Research On A Kind Of AUV Control System Based On The Multi-Sensors

This thesis is based on the 863 Project of " Study on Low power driven Underwater Multiple Functional Biomimetic Microrobot".The number of 863 Program is No.2006AA04Z248.In the program,the biomimetic microrobot is conveyed and deliveried by AUV.This paper emphasizes on the study of the control system of the AUV.In the control system of AUV,navigation system is one of the important parts. In this project,a kind of integrated navigation systems with GPS and MTI is used. The autonomous navigation can be realized by GPS and MTI Data Fusion.To solve the fast damping of the GPS signal in the water,a novel method of setting a floating platform where the GPS receiver is set on,is put forward in the paper.A wireless transmitting module is also set on the floating platform,to make AVU communicate with host computer.AUV not only can send the information of depth speed attitude to the host computer,but also receive the command of host computer.Both the speed and position of the AUV can be controled in the long distance.The software of display and control is compiled by Microsoft Visual Studio 2005.In the paper,the parts of AUV are introduced firstly,including the structure of mechanical and the actuating system.Secondly,the structure of AUV's control system is depicted,which is composed of GPS,MTI and the sensor of water depth.In this part,the integrated navigation system which is composed of GPS and MTI is detailed instruction,including the structure of sensor data and the method of Data Fusion.Because lots of datas are sensored,TMS320F2812 which is produced by TI is used to process the information.Then,the Digital Signal Processor Control System board is designed and made,the software for the control system is also designed.The software realizes the speed control,the depth control and the autonomous navigation.Finally,the various experimental results of the control system are analyzed. The working situations of AUV are analyzed respectively in speed,depth and navigation experiments.In the navigation experiment,the real interfere is simulated,the results proves that the contorl system reaches the design requirement.The AUV can carry out the mission of conveying and deliverying sending biomimetic microrobot.