基于 ＬａｂＶＩＥＷ 的水面无人艇远程监控软件系统开发及应用

针对水面无人艇远程监控问题，开发了远程监控软件系统并在不同环境工况下进行了实际试验和应用。该软件通过 ＴＣＰ通讯实时传递当前经纬度至上位机地图软件，实现无人艇在地图上的实时定位。同时，通过 Ｍｏｄｂｕｓ协议，该软件实现了与下位机 ＰＬＣ之间的通信，实时读取艇上 ＧＰＳ数据显示在前面板，并将基站的控制命令发送给 ＰＬＣ，实现了手动控制、实时控制和路径规划等功能。通过喻家湖上试验验证，软件各控制功能正常，保证了后续海上试验以及海上航行应用的顺利完成。

Development and Application of Remote Monitoring Software System Based on LabVIEW for USV

The remote monitoring system based on LabVIEWwas developed to monitor and control the unmanned surface vehicle(USV), and it was tested and verified in different working conditions. The real-time orientation of USV was achieved through the monitoring system where the longitude and latitude data constantly transmitted through the TCP communication to upper software. Meanwhile, the communication between the system and the lower computer’s PLC was achieved by using the Modbus communication protocol. The real-time GPS data of USV was displayed on the interface, and the control commend was transmitted to the PLC, and manual control, real-time control and path planning could be implemented. Functions of the software system were proved normal on the Yujia Lake, that it would ensure the successful marine experiment and marine application afterwords.