The invention discloses an unmanned ship water quality monitoring system with active-disturbance-rejection course control, which comprises an external device, an unmanned ship device, a water quality detection device and a power supply module, and is characterized in that the external device comprises a ground station and a communication module; the unmanned ship device comprises an unmanned ship main control module, a sensor module and a driving module; the unmanned ship main control module is installed at the axis center of a ship body and used for ship body active-disturbance-rejection course control, sensor data filtering positioning, pose control, abnormity processing and fault positioning. The sensor comprises a GPS sensor and an IMU sensor; the water quality detection device comprises a water quality detection master control module and a water quality sensor acquisition module; the water quality detection main control module is used for sending collected data to the unmanned ship main control module; the power supply module is used for supplying power to the unmanned ship device and the water quality detection device. The system is long in wireless communication distance, low in power consumption and cost and simple to operate, improves the course control algorithm of the unmanned ship, and improves the overall motion stability.
本发明公开了一种自抗扰航向控制的无人船水质监测系统,包括外部装置、无人船装置、水质检测装置和电源模块,所述外部装置包括地面站和通信模块;所述无人船装置包括无人船主控模块、传感器模块和驱动模块;所述无人船主控模块安装于船体轴中心,用于船体自抗扰航向控制、传感器数据滤波定位、位姿控制、异常处理和故障定位;所述传感器包括GPS传感器和IMU传感器;所述水质检测装置包括水质检测主控模块、水质传感器采集模块;水质检测主控模块用于将采集数据发送至无人船主控模块;所述电源模块用于为无人船装置、水质检测装置供电。本发明无线通信距离远、功耗和成本低、操作简单,改进无人船航向控制算法,提高整体的运动稳定性。
Unmanned ship water quality monitoring system with active-disturbance-rejection course control
一种自抗扰航向控制的无人船水质监测系统
2024-03-26
Patent
Electronic Resource
Chinese
IPC: | G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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