以有效躲避室内环境中不同状态障碍物，保障无人艇相对狭小环境下的运行安全为目的，设计基于超声波的无人艇室避障定位误差修正系统。超声波定位模块利用超声波技术检测障碍物，并通过添加参考节点获取定位误差修正量，基于修正量修正定位过程中的误差，提升定位避障精度。超声波信号传输至信号处理单元内，协同GPS模块生成无人艇周边环境信息，并利用通用分组无线服务技术模块将环境信息传输至上位机内，上位机以此为基础生成航线并返回至信号处理单元；信号处理单元依据航线信息，控制舵机执行模块改变航向，在发动机模块驱动下完成航行。测试结果显示，该系统障碍物定位误差控制在1.8 cm内，能够有效躲避固定或运动状态下的障碍物。
In order to effectively avoid obstacles in different states in the indoor environment and ensure the operation safety of the USV in a relatively narrow environment, an indoor obstacle avoidance and positioning error correction system based on ultrasonic is designed. The ultrasonic positioning module uses ultrasonic technology to detect obstacles, and obtains the correction amount of positioning error by adding reference nodes. Based on the correction amount, the error in the process of ship positioning is corrected to improve the accuracy of ship positioning and obstacle avoidance. The ultrasonic signal is transmitted to the signal processing unit, which cooperates with the GPS module to generate the environmental information around the USV, and the general packet radio service technology module is used to transmit the environmental information to the upper computer, on which the upper computer generates the route and returns to the signal processing unit; The signal processing unit controls the steering gear execution module to change the ship's course according to the route information, and completes the ship's navigation under the drive of the engine module. The test results show that the obstacle positioning error of the system is controlled within 1.8 cm, and it can effectively avoid obstacles in fixed or moving state.
2022,44(24): 165-168 收稿日期：2022-09-15
DOI：10.3404/j.issn.1672-7649.2022.24.035
分类号：TP242.6
作者简介：周文芳(1983-),女,硕士,讲师,研究方向为物理及纳米材料等
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