Vietnam National University Ho Chi Minh City Ho Chi Minh City University of Technology Faculty of Computer Science and Engineering ——————– * ——————— Graduation Thesis Building an Unmanned Surface Vehicle (USV) for wet land monitoring Committee : Computer Engineering Supervisor : Pham Quoc Cuong, Assoc. Prof Nguyen Cao Tri, M.Eng Reviewer : Pham Hoang Anh, Ph.D Student : Le Xuan Nguyen - 1752384 Ho Chi Minh City, June 2022 FL012 TRƯỜNG ĐẠI HỌC BÁCH KHOA CỘNG HÒA XÃ HỘI CHỦ NGHĨA VIỆT NAM KHOA KH & KT MÁY TÍNH Độc Lập – Tự Do – Hạnh Phúc Số: ____ /ĐHBK- NHIỆM VỤ LUẬN VĂN TỐT NGHIỆP Bộ môn: (Chú ý: sinh viên phải dán tờ này vào trang thứ nhất của bản thuyết minh) HỌ VÀ TÊN: Lê Xuân Nguyên MSSV: 1752384 NGÀNH: KỸ THUẬT MÁY TÍNH LỚP: CC18KTM1 1. Đầu đề luận văn: Building an Unmanned Surface Vehicle (USV) for wet land monitoring based on Ardupilot platform Số liệu: - Phần mềm Open source Adrucopter - Website Adrupilot 2. Nhiệm vụ: - Tìm hiểu protocol Mavlink trong hệ phầ mêm Adrucopter - Xây dựng mô hình kết nối giữa Contorller boảd Adrucopter với hệ phần mêm Ground station phục vụ cho các yêu cầu điều khiển tự động cấp cao qua giao tiếp Mavlink phục vụ cho các ứng dụng quan trắc moi trường đất ngâp nước bằng tàu tự hành.
- Hiện thực và thử nghiệp kết nối và điều khiển qua Mavlink 3. Ngày giao nhiệm vụ luận văn: 30/05/2022 4. Ngày hoàn thành nhiệm vụ: 30/09/2022 5. Họ và tên người hướng dẫn: Phần hướng dẫn: - ThS Nguyễn Cao Trí Bộ Môn Công Nghệ Phần Mềm 100% - Nội dung và yêu cầu LVTN đã được thông qua Bộ môn.
Ngày 17 tháng 10 năm 2022 CHỦ NHIỆM BỘ MÔN NGƯỜI HƯỚNG DẪN CHÍNH (Ký và ghi rõ họ tên) (Ký và ghi rõ họ tên) Nguyễn Cao Trí PHẦN DÀNH CHO KHOA, BỘ MÔN Người duyệt (chấm sơ bộ): Đơn vị: Ngày bảo vệ: Điểm tổng kết: Nơi lưu trữ luận án: Guarantee We assure that except for the results from the references of other relevant works, the content presented in this thesis is our own implementation and has not been submitted in whole or in part, to consider for any degree in school, or any other university Acknowledgement First of all, we would like to express our sincere gratitude to our advisors, M. Nguyen Cao Tri and Assoc. Pham Quoc Cuong for their enthusiasm and patience. They have also given us excellent supervision and guidance which have helped us tremendously at all times during our research.
We could not imagine having better advisors for our study. We also wish to express our thanks to the Ho Chi Minh University of Technology and to the Computer Science and Engineering faculty for the precious knowledge and experience that we have gained here. i Abstract The objectives of thesis is to delve into a design of a autonomous vehicle for the wetland monitoring In the effort to design a more repeatable and consistent platform to collect data for Structure from Motion (SfM) monitoring of coral reefs and other benthic habitats, we explore the use of recent advances in open source Global Positioning System (GPS)-guided drone technology to design and test a low-cost and transportable small unmanned surface vehicle (sUSV). The vehicle operates using Ardupilot open source software and can be used by local scientists and marine managers to map and monitor marine environments in shallow areas (<20 m) with commensurate visibility ii Contents List of Figures vii Terms viii 1 Introduction 1 1.1 Purpose of the projects .2 General overview and motivations .2 Scope and Objectives .3 Thesis proposal report structure .2 Kenterprise Self-driving Boats .3 Comparison to our thesis .2 Unmanned Surface Vehicles .1 Elements of USV .2 Relationship between USV subsystems .2 What is the problem ? .4 Module Structure of ArduPilot .1 Wiring Diagram for USV .2 Set up environment for Raspberry Pi .4 Connect Mission Planner with H743-SLIM via Raspberry Pi 55 4.5 Handle Radio control .6 New Ground Control Station.
