Research And Design Of Weed Cleaning Ship System Based On Integrated Navigation

With the continuous development of the economy, human’s living standard is obviously improved, the market demand for crab increased year by year. Grass breeding crab aquaculture pond, high labor costs, low operating efficiency, automation, modernization, efficiency level is apparent not high. In this paper, a kind of weed cleaning operation ship based on the integrated navigation system is designed. Based on the integrated navigation system of GNSS system and inertial navigation system, the technology of embedded, Lab VIEW and other technologies are used in this ship, and course/speed closed loop control, PID algorithm, tracking algorithm and other algorithms are designed and used. The main research contents of this paper are as follows:A: A weed cleaning ship for crab breeding with manual control, remote control and automatic control is designed, and navigation system, control system and PC monitoring system and other subsystems. A variety of mechanical components for cleaning weed are used and analyzed. The overall structure and working principle of the ship are briefly introduced.B: A integrated navigation system of weed cleaning ship is designed. The technical schemes to improve the navigation precision is studied, the principle of location, orientation and velocity measurement is introduced, and the integrated navigation system of RTK-GNSS system and MEMS inertial system is designed. According to the model of the integrated navigation system, the Kalman filter is used in the navigation signal processing. All the above are the foundation of ship automatic driving.C: A control system with manual control, remote control and automatic control of weed cleaning ship is designed. For automatic driving, course/speed closed-loop control, follow-the-target algorithm and velocity and turing strategy are designed, PID automatic adjustment algorithm is used, weed cleaning ship embedded system based on ARM11 is designed and which hardware, system software and application software are designed.D: A monitoring system based on Lab VIEW of weed cleaning ship is designed, and which can real-time monitor the state and track of the ship and adjust the PID parameters to change the control effect.Through the experiment of weed cleaning ship, the functions of weed cleaning and other subsystems are verified. Through the experiment of model ship, the automatic function is verified. The experiment shows that the design scheme of weed cleaning ship with high efficiency and intelligent aquatic is feasible in large scale breeding environment.