摘要
设计与开发水质检测无人船实践平台,以船模作为平台载体,基于便携式创新实践设备,快速开发多传感器信号采集、解算及驱动控制等的多个功能模块。通过GPS、陀螺仪和电子罗盘等传感器获取船体运动姿态信息,并结合视频传感器和超声传感器所感测的水面环境信息,在自动巡航控制算法的控制下规避水面障碍物,按照设定路径,在定点位置测量水体水质,实现水质监测任务。水面测试结果表明,设计可达到预定设计效果和预期任务要求。
Unmanned surface vehicles (USV) innovative practice platform for water quality monitoring is designed and developed. The system used an USV model as the platform carrier based on the portable innovative equipment myRIO controller, using sensors such as GPS, gyroscopes, and electronic compasses to acquire hull movement posture information ,using video sensor and ultrasonic sensors to detect the surface water environment information to circumvent surface obstacles in automatic cruise mode. To complete water quality monitoring task, the pH value sensor, turbidity sensor and temperature sensor are applied at the set path and fixed position. The surface test results indicate that the intended design effect and expected mission requirements have been achieved.
作者
陈奕杰
张志明
曹志杰
刘念
金静
刘吉喆
余有灵
Chen Yijie;Zhang Zhiming;Cao Zhijie;Liu Nian;Jin Jing;Liu Jizhe;Yu Youling(College of Electronics and Information Engineering, Tongji University, Shanghai 200092 , China)
出处
《国外电子测量技术》
2019年第2期109-113,共5页
Foreign Electronic Measurement Technology
基金
教育部高等教育司产学合作协同育人项目(201702008060)
上海市市级大学生创新创业训练计划项目(2017年度)
同济大学本科交叉课程建设项目(0800104239/1350104085)
同济大学大学生学科竞赛项目(4250142301/004)资助
关键词
无人船
自动巡航
水质监测
便携式创新实践设备
多传感器
USV
automatic cruise
water quality monitoring
portable innovative practice platform
multi-sensor
