人船的航行运动姿态检测、位置信息检测、航行数据采集、执行元件控制；包括树莓派、Pixhawk、GPS模块、航姿检测模块、由第一电调提供驱动的第一电机、由第二电调提供驱动的第二电机；Pixhawk提供相对稳定和高效的自动驾驶实现方式；GPS模块为无人船提供准确的定位信息；航姿检测模块为无人船提供实时的航向与姿态信息；无人船由第一电机和第二电机提供推进，并通过两个电机的差速转动实现转向；所述的树莓派在Linux操作系统上运行，使用Python语言编程，并有对应库对Pixhawk进行访问；
测试人员可使用API通过Mavlink协议与无人船进行通信，从而实现对无人船的状态和参数信息的编程访问，以及对无人船运动的直接控制；
岸基部分，包括用于岸基和Pixhawk的数据传输的无线收发器、用于从岸端向船端发送控制指令的遥控器、地面站；所述的地面站是在岸基PC端上运行的软件应用程序，包括远程控制平台或PC端，通过无线方式和无人船进行通信，控制航行中的无人船，上传新任务和设置参数；操作人员通过地面站实时观测无人船的各项信息：位置、航点、航向、航速、设
备剩余电量，并进行系统的在线参数实时调整。所述的地面站是虚拟驾驶舱，可显示无人船航姿和位置的实时数据、与真实驾驶无人船相同的仪表数据和来自船端树莓派摄像机的实时视频；地面站所采用版本为Windows下的Mission Planner。
优选的，所述的遥控器采用乐迪R9DS，所述的无线收发器采用XB Radio PRO，所述的Pixhawk采用版本为Pixhawk 2.4.8，所述的航姿检测模块采用北微BWK218。
本发明的一种无人船自主航行方法，采用上述的无人船自主航行系统，其方法包括：
第一阶段：根据无人船实际情况，对无人船自主航行系统进行固件配置和参数调整；其固件可直接应用开源飞控社区发布的无人船固件；其内部函数和参数需要根据无人船进行实际调整的步骤包括：
S1.1.船端部分与地面站建立链接：将系统上电，使船端和岸端初始化，岸端通过无线收发器和船端Pixhawk建立链接；
S1.2.将无人船固件加载到Pixhawk硬件当中并获取固件参数：先判断系统内设备是否为自动驾驶仪Pixhawk，再判断自动驾驶仪Pixhawk内固件是否为无人船固件；若是，则执行下一步，若否，则需要人员进行固件修改，更新后再获取无人船固件内参数；
S1.3.设置并配置外围设备，包括GPS模块、航姿检测模块、无线收发器、遥控器；
S1.4.对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应；
第二阶段，无人船航迹规划，包括：
S2.1.无人船配置和参数调整完毕后将系统重启，系统初始化并进行软件自检和硬件自检，打开地面站并通过软件写入航点并生成航线，航点生成航线的算法为B样条曲线拟合；
S2.2.拟合成航线后，将航线信息转换为Google地图中的经纬度信息并通过Mavlink协议传输到Pixhawk中，使用遥控器通过SBUS协议发送解锁指令，此时无人船处于非自主巡航模式，需要测试人员通过遥控器发送执行自主巡航指令，系统才会执行预设的自主巡航任务；系统可通过遥控器发送其它巡航模式的对应模式切换指令，使无人船执行相应模式下的航行任务。
具体地，在第一阶段所述的设置并配置外围设备，其过程包括：外接的GPS模块需要TTL电平，接Pixhawk的RX和接地口；Pixhawk向外发送GPS配置命令，若GPS不兼容会对GPS造成干扰，故TX口不接；接线后需要360度旋转GPS以校准模块；Mission planner内需对GPS_RATE_MS和GPS_TYPE等软件参数进行配置，来设置GPS模块的发送频率、通信方式；航姿检测模块需布置在Pixhawk的正上方一同旋转来初始化硬件；无线收发器需配置Mesh自组网模式和SBUS模式；遥控器的通道1和2设置为控制左右电机，通道5的PWM占空比用来作航行模式的切换：占空比0-10％为手动模式，10-30％为自主巡航模式。
具体地，在第一阶段所述的对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应，包括在Mission planner内配置如下关键函数和参数：
ARMING_CHECK配置为0，关闭Pixhawk解锁前的自检开关；
ARMING_REQUIRE配置为1，硬件上电使能；
