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。所设计的无人艇测控装置以高性能的ARM Cortex-M4内核的STM32F407ZET6微控制器为核心,扩展了外围接口电路,实现各传感通信设备的高效集成;以μC/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,该装置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 unmanned boat measurement and control device designed in this paper takes the high-performance STM32F407ZET6 microcontroller of ARM Cortex-M4 as the core,and expands the external interface circuit to realize the efficient integration of various sensor communication devices.The μC/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 device 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
叶楠
王祥
刘怀芝
Ye Nan;Wang Xiang;Liu Huaizhi(CSIC PRIDE(NanJing)Atmospheric and Oceanic Information System Co.,Ltd.,Nanjing 210000,China;CSIC Nanjing Pengli Technology Group Co.,Ltd.,Nanjing 210000,China)
出处
《电子技术应用》
2022年第9期131-135,144,共6页
Application of Electronic Technique
基金
国家重点研发计划项目(2018YFC0309100)。
作者简介
叶楠(1988-),男,硕士研究生,工程师,主要研究方向:嵌入式设备研发;王祥(1989-),男,硕士研究生,工程师,主要研究方向:嵌入式软件设计;刘怀芝(1985-),男,本科,工程师,主要研究方向:嵌入式硬件设计。
