CAJ | 학술논문

为实现航道精准测量、自主避障、寻找最优路径等，提出一种将人工势场法与比例-积分-微分（PID）控制相结合的导航算法。通过全球定位系统（GPS）得到试验系统设计测量船的位置信息，利用导航算法得到的舵机角度偏差产生脉冲宽度调制（PWM）信号，经由功率放大等装置驱动伺服电机，带动测量船舵机向预定的方向偏转。通过 C 语言及串口通信技术实现上下位机通信，实时获得测量船参数信息及航迹图像。试验结果表明：设计的导航算法满足高精度、完全自主的要求，可广泛应用于内陆航道及水库测量工程中。
위실현항도정준측량、자주피장、심조최우로경등，제출일충장인공세장법여비례-적분-미분（PID）공제상결합적도항산법。통과전구정위계통（GPS）득도시험계통설계측량선적위치신식，이용도항산법득도적타궤각도편차산생맥충관도조제（PWM）신호，경유공솔방대등장치구동사복전궤，대동측량선타궤향예정적방향편전。통과 C 어언급천구통신기술실현상하위궤통신，실시획득측량선삼수신식급항적도상。시험결과표명：설계적도항산법만족고정도、완전자주적요구，가엄범응용우내륙항도급수고측량공정중。
In order to realize accurate survey of channel,automatically avoiding obstacle,finding the optimal route et al, a navigational algorithm that combines artificial potential fields (APF)with proportional-integral-differential (PID)con-troller was put forward.Through the global positioning system (GPS)to get the location of the survey ship,using the er-ror of electric steering gear angle controlling the pulse-width-modulation (PWM)signal,and driving servo motor by pow-er amplifying device,the electric steering gear can be turned rightly.The C language and strings mouth communication technology are used to realize the communication between the upper and lower computer,and the parameter information and track images of ship are obtained in real-time.The experiment results show that the new navigational algorithm can meet the requirements of high accuracy and complete independency,and can be widely used in fairway surveying engineer-ing.