基站雷达与AIS引导的水面无人艇遥控系统

发布时间：2018-06-17 07:49

本文选题：雷达跟踪 + 自动识别系统　；参考：《雷达科学与技术》2017年01期

【摘要】：针对无人艇进行海面监测、海难搜救等具体任务需求,以现有小型舰船及动力操控设备为基础,设计并实现了一种水面无人艇导航与控制遥控系统。系统中路径规划/航迹监控模块可根据基站先验地理信息的路径规划及预设极限可航范围监控航行轨迹;危险评价/操控决策模块对雷达跟踪数据及AIS参数的实时分析,获取艇周目标与无人艇的碰撞危险评价,给出无人艇试操纵避让方案;信息交互模块利用4G网络通信技术实现艇上传感器与遥控系统间的数据交互;艇载工控机终端响应模块在收到指令后,仿云台控制利用PELCO-D协议驱动艇上车舵设备。基于某江域的试验结果表明,控制基站与艇数据交换可靠,艇车舵系统能有效响应遥指令。
[Abstract]:A remote control system for navigation and control of surface unmanned craft is designed and implemented on the basis of existing small vessels and power control equipment. In the system, the path planning / track monitoring module can monitor the navigation track according to the path planning of the base station's prior geographic information and the preset limit navigable range, and the real-time analysis of the radar tracking data and AIS parameters by the hazard assessment / control decision module. The collision risk assessment between the target around the boat and the unmanned vessel is obtained, and the scheme of piloting and avoiding is given, and the information interaction module realizes the data exchange between the sensor and the remote control system by using 4G network communication technology. After receiving the instruction, the terminal response module of the shipborne industrial control computer uses PELCO-D protocol to drive the rudder equipment. The experimental results based on a river domain show that the data exchange between the control base station and the boat is reliable and the rudder system can effectively respond to the remote command.
【作者单位】：南通航运职业技术学院航海系;东南大学微惯性仪表与先进导航技术教育部重点实验室;
【基金】：江苏省高校优秀科技创新团队资助项目南通市科技计划研究项目(No.BK2014031) 江苏交通科研项目(No.2011C04-11) 江苏省“333工程”(第三层次)科研项目资助基金(No.BRA2014312)
【分类号】：U675.7;TN959

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