低成本无人船可自动监测浅水养殖水质，适合预算有限的养殖户。
Towards Design and Development of a Low-Cost Unmanned Surface Vehicle for Aquaculture Water Quality Monitoring in Shallow Water Environments
- 3D打印双体船身+双推进器，结构轻便灵活。
- 实测在浅水区操控稳定，定位误差小于1.2米。
- 适合发展中国家小规模养殖场使用。
无人水面艇（USV）通常为自主或遥控操作，专用于各类水域环境的环境监测。水产养殖需持续监控水质以保障养殖系统健康与产量，水质不佳会导致疾病爆发、生长减缓甚至大规模死亡。许多小型养殖企业预算有限，且多位于内陆池塘、沿海潟湖、河口及浅水河流等浅水区域，对机动性要求高，亟需高效、低成本的监测工具。本文提出一种低成本3D打印双体船平台，配备惯性测量单元（IMU）和全球导航卫星系统（GNSS），采用两层控制框架与差速驱动配置，由两个高效率T200推进器驱动。基于机器人操作系统（ROS）构建控制框架，结合扩展卡尔曼滤波（EKF）传感器融合技术实现定位。通过遥控方式在开放水域开展封闭模型实验，评估了该平台在浅水环境中的机动性与整体性能表现。
原文摘要 · Abstract (English)
Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality for the health and productivity of aquaculture systems Poor water quality can lead to disease outbreaks reduced growth rates and even mass mortality of cultured species Many small aquaculture operations operate on tight budgets and in shallow water environments such as inland ponds coastal lagoons estuaries and shallow rivers particularly in developing regions This leads to the foremost manoeuvrability challenge underscoring the crucial need for agile cost effective USVs as efficient monitoring systems The paper proposes a low cost 3D printed twin hull catamaran style platform equipped with an Inertial Measurement Unit IMU and a Global Navigation Satellite System GNSS with a two layered control framework and a differential drive configuration developed using two high efficiency T200 thrusters The design utilizes the Robot Operating System ROS to create the control framework and incorporates Extended Kalman Filter EKF based sensor fusion techniques for localisation The paper evaluates the USVs autonomy through open water captive model experiments employing remote control methods to assess the vessels manoeuvrability and overall performance in shallow water conditions
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