摘要
论文以自主研发的无人船为研究对象,针对内陆水面环境定点巡航的研究,设计了基于ROS-Web交互的无人船定点巡航系统,该系统具有可自由更换各部分功能模块、交互模式易于后期拓展等优点,并且能够在定位控制算法下实现精准的定点巡航。利用误差状态卡尔曼滤波算法(Error-state Kalman Filter,ESKF)将惯性传感器(Inertial Measurement Unit,IMU)和卫星定位的数据融合实现无人船的绝对定位,以ROS的可视化工具以及Web页面作为显示与控制界面,提出利用卫星地图匹配方法建立无人船的导航地图,然后利用惯性漂移作用下的定位控制算法路径规划,在无需建立栅格地图的条件下发挥了ROS建图导航算法的优势,从而实现无人船在实时交互下的定点巡航。
This paper takes the self-developed USV as the research object,and designs an USV fixed-point cruise system based on ROS-Web interaction based on the research of inland water surface environment fixed-point cruise.The system has free re⁃placement of various functional modules and interactive modes.It is easy to expand later,and can realize precise fixed-point cruise under the fixed-point cruise algorithm.In terms of fixed-point cruise,the state error Kalman filter algorithm is used to fuse the data of inertial sensor(Inertial Measurement Unit,IMU)and satellite positioning to achieve USV absolute positioning,with ROS visual⁃ization tools and Web pages being the display and control interface.It's proposed to use satellite map matching algorithm to establish the navigation map of the USV.Then the path planning of positioning control algorithm is used under inertial drift.The advantages of the path planning algorithm are exerted without establishing a grid map.Therefore,the autonomous navigation of the USV in re⁃al-time interaction is achieved.
作者
吴晖
吴应为
廖佳豪
肖姿
WU Hui;WU Yingwei;LIAO Jiahao;XIAO Zi(Navy Fifth Military Representative Office in Wuhan,Wuhan 430205;No.722 Research Institute of China State Shipbuilding Corporation,Wuhan 430205)
出处
《舰船电子工程》
2023年第11期64-69,共6页
Ship Electronic Engineering
关键词
无人船
机器人操作系统
定点巡航
unmanned surface vehicle(USV)
robot operating system(ROS)
fixed-point cruise
