Interface for indication and remote control of an unmanned vessel in automatic and manual modes

Abstract

The article proposes a method for organizing the communication interface of an unmanned vessel and its operator. The interface contains manual controls for the course and speed of the vessel by regulating the angle of the rudder blade shift and the speed of rotation of the propeller shaft, an automatic system for keeping the vessel on a given trajectory for the purpose of navigating the vessel in automatic and manual modes. The interface comprises a system for obtaining filtration, storing the required kinematic and navigation data for identifying mathematical models of the vessel’s movement and the functioning of the autopilot. The interface allows adjusting the PID controller for automatic guidance of the vessel along the trajectory in real time to optimize automatic control, to correct the readings of the GPS and the Earth’s magnetic field sensors, to calibrate the Earth’s magnetic field sensor. The interface includes graphic and digital fields for displaying kinematic and navigation data on the vessel, autopilot and information on the operation of the operator-vessel complex. The interface allows the exchange of data between the operator and the vessel by means of a data transfer protocol via TCP-IP stack protocols on the radio frequencies of public Wi-Fi networks. The interface is created by means of appdesigner tools on the MATLAB platform.