Research And Realization Of Water Quality Monitoring Cruising System Based On Beidou/Inertial Navigation System

In recent years, with the rapid development of China’s industry, people’s living environment has been polluted seriously, especially the essential water resources in daily life. How to protect water resources has become the focus of attention. Water quality monitoring is an important part of the protection of water resources, which is called the "eyes" of protecting the water environment. Intellective and efficient water quality monitoring system can protect water resources more effectively. Because of the shortcomings of some existing water quality monitoring system,such as small range,communication signals which is susceptible to interference and so on, in this paper, a water quality monitoring system based on Beidou/Inertial Navigation System(INS) has been developed, which is intelligent, remote and self-removable. The main content of this paper includes:Firstly, this paper refers to a lot of papers and documents, to analyze the background and research significance. And then, the research status at home and aboard are summarized, and also their advantages and disadvantages are analyzed in detail.Secondly, the principle of communication and positioning of Beidou satellite navigation system is introduced in detail. This paper analyzes the advantages of Beidou satellite navigation system, describes the features and functions of LabVIEW, and introduces the GIS and MapX plug.Thirdly, according to the functional requirements of our system, the overall design scheme of the removable water quality monitoring system has been designed. This paper mostly focuses on the hardware components of several subsystems and their functions.Fourthly, the hardware circuit and the program of single-chip microcomputer have been designed. This paper introduces the principle of hardware circuit and the design ideas and processes of MCU program in detail. Besides, this paper lists the communication data formats of Beidou satellite navigation system. And the principle of autonomous navigation algorithm and motion control algorithm applied in this system are analyzed.Finally, this paper designs a monitor software based on LabVIEW. Every modules ofthis software are described in detail. A complete water quality monitoring system is set up,which is used for testing packet loss rate of communication and the navigation cruise trace experiment.