BRD_SAFETYENABLE配置为1，使能Pixhawk安全解锁开关；
FENCE_ACTION配置为0，无人船突破电子围栏时没有动作；
FENCE_ENABLE配置为0，关闭电子围栏；
FRAME_CLASS配置为2，Mission planner软件内使用船固件；
FS_THR_ENABLE配置为1，油门低于预设值时开启失控保护；
PILOT_STEER_TYPE配置为1，选择无人船偏航时策略；
PIVOT_TURN_ANGLE配置为60，在艏向偏角大于此参数时做绕点转向动作；
SERVO1_FUNCTION配置为73，为无人船左桨控制通道；
SERVO3_FUNCTION配置为74，为无人船右桨控制通道；
Pixhawk控制电机的实际增益由调节SERVO1_OUTPUT和SERVO3_OUTPUT通道的PID输出决定。
进一步的，无人船的巡航模式包括：非自主巡航模式，按照Mission planner软件内规划好的航线，沿航线行驶；手动模式，允许测试人员远程人工驾驶无人船进行行驶；避障模式，基于树莓派的图像采集，通过对水面障碍物的识别来达到规避的效果；悬停模式，无人船在外部风浪较大环境下时执行留待在目标点的任务；一键返航模式，使无人船按照原来的轨迹原路返回初始点；智能返航模式，无人船不按照原来的轨迹原路返回，而是结合避障模式从当前点直线返回目标点
与现有技术相比，本发明具有以下优点和有益效果：
1.本发明基于树莓派和Pixhawk搭建了无人船的自主航行系统，可实现对作业中的无人船进行航行控制和系统状态的实时监测，使得搭载本系统的无人船具备自主航行能力。
2.本发明针对无人船实际情况，结合搭建的自主航行系统，提出一种无人船自主航行系统的配置方法：S1船端部分与地面站建立链接；S2将无人船固件加载到Pixhawk硬件当中并获取固件参数；S3设置并配置GPS模块、航姿检测模块、无线收发器、遥控器等外围设备；S4对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应。从而让具有普适性的Pixhawk固件能够针对无人船展开实际应用。
3.本发明基于其自主航行系统和无人船自主航行系统配置，提出一种无人船自主航行方法：上电使系统初始化并进行软件自检和硬件自检，打开地面站并通过软件写入航点并生成航线，将航线信息转换为Google地图中的经纬度信息并通过Mavlink协议传输到Pixhawk中，使用遥控器通过SBUS协议发送解锁指令，此时无人船处于非自主巡航模式，需要测试人员通过遥控器发送执行自主巡航指令，系统才会执行预设的自主巡航任务。系统除了主要的巡航模式以外，还有手动模式、避障模式、悬停模式、一键返航模式、智能返航模式/自动靠泊模式，通过遥控器发送对应模式切换指令，并可执行相应模式下的航行任务。
4.本发明可实现对作业中的无人船进行航行控制和系统状态的实时监测，为无人船的自主航行提供了一套完备的实验方案，有利于提高无人船航行研究领域的模块化和标准化水平。
图1为本发明的一种实施例的无人船自主航行系统总体架构图。
图2为本发明的一种实施例的无人船自主航行固件调参流程图。
图3为本发明的一种实施例的无人船航迹规划工作流程图；
图4为本发明的一种实施例的搭载无人船自主航行系统岸基部分的地面站示意图。
图5为本发明的一种实施例的搭载无人船自主航行系统船端部分示意图。
图6为本发明的一种实施例的长江某水域负责水面垃圾清扫任务的无人船航迹规划图。
下面结合附图对本发明做进一步详细说明。
如图1所示，本发明的一种无人船自主航行系统，包括：
船端部分，用于无人船的运动姿态检测、位置信息检测、航行数据采集、执行元件控制等功能。其船端部分包括树莓派、Pixhawk、GPS模块、航姿检测模块、第一电调、第二电调、第一电机、第二电机。
岸基部分，包括地面站、无线收发器、遥控器。其中，地面站是在岸基PC端上运行的软件应用程序，包括远程控制平台或PC端。操作人员可通过地面站实时观测无人船的各项信息：位置、航点、航向、航速、设备剩余电量等，也可进行在线参数的实时调整。
