基于STM32全海深ARV监控系统设计

针对全海深无人潜水器海洋参数监测的任务需求,结合“彩虹鱼”号全海深无人潜水器监控系统研制的实践经验,对全海深无人潜水器监控系统进行了相关研究,创新性地提出了一种以STM32为核心的全海深ARV监控系统的设计方案.基于模块化的设计思路实现了对ARV电源系统、运动控制系统和作业观导装置的有效控制,联合所研制的上位机可以对ARV水下作业状态及各传感器的数据进行实时控制与采集.大量单项试验、系统联调、水池试验及海试实验结果表明,监控系统方案设计合理、稳定可靠,且取得了满意的海试结果.

Design of Full Ocean Depth ARV Monitoring System Based on STM32

According to the mission requirements for parameters monitoring of the full ocean depth unmanned submersible,combined with the practical experience in the development of Rainbow Fish full ocean depth unmanned submersible monitoring system,the monitoring system of the full ocean depth unmanned submersible was studied,and a design scheme of the full ocean depth ARV monitoring system with STM32 as the core was innovatively put forward.Based on the modularization design idea,the ARV power supply system,motion control system and operation guidance device were effectively controlled.Combined with the developed upper machine,the data of ARV underwater and each sensor can be controlled and collected in real-time.The results of a large number of individual tests,system intermodulation,pool test and sea test show that the design of the monitoring system is reasonable,stable and reliable,and satisfactory results have been achieved.