Research On Navigation Control System Of Fishing Vessel Based On Embedded System

With the rapid development of intelligent control technology,network technology,and sensing technology,the aquaculture industry has gradually moved from traditional manual labor to the era of digitalization and intelligence,realizing high-quality development of the aquaculture industry.Feed feeding is an important part of the aquaculture process.The traditional feeder has a short service life,a large labor demand,and a small feeding area caused by the installation on the shore,which increases the cost of aquaculture.This paper designs a GPS/SINS navigation control system for aquaculture fishing boats based on an embedded system,realizes the positioning and navigation function of aquaculture fishing boats,realizes the function of fixed-point feeding in wider waters,reduces the feed coefficient and reduces the cost of aquaculture.Aiming at the problems of GPS signal failure in GPS and SINS independent navigation systems,and time accumulation of inertial navigation system errors,this paper designs and adopts GPS/SINS integrated navigation system.Real-time correction to achieve complementary advantages of the two.Aiming at the problems of poor positioning accuracy caused by abnormal measurement data in the application of traditional Kalman filter in integrated navigation,a memory fading Kalman filter is designed as a fusion filter.Aiming at the problem that the key factor affecting the effect of Kalman filter,the fading factor,has the problem that the solution process is cumbersome and difficult to understand,a new solution algorithm is designed.The elimination factor simplifies the solution process.A simulation model was established through MATLAB to compare the filtering effect of the memory fading Kalman filter proposed in this paper and the traditional extended Kalman filter.The results prove the superiority of the memory fading Kalman filter proposed in this paper.In order to verify the reliability and superiority of the memory fading Kalman filter proposed in this paper in practical applications,this paper adopts the embedded system development method,based on the I.MX6 ULL microprocessor,GPS module,inertial navigation module,communication module,etc.Design and build a fishing boat navigation control system;based on the transplanted Linux operating system platform,realize IMU data processing,GPS data processing,SINS/GPS integrated navigation algorithm,etc.,and upload the obtained navigation data to the cloud server through the4 G DTU module to realize The upper computer can remotely receive the navigation data information of aquaculture and fishing boats.The navigation experiment of aquaculture fishing boats takes high-precision RTK navigation data as the reference value.By analyzing the navigation data fed back by the fishing boat,it is confirmed that the SINS independent navigation system has a large error and the GPS signal of the GPS independent navigation system is easy to fail.The navigation accuracy of the GPS/SINS integrated navigation system based on the memory fading Kalman filter proposed in this paper is High and low cost,it has a certain use value in aquaculture fishing boats.