其船端部分的树莓派具体型号为树莓派4B，在Linux操作系统上运行，使用Python语言编程，并有对应库对Pixhawk进行访问，测试人员可使用API通过Mavlink协议与无人船进行通信，从而实现对无人船的状态和参数信息的编程访问，以及对无人船运动的直接控制。所述的Pixhawk具体版本为Pixhawk 2.4.8，此平台提供了一种相对稳定和高效的自动驾驶实现方式，主要应用于无人机和无人车平台。所述的GPS模块具体型号为NEO-M8N，主要为无人船提供准确的定位信息。所述的航姿检测模块具体型号为北微BWK218，为无人船提供实时的航向与姿态信息。所述的第一电调、第二电调分别为第一电机、第二电机提供驱动，第一电机和第二电机为无人船提供推进，无人船的转向通过两个电机的差速转动来实现，不需要安装专门的舵系也拥有极好的操纵性。
所述的岸基部分的无线收发器具体型号为XB Radio PRO，用于完成岸基和Pixhawk的数据传输。所述遥控器具体型号为乐迪R9DS，用于从岸端向船端发送控制指令。所述的地面站是在岸基PC端上运行的软件应用程序，通过无线方式和无人船进行通信。地面站显示无人船航姿和位置的实时数据，是虚拟驾驶舱，显示与真实驾驶无人船相同的仪表数据。地面站还用于控制航行中的无人船，上传新任务和设置参数。还用于显示来自船端树莓派摄像机的实时视频。地面站可供选择的很多，本发明优选使用的地面站版本为Windows下的Mission Planner。
本发明的一种无人船自主航行方法，包括：
第一阶段：无人船自主航行系统的固件配置和参数调整。
如图2所示为无人船自主航行固件调参流程图。
所述的无人船自主航行系统，一旦搭建完毕，需要根据无人船实际情况进行固件配置和参数调整。其固件为开源飞控社区发布的无人船固件，可直接应用，但内部函数和参数需要根据无人船进行实际调整。包括如下步骤：
S1船端部分与地面站建立链接；
S2将无人船固件加载到Pixhawk硬件当中并获取固件参数；S3设置并配置好GPS模块、航姿检测模块、无线收发器、遥控器等外围设备；
S3设置并配置GPS模块、航姿检测模块、无线收发器、遥控器等外围设备；
S4对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应。
所述S1船端部分与地面站建立链接：将系统上电，使船端和岸端初始化，岸端通过无线收发器和船端Pixhawk建立链接。
所述S2将无人船固件加载到Pixhawk硬件当中并获取固件参数：先判断系统内设备是否为自动驾驶仪Pixhawk，再判断自动驾驶仪Pixhawk内固件是否为无人船固件，若是，则执行下一步，若不是，则需要人员进行固件修改，更新后再获取无人船固件内参数。
所述S3设置并配置GPS模块、航姿检测模块、无线收发器、遥控器等外围设备：外接的GPS模块需要TTL电平，接Pixhawk的RX和接地口，Pixhawk会向外发送GPS配置命令，若GPS不兼容会对GPS造成干扰，故TX口不接；接线后需要360度旋转GPS以校准模块；Mission planner内需要对GPS_RATE_MS和GPS_TYPE等软件参数进行配置，来设置GPS模块的发送频率，通信方式等。航姿检测模块配置时需要布置在Pixhawk的正上方一同旋转来初始化硬件。无线收发器需要配置Mesh自组网模式和SBUS模式，遥控器的通道1和2设置为控制左右电机，通道5的PWM占空比用来作航行模式的切换，例如占空比0-10％为手动模式，10-30％为自主巡航模式，依次类推。
所述S4对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应，需要在Mission planner内配置如下关键函数和参数：
ARMING_CHECK配置为0，关闭Pixhawk解锁前的自检开关；
ARMING_REQUIRE配置为1，硬件上电使能；
BRD_SAFETYENABLE配置为1，使能Pixhawk安全解锁开关；
FENCE_ACTION配置为0，无人船突破电子围栏时没有动作；
FENCE_ENABLE配置为0，关闭电子围栏；
FRAME_CLASS配置为2，Mission planner软件内使用船固件；
FS_THR_ENABLE配置为1，油门低于预设值时开启失控保护；
PILOT_STEER_TYPE配置为1，选择无人船偏航时策略；
PIVOT_TURN_ANGLE配置为60，在艏向偏角大于此参数时做绕点转向动作；
SERVO1_FUNCTION配置为73，为无人船左桨控制通道；
SERVO3_FUNCTION配置为74，为无人船右桨控制通道。
