基于Pixhawk的ROV总体设计与控制

李行行; 朱发新; 李晶晶; 王盛儿

doi:10.11993/j.issn.2096-3920.2025-0136

基于Pixhawk的ROV总体设计与控制

doi: 10.11993/j.issn.2096-3920.2025-0136

1.
浙江海洋大学船舶与海运学院, 浙江舟山, 316022
2.
交通运输部长江口航道管理局, 上海, 200000
3.
中国船级社实业有限公司宁波分公司, 浙江宁波, 31500

基金项目: 2025浙江省大学生科技创新活动计划暨新苗人才计划(2025R411CO47); 2024年教育部供需对接就业育人项目(2024103088623); 2022年浙江省优秀研究生课程(2022YXKC0235); 2022年浙江省“十四五”研究生教育改革项目(2022KCSZ0236).

详细信息

作者简介:
李行行(2000-), 男, 在读硕士, 主要研究方向为水下机器人控制

中图分类号: U663; TJ630
计量
- 文章访问数: 23
- HTML全文浏览量: 11
- PDF下载量: 4
- 被引次数: 0
出版历程
- 收稿日期: 2025-09-28
- 修回日期: 2025-10-31
- 录用日期: 2025-11-06
- 网络出版日期: 2026-01-13

Overall Design and Control of a Pixhawk-Based Underwater Vehicle

1.
School of Naval Architecture and Maritime, Zhejiang Ocean University, Zhoushan 316022, China
2.
Yangtze River Estuary Channel Management Bureau of the Ministry of Transport, Shanghai 20000, China
3.
China Classification Society Industrial Co., Ltd. Ningbo Branch, Ningbo 31500, China

摘要

摘要: 为优化水下航行器开发周期与项目成本, 文中设计并实现了一种基于开源软硬件平台的遥控水下航行器(ROV)系统。首先, 利用Fusion360软件对水下航行器进行三维建模, 并用3D打印技术实现原型快速制作; 其次, 设计了一种Pixhawk与Raspberry Pi的组合式分层控制架构, 上层由Raspberry Pi作为决策单元, 负责运行操作系统(ROS)节点, 处理视觉、任务规划及与地面的高速通信, 下层由Pixhawk作为实时运动控制单元, 计算航行姿态并驱动推进器, 并通过MAVLink通信协议实现上下层间及与远程地面控制站的数据交互。静水环境测试表明, 该航行器平台能稳定接收并响应地面站发送的控制指令, 定深控制精度在±0.3 m以内, 航向控制偏差小于±3°。研究表明, 基于开源Pixhawk飞控平台与低成本制造技术的路径具有可实现性, 该方案降低了水下机器人系统的开发周期与成本, 并且其软硬件架构可扩展, 为中小型水下探测装备的快速开发提供了可复用的技术参考与实践经验。
- 遥控水下航行器 /
- Pixhawk /
- 总体设计 /
- 运动控制 /
- 开源系统
Abstract: To further optimize the development cycle and project cost of underwater vehicles, this paper designs and implements a Remotely Operated Vehicle (ROV) system based on an open-source hardware and software platform. Firstly, Fusion360 software is used for the three-dimensional modeling of the underwater vehicle, and 3D printing technology is adopted to achieve rapid prototyping. Secondly, a combined hierarchical control architecture of Pixhawk and Raspberry Pi is designed: the upper layer uses Raspberry Pi as the decision-making unit, which is responsible for running Robot Operating System (ROS) nodes, processing visual data, task planning, and high-speed communication with the ground; the lower layer uses Pixhawk as the real-time motion control unit, which calculates the navigation attitude and drives the thrusters. The MAVLink communication protocol is used to realize data interaction between the upper and lower layers, as well as between the system and the remote ground control station. Tests conducted in a static water environment show that the vehicle platform can stably receive and respond to control commands sent by the ground station, with a depth-keeping control accuracy within ±0.3 meters and a heading control deviation of less than ±3 degrees. The research indicates that the approach proposed in this paper, which is based on the open-source Pixhawk flight control platform and low-cost manufacturing technology, is feasible. This scheme shortens the development cycle and reduces the cost of the underwater robot system, and its hardware and software architecture has good scalability, providing reusable technical references and practical experience for the rapid development of small and medium-sized underwater detection equipment.
- remotely operated vehicle /
- Pixhawk /
- overall design /
- motion control /
- open-source system

HTML全文

图 1 ROV结构

Figure 1. Structure of ROV

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图 2 耐压舱

Figure 2. Pressure hull

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图 3 推进器布局

Figure 3. Layout of thruster

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图 4 电子舱内部架构

Figure 4. Internal architecture of the electronic cabin

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图 5 ROV控制系统

Figure 5. Control system of ROV

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图 6 NED坐标系建立

Figure 6. Establishment of the NED coordinate system

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图 7 Pixhawk硬件框图

Figure 7. Hardware block diagram of Pixhawk

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图 8 下水实验深度信号曲线

Figure 8. Depth signal curve of underwater experiment

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图 9 航行器航向控制实验

Figure 9. Experimental results of heading control for a vehicle

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表 1 小型ROV设计参数

Table 1. Design parameters of a small ROV

设计指标	参数
外形尺寸/mm	600×450×300
重量与浮力	空气中重量小于15 kg, 具备轻微正浮力, 通过压载可实现中性浮力
工作深度	最大深度10 m
机动性	具备纵荡, 横荡, 垂荡, 艏摇个自由度的运动能力
续航时间	可持续工作不少于1 h
控制系统	基于开源平台, 具备远程遥控和半自主控制能力

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表 2 实验数据统计结果

Table 2. Statistical results of experimental data

统计指标	数值	说明
平均深度/m	1.02	60 s内有效数据算术平均值
正向偏差/m	+0.28	深度最大值与目标值差值
负向偏差/m	-0.25	深度最小值与目标值差值
绝对误差/m	±0.3	最大正向/负向偏差
标准差/m	0.08	深度数据的离散程度
稳态误差/m	≤0.05	最后10 s数据与目标值的平均偏差
超调量/%	3.2	首次到达目标深度后, 最大深度与目标值的比值

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表 3 实验数据统计结果

Table 3. Statistical results of experimental data

统计指标	数值	说明
平均航向角/(°)	−0.8	60s有效数据的算术平均值
正向偏差/(°)	+4.2	航向最大值与目标值的差值
负向偏差/(°)	−5.1	航向最小值与目标值的差值
偏差范围/(°)	±5.1	实际控制偏差范围
标准差/(°)	1.3	反映航向数据的离散程度
稳态误差/(°)	≤0.5	最后10 s数据与目标值的平均偏差
超调量/%	8.5	首次响应时最大航向与目标值的比值
调节时间/s	6.2	从发送指令到航向波动小于 ±1°所需的时间

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