| In recent decades,my country’s science and technology have developed rapidly,and ship navigation and positioning on lakes and seas have also received more attention,and navigation and positioning algorithms and related software development technologies have also been greatly developed.Taking the unmanned ship project as the entry point,this paper designs and builds the sensor hardware system on the hull,the shipboard software design,the shore-based software design and implementation,and the navigation system design and implementation based on the loose integrated navigation algorithm.achieve.The following is the main research content and completed work content of this article:The shipboard sensors and other related hardware were investigated and selected,and the shipboard hardware system was determined.On this basis,the overall hull scheme was designed.From the hardware connection of the overall scheme of the hull and each data flow,the shipboard software based on the ROS system is designed,the function of each node is defined in detail,the shipboard software is realized through programming,and it runs normally in the actual experiment.According to the actual project requirements of the unmanned ship,the demand analysis and software scheme design of the shore-based software running on the shore-based control cabinet were carried out,and finally the designed shore-based software was realized by using QT programming in the Windows 10 environment.In the experiment,the communication function,data display function and data recording function of shore-based software were all normal,which met the needs of the project.Starting from theory,the static base initialization principle of inertial navigation and the posture,speed and position update principle of inertial navigation system are deduced in detail.According to the described algorithm principle,inertial navigation is realized by C++ language programming under Linux system.The initialization of the system and the overall flow of the inertial navigation system have verified the characteristics of the inertial navigation system through experiments.Pave the way for the subsequent integrated navigation system.As the inertial navigation system and the global navigation satellite system have their own strengths and weaknesses,in order to obtain a navigation system with better navigation performance,it is finally decided to use the loose integrated navigation algorithm based on Kalman filter to control the inertial navigation system and the global satellite navigation system.Based on the Kalman filter algorithm flow,this paper derives the error state equation and measurement equation of the integrated navigation system in detail,and designs the software flow chart of the loose integrated navigation algorithm.According to the software flow chart,the loose integrated navigation algorithm was implemented using C++ language programming under the Linux system,and the written program was verified by using real data.Through the analysis of the experimental results,the accuracy of the loose integrated navigation algorithm was verified.This article is based on the unmanned ship project.According to the project,the design and implementation of the shipboard software and hardware system and shore-based software are formulated in detail,which meets the experimental requirements of the unmanned ship experiment on the lake.The loose integrated navigation system designed in this paper has been proved by experiments to improve navigation accuracy.Shipboard software,shore-based software,and data processing and related calculation algorithms in integrated navigation algorithms are the key technologies of the unmanned ship project and the focus of this article. |