Pixhawk控制电机的实际增益由调节SERVO1_OUTPUT和SERVO3_OUTPUT通道的PID输出决定。
第二阶段：进行无人船航迹规划工作。
如图3所示为无人船航迹规划工作流程图。
上述无人船自主航行系统配置和参数调整完毕后，将系统重启，系统初始化并进行软件自检和硬件自检，打开地面站并通过软件写入航点并生成航线，航点生成航线的算法为B样条曲线拟合。拟合成航线后，将航线信息转换为Google地图中的经纬度信息并通过
Mavlink协议传输到Pixhawk中，使用遥控器通过SBUS协议发送解锁指令，此时无人船处于非自主巡航模式，需要测试人员通过遥控器发送执行自主巡航指令，系统才会执行预设的自主巡航任务。系统除了主要的巡航模式以外，还有手动模式、避障模式、悬停模式、一键返航模式、智能返航模式/自动靠泊模式，通过遥控器发送对应模式切换指令，使无人船执行相应模式下的航行任务。
所述的各类航行模式如下：巡航模式可按照Mission planner软件内规划好的航线，沿航线行驶，误差精度在0.7米；手动模式允许测试人员远程人工驾驶无人船进行行驶；避障模式可基于树莓派的图像采集，通过对水面障碍物的识别来达到规避的效果；悬停模式是无人船在外部风浪较大环境下时执行留待在目标点的任务；一键返航模式可使无人船按照原来的轨迹原路返回初始点；智能返航模式是无人船不按照原来的轨迹原路返回，而是结合避障模式从当前点直线返回目标点。
如图4所示为搭载无人船自主航行系统地面站端的一种实例，通过在Mission planner软件内配置调试好API和底层等操作，使其具备成为无人船自主航行地面站的能力。地面站主界面为航行界面，可以显示无人船的艏向、航迹、航点等信息；左上窗口显示无人船航姿等信息，左下窗口显示航速、地速、绝对坐标、距离下一个航点距离等信息，在实际工程应用领域具有较大意义。
如图5所示为搭载无人船自主航行系统船端部分的一种实例，所搭载船体为920自扶正船型，具有较好操纵性的同时，拥有较好的抗倾覆能力，系统均匀布置在船体顶部。
如图6所示为长江某水域负责水面垃圾清扫任务的无人船航迹规划图，地点为镇江海事局对面开阔长江水域，搭载本发明所述自主航行系统的水面垃圾清扫无人船在规划好的电子围栏内进行水面清扫作业，通过图示航线和实地实验验证了此方法的有效性。
Claims (10)
- 一种无人船自主航行系统，其特征在于，包括：船端部分，用于无人船的航行运动姿态检测、位置信息检测、航行数据采集、执行元件控制；包括树莓派、Pixhawk、GPS模块、航姿检测模块、由第一电调提供驱动的第一电机、由第二电调提供驱动的第二电机；Pixhawk提供相对稳定和高效的自动驾驶实现方式；GPS模块为无人船提供准确的定位信息；航姿检测模块为无人船提供实时的航向与姿态信息；无人船由第一电机和第二电机提供推进，并通过两个电机的差速转动实现转向；所述的树莓派在Linux操作系统上运行，使用Python语言编程，并有对应库对Pixhawk进行访问；测试人员可使用API通过Mavlink协议与无人船进行通信，从而实现对无人船的状态和参数信息的编程访问，以及对无人船运动的直接控制；岸基部分，包括用于岸基和Pixhawk的数据传输的无线收发器、用于从岸端向船端发送控制指令的遥控器、地面站；所述的地面站是在岸基PC端上运行的软件应用程序，包括远程控制平台或PC端，通过无线方式和无人船进行通信，控制航行中的无人船，上传新任务和设置参数；操作人员通过地面站实时观测无人船的各项信息：位置、航点、航向、航速、设备剩余电量，并进行系统的在线参数实时调整。
- 根据权利要求1所述的一种无人船自主航行系统，其特征在于，所述的地面站是虚拟驾驶舱，可显示无人船航姿和位置的实时数据、与真实驾驶无人船相同的仪表数据和来自船端树莓派摄像机的实时视频；地面站所采用版本为Windows下的Mission Planner。
- 根据权利要求1所述的一种无人船自主航行系统，其特征在于，所述的遥控器采用乐迪R9DS。
- 根据权利要求1所述的一种无人船自主航行系统，其特征在于，所述的无线收发器采用XB Radio PRO。
- 根据权利要求1所述的一种无人船自主航行系统，其特征在于，所述的Pixhawk采用版本为Pixhawk 2.4.8。
- 根据权利要求1所述的一种无人船自主航行系统，其特征在于，所述的航姿检测模块采用北微BWK218。