64 5 Conclusion And Future Work 67 5. 68 iv List of Figures 3.2 General structure of USV .1 Simple Overview of ArduPilot Operation .2 Basic system for ArduPilot USV .4 Overview system with more detail .5 Module structure model for ArduPilot .7 High Level Message Flow .8 Heart beat message .10 COMMAND-LONG message .11 Long Running Commands Sequences .12 The home directory of the source code. 42 v List of Figures 4.20 Mission Planner User Interface .21 Wiring Diagrams General .22 H743-SLIM connects with Raspberry Pi .23 H743-SLIM connects with GPS module .24 H743-SLIM connect with ESC and servo .25 Companion Computer Diagrams .26 SPI and I2C are enable .27 Serial is enable .28 STM32 Cube Programing .29 ImpulseRC-Drivder-Fixer.30 Detect serial Port connecting .31 Erasing H473-SLIM memory .32 Firmware for H743-SLIM .33 Install Firmware for H743-SLIM .34 Connect H743-Slim to mission planner success .35 Firmware for H743-SLIM .36 ARMING CHECK setting .37 Disable Plane Failsafe .38 Raspberry Pi connect with H743-SLIM .39 Raspberry Pi connect with H743-SLIM .40 Mission Planner connect with H743-SLIM via Raspberry Pi .41 Connect H743-Slim to Mission Planner success via Raspberry Pi .43 Radio control communicate with PC(Ground Control Station) .44 Sbus inverted signals .46 Un-inverted board diagram .47 Un-inverted board .48 Radio controller to PC script. 62 vi List of Figures 4.49 Un-inverted board .50 Radio controller to PC success .51 Web app diagram .52 Heartbeat from H743-SLIM.56 GCS web app.
66 vii Terms AN. BeagleBone Black ESC. Electronic Speed Control GND. Inertial Measurement Unit MP.
Mission Planner MAVLink. Micro Air Vehicle Communication Protocol RMS. Root Mean Square SLAM. Simultaneous Localization And Mapping GSC.
Ground Station Control 1 Introduction 1.1 Purpose of the projects Unmanned and remote-controlled vessels is a hotly debated issue today. In a time where counterfeit insight is nearer to reality than any time in recent memory, no big surprise individuals trust that this is the subsequent stage in the improvement of marine innovation. There are now automated elevated vehicles and self-driving vehicles yet there are no automated vessels. There are so many unique potential outcomes in executing this sort of innovation and nobody knows without a doubt what the future will hold.
Regardless of how interesting or cool new advances are, there is generally the topic of need. New innovation needs to supplant yet more significantly develop whatever was previously and this is additionally the situation with independence. An independent vessel doesn’t fundamentally should be totally constrained by a PC, there are alternate methods of executing it 1.2 General overview and motivations 1.1 Overview The Unmanned Surface Vehicles (USV) or Autonomous Surface Vehicles (ASV) are vessels that operates on the water surface without any crew. They are remotely controlled and can be controlled by an operator located on land or on board of another vessel.
Thereby performing inspections of other ships, etc. while manned boats are kept at a safe distance, avoiding unnecessary risks. Moreover USV are usually resistant, stable, stealthy, fast so they are able to work 1 1.1 Overview in most hassle environment in a long time.2 Motivations Water quality is a major environmental issue as well as one of humanity’s major issues. For example, the Mekong Delta, which has a huge amount of water resource comes from lake, rivers, aquifer., has face a problems is that the percentages of usable water supplies that have been decreased by the natural disaster and human activities.
