基于Pixhawk与开源架构的ROV总体设计与运动控制OA

To optimize the development cycle and project cost of undersea vehicles,this paper designed and implemented a remotely operated vehicle(ROV)system based on an open-source hardware and software platform.First,this paper utilized Fusion360 software for the three-dimensional(3D)modeling of the ROV and adopted 3D printing technology to achieve rapid prototyping.Second,a combined hierarchical control architecture of Pixhawk and Raspberry Pi(RPi)was designed and constructed.The upper layer used RPi as the decision-making unit to run robot operating system(ROS)nodes,process visual data,execute task planning,and conduct high-speed communication with the ground station.The lower layer used Pixhawk as the real-time motion control unit to calculate navigation attitude and drive thrusters.Data interaction between the upper and lower layers,as well as between the system and the remote ground station,was realized through the MAVLink communication protocol.Test results in a static water environment show that the ROV can stably receive and respond to control commands sent by the ground station,with a depth-keeping control accuracy within±0.3 m and a heading control deviation of less than±3°.The research indicates that the development path 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 undersea vehicle,and its hardware and software architecture is scalable,providing reusable technical references and practical experience for the rapid development of small and medium-sized underwater detection equipment.