- 一种无人船自主航行方法，其特征在于，采用如权利要求1至6任一项所述的无人船自主航行系统，其方法包括：第一阶段：根据无人船实际情况，对无人船自主航行系统进行固件配置和参数调整；其固件可直接应用开源飞控社区发布的无人船固件；其内部函数和参数需要根据无人船进行实际调整的步骤包括：S1.1.船端部分与地面站建立链接：将系统上电，使船端和岸端初始化，岸端通过无线收发器和船端Pixhawk建立链接；S1.2.将无人船固件加载到Pixhawk硬件当中并获取固件参数：先判断系统内设备是否为自动驾驶仪Pixhawk，再判断自动驾驶仪Pixhawk内固件是否为无人船固件；若是，则执行下一步，若否，则需要人员进行固件修改，更新后再获取无人船固件内参数；S1.3.设置并配置外围设备，包括GPS模块、航姿检测模块、无线收发器、遥控器；S1.4.对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应；第二阶段，无人船航迹规划，包括：S2.1.无人船配置和参数调整完毕后将系统重启，系统初始化并进行软件自检和硬件自检，打开地面站并通过软件写入航点并生成航线，航点生成航线的算法为B样条曲线拟合；S2.2.拟合成航线后，将航线信息转换为Google地图中的经纬度信息并通过Mavlink协议传输到Pixhawk中，使用遥控器通过SBUS协议发送解锁指令，此时无人船处于非自主巡航模式，需要测试人员通过遥控器发送执行自主巡航指令，系统才会执行预设的自主巡航任务；系统可通过遥控器发送其它巡航模式的对应模式切换指令，使无人船执行相应模式下的航行任务。
- 根据权利要求7所述的一种无人船自主航行方法，其特征在于，在第一阶段，所述的设置并配置外围设备，其过程包括：外接的GPS模块需要TTL电平，接Pixhawk的RX和接地口；Pixhawk向外发送GPS配置命令，若GPS不兼容会对GPS造成干扰，故TX口不接；接线后需要360度旋转GPS以校准模块；Mission planner内需对GPS_RATE_MS和GPS_TYPE等软件参数进行配置，来设置GPS模块的发送频率、通信方式；航姿检测模块需布置在Pixhawk的正上方一同旋转来初始化硬件；无线收发器需配置Mesh自组网模式和SBUS模式；遥控器的通道1和2设置为控制左右电机，通道5的PWM占空比用来作航行模式的切换：占空比0-10％为手动模式，10-30％为自主巡航模式。
- 根据权利要求7所述的一种无人船自主航行方法，其特征在于，在第一阶段，所述的对无人船固件内参数进行调整并修改实船的控制增益，使无人船的响应和固件参数整体配置相适应，包括在Mission planner内配置如下关键函数和参数：ARMING_CHECK配置为0，关闭Pixhawk解锁前的自检开关；ARMING_REQUIRE配置为1，硬件上电使能；BRD_SAFETYENABLE配置为1，使能Pixhawk安全解锁开关；FENCE_ACTION配置为0，无人船突破电子围栏时没有动作；FENCE_ENABLE配置为0，关闭电子围栏；FRAME_CLASS配置为2，Mission planner软件内使用船固件；FS_THR_ENABLE配置为1，油门低于预设值时开启失控保护；PILOT_STEER_TYPE配置为1，选择无人船偏航时策略；PIVOT_TURN_ANGLE配置为60，在艏向偏角大于此参数时做绕点转向动作；SERVO1_FUNCTION配置为73，为无人船左桨控制通道；SERVO3_FUNCTION配置为74，为无人船右桨控制通道；Pixhawk控制电机的实际增益由调节SERVO1_OUTPUT和SERVO3_OUTPUT通道的PID输出决定。
- 根据权利要求7所述的一种无人船自主航行方法，其特征在于，无人船的巡航模式包括：非自主巡航模式，按照Mission planner软件内规划好的航线沿航线行驶；手动模式，允许测试人员远程人工驾驶无人船进行行驶；避障模式，基于树莓派的图像采集，通过对水面障碍物的识别来达到规避的效果；悬停模式，无人船在外部风浪较大环境下时执行留待在目标点的任务；一键返航模式，使无人船按照原来的轨迹原路返回初始点；智能返航模式，无人船不按照原来的轨迹原路返回，而是结合避障模式从当前点直线返回目标点。
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