基于BDS的USV路径规划研究

介绍了一种基于MATLAB／BDS的水面无人船(USV)整体系统设计．为了使USV在自主路径规划上运动更加精确,USV通过无线通讯模块与上位机交流,将北斗卫星导航系统(BDS)发送的位置数据信息与MATLAB规划路径结合起来,通过上位机软件规划处理,规划出精准的运动轨迹,同时将控制信息发送给USV,由嵌入式控制板STM32操纵整个船体运行．试验将真实测试数据、MATLAB规划的路径数据、BDS规划的路径数据、以及两方整合数据相比较,结果表明:基于MATLAB／BDS路径规划的偏差有明显降低,为提高路径规划的准确性提供可行性办法. 

Research on USV path planning based on BDS

This paper introduces an overall system design study of Unmanned Surface Vehicle (USV) based on MATLAB／BDS. In order to make the USV move more accurately in the autonomous path planning, the USV communicates with the host computer through the wireless communication module to combine the position data information sent by the BeiDou Navigation Satellite System (BDS) with the MATLAB planning path. Through planning and processing of the PC software, the precise motion trajectory is planned,? The control information is sent to the USV, and the entire hull operation is controlled by the embedded control board STM32. The test is based on the real test data, the path planning data with MATLAB, and the path planning data with BDS. Comparing the data with the two-party integrated planning, the results show that the deviation of path planning based on MATLAB／BDS is significantly reduced, providing a feasible method for improving the accuracy of path planning.