中文摘要：

针对无人艇远程操控和自主导航问题,设计了基于STM32的无人艇自主导航控制系统.船载系统以STM32微控制器为核心控制单元,采用互补滤波算法完成了无人艇陀螺仪角速度数据、加速度数据和磁力计数据的解算,并通过串级PID算法对航向角进行闭环控制,最后通过LABVIEW软件平台设计开发出地面站控制系统,实现了对无人艇的远程操控和自主导航功能.

英文摘要：

Aiming at the problem of the Unmanned Surface Vessel＇ s （USV） autonomous navigation, a autono- mous navigation control system for USV based on STM32 was designed. The STM32 microprocessor was used as the core control unit of shipboard system. The complementary filtering algorithm was used to calculate gyro angu- lar velocity data, accelerometer angel data and magnetometer heading data, cascade PID controller was used for the closed loop control; LABVIEW software was used to design and develop a ground control station, which a- chieve the function of the USV＇ s remote control and autonomous navigation.