The Design And Implementation Of Positioning And Navigation System Of Unmanned Surface Vehicle Based On ROS-web Interaction

Unmanned Surface Vehicle(USV)has the potential to reduce the risk of the delivery system.It’s widely used in various fields of civil and military,such as military reconnaissance,maritime patrol,bathymetry,environmental monitoring,and oceanographic research.With the advancement of computing,sensing and driving systems,many surface operations tasks can be accurately completed by USV,which has become a hot field for researchers all over the world to study.USV are currently facing technical challenges such as intelligent operation,control stability,and development costs.Accurate positioning and navigation are a must for USV to perform various tasks.Traditional USV systems cannot meet real-time requirements in complex water environments.Precise behavior control strategy,which brings huge challenges to the development of USV applications.This paper takes the self-developed USV as the research object,and designs an USV positioning and navigation system based on ROS-Web interaction based on the research of inland water surface environment positioning and navigation.The system has free replacement of various functional modules and interactive modes.It is easy to expand later,and can realize precise fixed-point cruise under the positioning and navigation algorithm.In order to verify the reliability of the system,this paper built an USV system platform according to the requirements.In the design of the shipboard motion control system,the core framework of the STM32 development board and the Raspberry Pi is the hardware platform.The Robot Operating System(ROS)is used as the framework to build the software platform.The motor drive board and the dual propulsion are used for sailing.The speed and heading of the USV are controlled by the PID motor speed control algorithm.The multi-sensor is used to realize the data collection and processing,making a certain response according to the real-time detection of the movement state.After the design being completed,the system was tested to ensure the navigation stability of the experimental platform.In terms of positioning and navigation,in order to solve the problems of inaccurate ship odometer information and insufficient applicability of log,the state error Kalman filter algorithm is used to fuse the data of inertial sensor(Inertial Measurement Unit,IMU)and satellite positioning to achieve USV Absolute positioning,with ROS visualization tools and Web pages being the display and control interface.It’s proposed to use satellite map matching algorithm to establish the navigation map of the USV.Then to use the shortest trajectory control guidance method path planning and obstacle avoidance strategy.The advantages of the path planning algorithm are exerted without establishing a grid map.Therefore,the autonomous navigation of the USV in real-time interaction is achieved.Finally,an USV platform is built in the still water river to conduct field experiments,and the designed positioning and navigation algorithm are applied to the research object.Under the condition that the USV track control meets the stability requirements,the obstacle is carried out.The fixed-point cruise experiment and the processing and analysis of the data have verified the performance of the system in terms of availability and stability.The experimental results show that the designed USV positioning and navigation system has certain practical application significance.