Design and Implementation of an Unmanned Water Quality Monitoring Vessel Based on Intelligent Navigation Control

บทคัดย่อ

With the increasing severity of water pollution, traditional manual sampling and laboratory testing methods can no longer meet the requirements of real-time and large-scale monitoring. As a novel monitoring platform, unmanned water quality monitoring vessels are characterized by high mobility, strong automation, and flexibility, and have been increasingly applied in smart aquaculture, lake management, and water resource protection. This paper proposes an unmanned water quality monitoring vessel based on a dual-control architecture integrating APM2.8 and STM32. The system innovatively employs the APM2.8 autopilot for navigation control and path planning, combining GPS and inertial sensors to achieve high-precision autonomous navigation. Meanwhile, an STM32F103 microcontroller is adopted as the water quality monitoring core to realize real-time acquisition and processing of multiple parameters, including temperature, pH, TDS, turbidity, and water depth. A dual-channel communication structure consisting of LoRa and WiFi is designed to support long-range remote monitoring and short-range high-speed interaction. Experimental results show that the proposed system achieves superior performance in trajectory tracking accuracy, task execution efficiency, and data acquisition reliability. The average trajectory deviation is less than 0.3 m, and the sensor measurement error is controlled within the design range. Compared with traditional single-controller architectures, the proposed system demonstrates significant improvements in autonomy, stability, and scalability.