Research And Design Of An Unmanned Ship System For Crab Farming Based On GPS/INS

With the rapid development of domestic economy,the continuous improvement of people's consumption level has led to the vigorous development of aquaculture industry,in which the proportion of crab farming is increasing.However,at present,the intelligence of crab farming is low and depends heavily on artificial labor,which leads to the high cost of crab farming.In order to improve the intellectualization of crab farming and liberate labor force,aiming at the shortcomings of low navigation accuracy of traditional unmanned vessels and inappropriate propeller drive for crab pond work,supported by the research funds of the Key Research and Development(Modern Agriculture)Program(BE2017331)of Jiangsu Science and Technology Department and the Marine and Fishery Science and Technology Innovation and Extension Project(Y2017-36)of Jiangsu Province,this paper develops a crab farming unmanned work vehicle based on a paddle motor drive.The ship adopts GPS/INS integrated navigation and ARM embedded technology,designs crab pond path planning algorithm,bait uniform feeding control strategy and course tracking controller based on sliding mode control,realizes the self-feeding operation of the ship.The main contents of this paper are as follows:A,an unmanned crab farming boat was designed.Firstly,the hull structure,electric control cabinet structure,power driver and mechanical structure of baiting machine are introduced.Secondly,the design of control system structure is analyzed in detail.Finally,according to the demand analysis,four working modes of unmanned crab farming ship are designed in detail,including remote APP operation,manual operation,autonomous operation and remote control operation.B,the navigation system of unmanned crab farming vessel is designed.This paper introduces the navigation principle of GPS and INS single navigation system and common combination modes,and then gives the GPS/INS loose integrated navigation system using Kalman filter algorithm for data fusion,in order to overcome the shortcomings of single system such as signal missing and error accumulation.C,the autonomous operation control system of the unmanned crab farming vessel was designed.Firstly,the path planning algorithm for autonomous operation and the uniform feeding control method are introduced.Secondly,the design of the course sliding mode controller which obtains the target course by the target course algorithm is introduced and verified by simulation.Then,the design of the speed controller is introduced.Finally,the coordinated control strategy of the course/speed is given.D,the software and hardware of an unmanned crab farming vessel based on ARM are designed.The hardware design of the power module,wireless communication module and motor drive module of the ship is given in detail.Then the software design of the system is given based on the hardware design,including the bottom layer,the driver layer and the application layer.The feasibility of structure and function design of unmanned crab farming vessel was verified by pond test.The results show that under the integrated navigation mode,the maximum linear track tracking error is 0.08 m and the maximum curve track tracking error is 0.38 m,and the speed response of the ship is fast,which can meet the accurate feeding of bait in the actual river crab farming.