Design Of Information Processing And Navigation Control Platform For USVs

The remote control and autonomous navigation of Unmanned Surface Vehicles(USVs)rely on the USV’s information processing and navigation control capabilities.To enhance the remote control and autonomous navigation capabilities of USVs,this thesis addresses the issues of simultaneously processing data from multiple sensors,requiring rapid response from actuation mechanisms,dealing with complex scheduling logic,and meeting high requirements for real-time and parallel program execution.A Field Programmable Gate Array(FPGA)that offers excellent real-time performance and high parallelism is chosen as the main controller for the design and development of the USV’s information processing and navigation control platform.This platform is then installed on an in-house developed USV for sea trials to verify its performance.The primary tasks of this thesis are as follows.1.Design of USV information processing platform.Code is written based on the communication timing of the voltage collection chip to achieve high-speed and accurate collection and reading of multi-channel voltage information.Serial information is packaged into Ethernet packets to establish a remote connection between the USV and the shore-based station.On this foundation,the reception and transmission of serial information are implemented in line with the serial communication protocol timing.A serial information parsing module is designed based on the concept of state machines,which allows for frame splitting and data reading that contains specific frame header information.2.Design of USV navigation control platform.Actuators for various components of the control power system are selected based on the USV’s power system characteristics,and an actuator drive program is written to enable navigation control of the USV.The thesis stores and parses the heading angle from the current position to the target waypoint based on the route provided by the upper-level machine.The USV’s turning direction is controlled by the target heading angle to achieve the autonomous navigation function of the USV.3.Platform testing.The information processing and navigation control platform designed in this thesis is transplanted and installed on an in-house developed USV.Sea trials were conducted in the Qiongzhou Strait and South China Sea under scenarios with long distances,long durations,and high-sea-state conditions.The trials verified the stability and reliability of the designed USV information processing and navigation control platform.