Intelligent Unmanned Boat Water Quality Monitoring System

With the acceleration of China’s industrialization and urbanization process,industrial and domestic sewage continue to erode the rivers and lakes on which human beings rely for survival.Strengthening the monitoring and management of water resources has been put on the agenda.In view of the shortcomings of traditional water quality monitoring methods in accuracy,flexibility and data management,a water quality monitoring system based on unmanned ship is developed in this paper.An unmanned ship with automatic cruise or remote cruise capability is built as a water mobile platform,which carries water quality online monitoring sensors for data collection,and realizes remote transmission and storage of monitoring data.The specific work is as follows:(1)Firstly,based on the requirement analysis of the system,the whole system is divided into unmanned ship subsystem,shore based subsystem and communication subsystem according to the function requirements,and the function division,connection relationship and workflow of each subsystem are designed;(2)Design and implement the unmanned ship subsystem: determine the hull style and driving mode according to the use environment of the system,establish the separation model of the unmanned ship subsystem MMG(managing modeling group),and select the basic module through simulation calculation.Taking pixhawk4 board as the control core,the PID controller based on BP(back propagation)neural network is embedded in ardupilot control software to realize the motor control of unmanned ship subsystem and provide guarantee for its stable operation;(3)In order to ensure the accuracy of navigation information,the automatic cruise,integrated navigation and fusion algorithm based on extended Kalman filter are designed and implemented for the unmanned ship subsystem based on GPS and IMU,and the track tracking control system based on L1 algorithm is designed.In addition,in order to ensure the UAV subsystem can cruise smoothly,the obstacle avoidance function based on ultrasonic sensor and camera is designed;(4)The hardware foundation of shore based subsystem is built,and the functional software of shore based subsystem is realized based on mission planner,My SQL and QT software development tools.Completed the construction of the shore based subsystem,so that users can give the cruise route by setting the waypoint,and automatically send it to the unmanned ship subsystem through the communication subsystem;receive the location information of the unmanned ship subsystem,and display it in the shore based subsystem;receive the water quality monitoring data,and manage it based on the relational database,so as to realize the real-time display of the water quality monitoring information,storage,query and other functions;(5)The water quality monitoring sensor is carried on the unmanned ship subsystem,and the functions of the whole set of software and hardware system are tested and tested to achieve the indicators and functional requirements in the demand design.