Water pollution has been a problem in most nations across the world due to oil spills, plastic waste, and human activities. Contamination of this nature can harm fish and other aquatic life habitats, agriculture, and, eventually, human health. Furthermore, a delayed reaction to a water crisis can cost a lot of money, take a long time to recover from, and cause social and political unrest. For example, alum contamination, saltwater intrusion are poisoning drinking water reservoirs in Vam Co rivers system in Southern of Vietnam, as one example of water quality challenges.
As a result, monitoring and tracking water quality is critical to ensuring the safety and purity of watersheds and protecting water resources from contaminants. Currently, water quality monitoring can be done by human but with the strong development of robotics and USV platforms, the problem now can be solve autonomously, frequently and more accuracy. For example, a stationary, submerged water monitoring device called the Environmental Sample Processor was introduced in 2009. Another monitoring device is the AutoNaut Automated Sea Vehicle, an autonomous boat that harvests energy from solar power and the natural pitching and rolling of the sea.
It communicates with satellites for receiving instructions and for sending the data it gathers. While many projects and devices has been introduced and applies in some areas, the existing platforms are too expensive and too large for individual and in real life applications. Moreover, the platforms still depend on device and component, which can’t be easily to customize and replace in different situations. Therefore , we propose a new platform, which base on open source fully, low-cost and easily to monitoring wet land quality in real life.2 Scope and Objectives 1.2 Scope and Objectives These researched questions were devised to guide the course of the project: • Learn how USV work on Ardupilot • Connect USV with GCS via Companion Computer (Raspberry Pi) • Connect the RC controller to GCS • Control the USV with RC • Merge there signals: RC, datalink and video streaming (IO Camera) into 1 connection method (UDP) • How can we collect and analyze data from sensor in checkpoint and send them to the ground stations? 3 1.3 Thesis proposal report structure 1.3 Thesis proposal report structure From the goals of our proposal, we decide to develop our thesis into.
contents: • Chapter 1: We will give a short brief about our thesis and show some development of similar projects in the world • Chapter 2: We conduct some survey and have them compare with our project • Chapter 3: In this chapter, we decide to show some background knowledge about the USV, which platform we use for thesis. • Chapter 4: How we are going to design our system and what we use to design and build our project • Chapter 5: What we have done so far and the results we got • Chapter 6: In the last chapter, we will discuss about our plan for the future also the work division table for the other part 4 2 Related Work 2.1 Overview With the growing in business, logical, and military purposes on both oceans and shallow water. There is a trend of developing unmanned surface vehicles with advanced guidance, navigation and control capabilities. Despite this, partly autonomous USVs are more popular than fully-autonomous USVs, due to numerous difficulties in creating and implementing an efficient and reliable hardware for serving different missions and facing with critical environment.
Furthermore, developing a full autonomous USVs need to minimize both the human interaction and the USVs operations. USVs always compete with another types of autonomous vehicles and systems in some scientific aspects.1 show short brief of these systems. In the just two decade, there are numerous institutions, universities, businesses and militaries begun developing USVs for various applications.1 Overview Types Specific Applications Scientific research Bathymetric survey (Roberts and Sutton, 2006); ocean biologi- cal phenomena, and migration and changes in major ecosystems (Goudey et al.,1998);ocean activities research; multi-vehicle coop- eration (cooperative work among aerial, ground, water surface or underwater vehicles)(Yan et al., 2010; Majohr and Buch,2006); as experimental platforms for the purpose of testing hull designs, communication and sensor equipments, propulsion and operating systems, as well as control schemes (Breivik, 2010; Vaneck et al. Environmental Environmental monitoring, samplings, and assessment (Caccia et missions al., 2005; Rasal,2013; Naeem et al., 2008b; Svec et al.