Design And Development Of Data Interface For Communication And Navigation Equipment Of Unmanned Surface Vehicles Based On FPGA

The improvement of environment perception ability of unmanned ships is an important basis for the intelligent and automatic development of unmanned ships.At present,it is important and difficult to carry multiple sensors on the hull and carry out multi-sensor data fusion.With the increasing number of sensors and communication equipment,the amount of information on ships increases continuously.There are problems such as insufficient interface resources,difficulty in laying lines,incompatibility of different transmission protocols of equipment interfaces,information redundancy and communication delay caused by mixed information.In order to solve the above problems,this paper designed the data interface of the unmanned target ship communication navigation equipment based on FPGA,received and analyzed various sensing data,and designed the task decision-making mechanism of the hull control mode and the communication protocol of the shipboard and shore-based two-way communication.It can be effectively compatible with a variety of data interfaces and reduce layout and wiring.It can integrate sensing information into task decision-making and communication protocol design and reduce information redundancy.The thesis mainly studies the following aspects:(1)The overall structure of the unmanned target ship control system is designed.Based on FPGA,the top module of the system can be divided into four sub-modules: input,output,scheduling and communication.The functions and input port Settings of each module are introduced respectively.(2)Design and implement each sub-module of the system respectively.The dispatching module is the control center of the system.Since the unmanned ship can work in the four states of upper computer,remote control,autonomous navigation and standby,the dispatching module is to complete the control logic of different states.In this paper,state transition graph is described by finite state machine and implemented by HDL language.Input module is responsible for data input and analysis of sensor equipment,equipment selection,first introduced attitude instrument,the working principle of the laser radar and beidou sensor according to the different data of different sensors to design interfaces,this paper mainly to the serial port,RJ-45 Ethernet front-end ports,SPI bus protocol interface and so on has carried on the detailed design of TDD communication module is mainly responsible for has data encapsulation,parsing and transceiver.According to the functional requirements of the system,a complete data protocol is designed,and the serial port transceiver is realized.(3)According to the design scheme of the system,the specific implementation is carried out,and the performance test is carried out in the actual scene.