基于BDS的虾塘投饵船导航控制系统设计与试验

为降低虾类养殖人工使用量,实现饵料的均匀遍洒,设计了一种基于北斗定位系统(BDS)的虾塘投饵船导航控制系统.根据虾塘投喂需求和控制性能要求,对系统整体组成和双体式船体型线进行了设计,提升控制执行能力.该导航控制系统主要针对中大型虾塘,依托北斗自主导航定位技术,采用回转式方法对路径进行规划,提出了路径保持算法.现场试验表明投饵船在虾塘中能成功实现饵料在虾塘中的均匀遍洒,满足虾塘饲料投喂要求,可有效降低现有人工投饵工作量.系统设计中对性能和成本进行平衡,符合渔业养殖实际需求,有利于系统的推广应用.

Design and Test of Autonomous Navigation Control System for Shrimp Casting Boat Based on BDS

To reduce the labor cost of shrimp farming and realize bait evenly sprinkling,the shrimp feeding boat navigation control system based on Beidou positioning system(BDS) is designed.The overall system components and catamaran hull lines are designed according to shrimp feeding demands and control performance requirements,which improves the control execution ability.The navigation system mainly works for medium and large shrimp pool.Relying on Beidou autonomous navigation technology,the rotary method is used to plan the path,and the path preservation algorithm is proposed as well.Practical tests show the boats can achieve evenly casting in the shrimp pool,which satisfies the demands of shrimp feeding and dramatically decreases the workload of existing manual feeding.The system design has balanced the performance and cost to meet the actual requirements of aquaculture,which will be beneficial for its wide popularization and application.