基于ARM和GPS的水產(chǎn)養(yǎng)殖作業(yè)船自動(dòng)導(dǎo)航系統(tǒng)研究

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摘要 本課題主要進(jìn)行基于ARM和GPS的水產(chǎn)養(yǎng)殖作業(yè)船自動(dòng)導(dǎo)航系統(tǒng)的設(shè)計(jì)。傳統(tǒng)的水產(chǎn)養(yǎng)殖作業(yè)船主要依靠人工操作，作業(yè)范圍小、精度差，難以滿足現(xiàn)代水產(chǎn)養(yǎng)殖業(yè)的發(fā)展要求。本文設(shè)計(jì)的自動(dòng)導(dǎo)航系統(tǒng)首先接收來自GPS衛(wèi)星的定位信息，然后計(jì)算出目標(biāo)航向角并配合電子羅盤系統(tǒng)和PID控制算法實(shí)現(xiàn)水產(chǎn)養(yǎng)殖作業(yè)船的自動(dòng)導(dǎo)航?？紤]到實(shí)驗(yàn)條件的限制，本課題利用空氣驅(qū)動(dòng)的智能小車模擬水產(chǎn)養(yǎng)殖作業(yè)船的平臺(tái)并建立起整個(gè)自動(dòng)導(dǎo)航控制系統(tǒng)。
本文首先設(shè)計(jì)了系統(tǒng)的結(jié)構(gòu)，然后從硬件方面介紹了電源模塊、S3C2440的最小系統(tǒng)模塊以及通信模塊的電路設(shè)計(jì)，接著從軟件方面介紹了無線遙控、電子羅盤以及GPS數(shù)據(jù)解析等部分的設(shè)計(jì)。論文還針對(duì)導(dǎo)航控制最核心的部分——導(dǎo)航控制系統(tǒng)的原理進(jìn)行了分析和研究，首先介紹了PID控制算法，接著從最簡(jiǎn)單的路徑導(dǎo)航算法開始，逐步介紹了如何實(shí)現(xiàn)復(fù)雜路徑的導(dǎo)航算法。本文在最后還給出了小車導(dǎo)航的調(diào)試過程及數(shù)據(jù)。調(diào)試結(jié)果表明，本課題設(shè)計(jì)的自動(dòng)導(dǎo)航控制系統(tǒng)可以控制小車完成簡(jiǎn)單路徑的自動(dòng)導(dǎo)航，達(dá)到了預(yù)期的控制目標(biāo)。
關(guān)鍵詞： 自動(dòng)導(dǎo)航 水產(chǎn)養(yǎng)殖船 ARM GPS 電子羅盤

Research on Automatic Navigation System of Aquaculture
Operation Boat Based on ARM and GPS
Abstract: The main subject of this research is automatic navigation system of aquaculture boat based on ARM and GPS. Traditional aquaculture operation boat rely mainly on human , the operating range is small and accuracy is poor, it is difficult to meet the requirements of modern aquaculture. The boatborne navigation terminal first receives location information from GPS satellites, and then calculate the target heading angle and complete the boat's navigation with electronic compass. Given the limitations of the experiment, this research uses a smart car driven by air to simulate the aquaculture boat's operations platform and build the entire automatic navigation control system.
Firstly, the thesis introduces the structure of the smart car, and then from the hardware, introduces the design of power supply module, the minimum system of S3C2440 module, the communication module and the wireless remote control module. Then from the software, introduces the software design of wireless remote part, the electronic compass part and GPS data analysis part. This thesis also analyze the principle of the navigation system, which is the core of navigation control system. Firstly, this part introduces the PID control algorithm, and then from the simplest path navigation algorithm, progressively describes how to implement complex navigation path algorithm. Finally, the thesis also gives the car navigation experiments and data. Experimental results show that the automatic navigation control system designed by this project can control the smart car complete simple path automatic navigation, basically achieve the desired control objectives.
Keywords: Automatic Navigation, Aquaculture Boat, ARM, GPS, Electronic Compass

目錄
第一章 緒論 1
1.1 GPS全球定位系統(tǒng)概述 1
1.2 電子羅盤系統(tǒng)概述 2
1.3 課題的研究背景和研究的意義 3
1.4國(guó)內(nèi)外的研究現(xiàn)狀及發(fā)展趨勢(shì) 4
1.5本課題主要研究?jī)?nèi)容 4
1.6論文組織與結(jié)構(gòu) 5
第二章 系統(tǒng)硬件設(shè)計(jì) 6
2.1小車結(jié)構(gòu)設(shè)計(jì) 6
2.2 系統(tǒng)工作電源設(shè)計(jì) 8
2.3 ARM最小系統(tǒng)設(shè)計(jì) 9
2.3.1 S3C2440處理器簡(jiǎn)介 9
2.3.2 時(shí)鐘電路設(shè)計(jì) 10
2.3.3 JTAG電路設(shè)計(jì) 10
2.4 通信模塊設(shè)計(jì) 11
2.4.1 UART通信模塊設(shè)計(jì) 11
2.4.2 GPS接收機(jī)簡(jiǎn)介 13
2.4.3 電子羅盤通信模塊設(shè)計(jì) 13
2.4.4 遙控模塊的設(shè)計(jì) 14
第三章 系統(tǒng)軟件設(shè)計(jì) 16
3.1 ADS1.2集成開發(fā)環(huán)境簡(jiǎn)介 16
3.2 遙控軟件設(shè)計(jì) 18
3.2.1 PWM波的生成方法 18
3.2.2 計(jì)算輸入占空比 21
3.2.3 直行子程序設(shè)計(jì) 21
3.2.4 轉(zhuǎn)彎子程序設(shè)計(jì) 22
3.3 電子羅盤軟件設(shè)計(jì) 23
3.3.1 IIC協(xié)議介紹 24
3.3.2 電子羅盤數(shù)據(jù)的讀取與解析 24
3.4 GPS數(shù)據(jù)的接收及解析 26
第四章 導(dǎo)航控制算法設(shè)計(jì)及調(diào)試 29
4.1 PID算法及應(yīng)用 29
4.1.1 PID控制算法介紹 29
4.1.2 PID算法的應(yīng)用 31
4.2 GPS導(dǎo)航原理 32
4.2.1 航向角計(jì)算方法 32
4.2.2 路徑規(guī)劃原理 33
4.3 調(diào)試過程及數(shù)據(jù) 34
第五章 總結(jié)與展望 38
5.1 總結(jié)..............................................................................................................................................38
5.2 展望..............................................................................................................................................38
致謝 39
參考文獻(xiàn) 40