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基于Arduino的无人水面艇导航版权归作者所有0基于Arduino的无人水面艇导航摘要:无人水面艇（USV）是一种可以无需遥控，借助精确卫星定位和自身传感即可按照预设任务在水面航行的全自动水面。主要用于执行危险以及不适于有人船只执行的任务。其应用前景广阔，结构简单，可配备多种先进装备以执行多种特殊任务。论文首先分析了无人水面艇的开发意义和目的，并对目前在使用的、在研究的无人水面艇做了调查。其次，论文根据无人水面艇的基本要求列出了材料，并对无人水面艇的原理做出了分析。论文在基于灵活、方便、开源的Arduino单片机的基础上，对无人水面艇的导航算法做出分析，使用PID控制使得无人水面艇对自身运行状态做出调整。最后，论文分析了无人水面艇存在的缺陷，并且提出了改进方法。关键词:无人船；GPS；PID控制；导航；Arduino。中图法分类号:：TP277文献标识码：AUnmannedsurfacevessels’NavigationBasedonArduinoAbstract:Unmannedsurfacevessel(USV)isacanwithoutremotecontrol,withaccuratepositioninganditssensingcanbeinaccordancewiththepresettasksinautomaticwaterafloat.Mainlyusedfortheimplementationofdangerousandnotsuitablefortheimplementationofthemissionofthevessel.Itsbroadapplicationprospects,simplestructure,canbeequippedwithavarietyofadvancedequipmenttoperformavarietyofspecialtasks.Firstly,thispaperanalyzesthesignificanceandmeaningofunmannedsurfacevessel,anddoesasurveyofunmannedsurfacevesselsinuseorinresearchSecondly,thispaperlistsmaterialsaccordingtothebasicrequirementsofunmannedsurfacevessel,andanalyzestheprincipleoftheunmannedsurfacevessel.Thepaperusestheflexible,convenient,open-sourceArduinomicrocontroller,toanalyzehowtocodenavigationalgorithmtoletunmannedsurfacevesselsnavigate,usingPIDcontrolmakesunmannedsurfacevesselonitsrunningstatetomakeadjustments.Finally,thepaperanalyzesthedefectsoftheunmannedsurfacevessel,andputsforwardtheimprovedmethod.Keywords:UnmannedSurfaceVessel;GPS;PIDControl;Navigation;Arduino.基于Arduino的无人水面艇导航版权归作者所有1目录1.绪论...................................................................................................................................................................21.1无人水面艇开发的背景.................................................................................................................................21.2无人水面艇的应用.........................................................................................................................................21.3无人水面艇的研究状况.................................................................................................................................21.4本文主要研究的内容.....................................................................................................................................32.无人水面艇原理分析.......................................................................................................................................42.1无人水面艇基本硬件要求.............................................................................................................................42.2无人水面艇的基本软件要求.........................................................................................................................42.3无人水面艇系统分析.....................................................................................................................................42.4无人水面艇指挥系统.....................................................................................................................................53.导航算法的实现...............................................................................................................................................53.1自定义代码.....................................................................................................................................................53.2AP_ROBOBOAT模块代码...............................................................................................................................63.3PID控制模块代码..........................................................................................................................................74.无人水面艇缺陷与改进方案...........................................................................................................................84.1在浅水区容易搁浅，容易触礁...............................................................................................................84.2GPS定位精度低.......................................................................................................................................84.3高速运行时稳定性差...............................................................................................................................84.4负载能力小...............................................................................................................................................84.5续航能力差.....................................................................................................................................................85.结论与结束语...................................................................................................................................................9参考文献：...........................................................................................................................................................9基于Arduino的无人水面艇导航版权归作者所有21.绪论1.1无人水面艇开发的背景我国领海面积广阔，海洋资源丰富，人们利用海洋资源的需求日益上升。然而海面情况复杂，不稳定因素多；海域面积广，不利于搜寻目标；资源丰富的远海地区远离大陆，出海成本高、保障少。同时，军队也逐渐加强对海军艇艇的建设，逐步实现军队现代化，最终实现海洋强国梦。因此，越来越多的人力、物力投向航行装备的开发。德国海军于二战期间进行了无人舰艇试验。德国人的FL-Boote遥控艇本来设计用来装载炸药以攻击盟军舰艇，但是自1944年以来这些遥控艇是否在作战中获得成功一直未