Water Pollution Detection System Research And Design Based On The Embedded USV

With the development of China’s economic and the improving of people’s quality,people’s awareness of water protection has been strengthened,a variety of water pollution monitoring equipment has been applied.However,these equipments are very expensive,large and inflexible.and for some distant area,operators must carried the equipment to get into the water area,which will undoubtedly increase the danger to the operator.In view of this situation,the thesis presents a system of embedded USV water contamination detection which based on the modern computer technology.The system applies to rivers and lakes water pollution sampling and inspection,and sets the small USV as a carrier for data collection of warer detection and uses a laptop to display the data on the land.The system will achieve the remote detection for water resources with the 3g communication technology.Taking into account the function,volume,cost and other factors of the USV,in this thesis,the Samsung S3c2440 will be used into the system as the USV’s core controller,and we will use the Linux operating system which is widely used in embedded field to build embedder platform.In the USV system,in order to protect the safety of USV when it is running on the lake,and finish water detecting,the system is equipped with a sensor group of water detection,the BD navigation module,3G communication module and so on,and in order to achivev a good visual effects,a PC interface software will be designed by Qt creator.Meanwhile,in order to improving the anti-jamming capability,reducing the impact of flow,wave,water plants and other external interference of the USV system when it is running on the lake,a controller must be designed for the USV.Using the ADRC control technology,according to the USV motion moder designed third-order ADRC,and treat the outside interference as the pulse interference,sinusoidal interference and random noise,then use the MATLAB software to finish the simulation about the boat’s heading and rudder angle,through the simulation resoults of PID and ADRC under the different interference,verify the anti-interference ability of ADRC.and in this thesis,we also carried out the simulation with PID and ADRC when the USV model’s paramenters change,the results verify the ADRC having the strong robustness.Moreover,the thesis also finish a path planning basd on A~* algorithm,in the algorithm,the proportion of estimate distance is increased by gradually,which will reduce the number of access nodes,so the A~* will get improving,and the system works more quickly.at the same time,this thesis deals with the shortest path smoothly,which will reduce the frequent turning during the USV’s path finding.and by MATLAB simulation results shows the effectiveness of the improved A~* algorithm.