摘要
无人艇的核心是其内部进行信息采集与设备控制的综合测控装置,其功能与性能的优劣将直接影响到无人艇的稳定性与智能程度,测控装置包含测量用传感器件、通信导航控制器和无线传输设备。所设计的无人艇通信导航控制器以高性能的ARM Cortex-M4内核的STM32F407ZET6微控制器为核心,扩展了外围接口电路,可实现各传感通信设备的高效集成;以uc/os-II实时操作系统为嵌入式软件平台,高效完成了数据采集、信息交互、数据存储、电机控制、自主航行、状态监测等各类任务;经测试,该控制器通过无线传输设备与岸基上位机系统进行通信,可有效完成无人艇航行过程中的信息采集、处理、运动控制与数据交互等多种任务,在无人水面航行器领域具有广泛的应用价值。
The core of the unmanned boat is its internal integrated measurement and control device for information collection and equipment control. The quality of their functions and performance will directly affect the stability and intelligent level of the unmanned ships. The measurement and control device comprises a sensor for measurement, a communication and navigation controller and a wireless transmission device, The communication and navigation controller designed in this paper is based on the STM32 F407 ZET6 microcontroller with high-performance ARM Cortex-M4 core, and expands the external interface circuit to realize the efficient integration of various sensor communication devices. The uc/os-II real-time embedded software platform is used in this system for tasks of efficient data collection, information exchange, data storage, motor control, autonomous navigation, status monitroing etc. After testing, the controller communicates with the shore-based host computer system through wireless transmission equipment. It can effectively complete various tasks such as information collection, processing, motion control and data interaction in the course of unmanned boat navigation, and has a wide range of application values in the field of unmanned surface vehicles.
作者
张友华
叶楠
姜凤军
韩恒超
柯有昌
ZHANG You Hua;YE Nan;JIANG Feng Jun;HAN Hengchao;KE Youchang(Suzhou Shanbo Wisdom Technology Co.,Ltd.Suzhou 215400,China;CSIC PRIDE(NanJing)Atmospheric and Oceanic Information System Co.,Ltd.Nanjing 210000,China;Taicang Boiler Automation Insrument Factory Co.,Ltd.Suzhou 215400,China;Shanghai Analog&Digital Instrument Co.,Ltd.Shanghai 200000,China;Anhui Cornwell Electric Co.,Ltd.Chuzhou 239300,China)
出处
《自动化与仪器仪表》
2022年第2期204-208,共5页
Automation & Instrumentation
