国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Aiming at the existing problem of autonomous navigation of the Unmanned Surface Vehicles (USV), a kind of USV motion control system based on STM32 microcontrollers was designed. The STM32F103 chip is the core chip of the main control board, and the dual MCU(Microcontroller Unit) architecture was adopted in the system. The data acquisition board and the motion control board was communicated by the CAN bus form. In order to the positioning of the USV is more accurate, the data processing of the USV positioning information by the global positioning system(GPS) and the strapdown inertial navigation system(SINS) was accomplished by the Kalman filter algorithm. The closed-loop control of the USV's heading angle to achieve the purpose of path tracking was implemented by the active disturbance control algorithm. And the remote control function of the USV was realized by using 4G network communication mode. At the same time, the upper computer software based on Java was designed to facilitate the use of personnel. The experimental results showed that the unbiased variance of the USV in the heading tracking can be controlled at about 2.18 °, the mean square error of the vertical distance in the path tracking can be controlled at about 0.53 m. The accuracy and feasibility of the system were proved.