基于北斗导航通信技术的无人艇运动导航控制系统设计  

Design of Uav Motion Navigation Control System Based on Beidou Navigation and Communication Technology

作　　者：车常昕 张永波[1] Che Changxin;Zhang Yongbo(School of Physics and Electronic Information,Yan an University,Yan an 716000,China)

机构地区：[1]延安大学物理与电子信息学院,陕西延安716000

出　　处：《计算机测量与控制》2020年第11期111-115,139,共6页Computer Measurement &Control

摘　　要：为实现对无人艇行进器的运动控制,建立更加完善的导航应用策略,设计基于北斗导航通信技术的无人艇运动导航控制系统;以无人艇运动姿态研究作为切入点,在电机驱动器、电机测速模块的支持下,连接中央处理单元、电源模块、方位监测模块等硬件设备结构体,完成导航控制系统的硬件电路设计;在此基础上,确定与导航信息相关的短报文传输特征,通过协调接口数据传输协议应用格式的方法,定义通信协议加密对象的所属连接形式,完成对报文加密密钥参数的初步配置,实现基于北斗导航通信技术的无人艇运动导航控制系统的短报文加密处理;实验结果表明,基于北斗导航通信技术控制系统的实际应用续航时间始终保持为8 h,UDI系数指标平均水平为74.4%及77.3%,说明在行进过程中始终能对无人艇运动方向进行精准化控制,可在完善行进器导航应用策略方面起到较强促进作用。In order to realize the motion control of uAVs,and establish more perfect navigation application strategy,the uAVs motion navigation and control system based on Beidou navigation and communication technology is designed.With the research of unmanned vehicle motion attitude as the entry point,with the support of motor driver and motor speed measurement module,the hardware structure such as central processing unit,power module and azimuth monitoring module is connected to complete the hardware circuit design of navigation control system.On this basis,to determine the short message transmission characteristics of the navigation information related to interface data transfer protocol application format through coordination method,definition of communication protocol encryption object belongs to connection form,complete the initial configuration of message encryption key parameters,based on beidou navigation communication technology of the control system of unmanned craft movement navigation message encryption processing.The experimental results show that the actual application of the control system based on Beidou navigation communication technology has a endurance time of 8h,and the average level of UDI coefficient index is 74.4%and 77.3%.It shows that the UAV can always accurately control the movement direction of the UAV in the process of moving,which can play a strong role in improving the navigation application strategy of the walker.

关 键 词：北斗导航通信 无人艇运动 导航控制 运动姿态 方位监测 电机测速 

分 类 号：TN91[电子电信—通信与信息系统]