| The unmanned surface vehicle is an unmanned ship that monitors and manages the operation of the ship equipment by using a remote monitoring system.It requires a long time to complete various tasks in an unattended environment.In order to meet the requirements of the work,the unmanned surface vehicle needs to carry more sensors and equipment to obtain various types of data to support autonomous navigation and operation on the water surface.Therefore,the number of sensors and data interface types that need to be connected are also increasing.However,the existing ship communication system only provides some standard equipment interfaces in the maritime field,and cannot obtain and apply non-standard equipment data.This paper is based on the development of small-scale water quality parameter monitoring unmanned surface vehicle,aiming at the above problems,a water surface unmanned vehicle communication system is designed and implemented The system can acquire sensor data of multiple different types of interfaces and transmit data in the form of NMEA2000 messages on the CAN bus.Using the wireless communication means to establishes a communication connection with the ground station,uploads the data to the ground station and receives the ground station command,and realizes data interaction between the ground station and the unmanned boat.The work carried out in this paper is as follows:1.Review the existing related data of unmanned boats and its data communication,and complete the system construction of the water quality parameter monitoring unmanned boat communication system on this basis.Divide the system into a device communication network for communication between the underlying devices and a ship management network for human monitoring,and design a data channel to contact the two networks.2.Design the system’s communication protocol.The device communication network draws on the message format and dynamic address allocation of the CAN protocol and its application layer protocol NMEA2000.The ship management network establishes the wireless connection between the ship and the shore,and designs the user data communication protocol at the application layer with reference to the TCP/IP model,which is used to solve the data demand of users in practical applications.3.Based on the interpretation and design of the protocol,the general hardware and software supporting multi-type interface data receiving,parsing and encapsulation are designed in the device communication network,so that devices and sensors of different interface types can send and receive data to each other on the bus.Establish a shipboard server based on Linux system and UDP protocol in the ship management network as the data channel between the two networks,receive the real-time status data of the ship and upload it to the ground station,and verify and forward the command of the ground station to the device communication.4.According to the design goals of the system and the actual application scenarios,test the functions of each part,and analyze the system’s ability to acquire,process and apply data according to the test results.Finally,the system is carried on the water quality parameter monitoring unmanned boat for field test,and the parameter data received by the ground station is compared with the calibration value to analyze the overall performance of the system. |
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