Abstract

Today, Unmanned Surface Vehicles (USV) maintain the direction and fixed position necessary for many different applications such as security patrol, transmit information, water sampling, environmental monitoring... With USV model with two hull, control and propulsion systems, both of which are specifically designed to allow the vehicel to perform this task flexibly, omnidirectional and maneuverable. With environmental effects, such as wind, waves and currents ..., it has a large impact on ships, leading to large errors or fluctuations. Therefore, a controller designed to produce better performance for USV under changing noise conditions is essential. To improve the ability of navigation for vehicles, Viam-Navi-M GPS/INS Module: integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is developed with low-cost, highly accurate and stable navigation system. At the same time, the article will present the process of system development and software architecture design. Finally, with the four engine and controller propulsion system built and tested, it shows that the boat is well controlled, its ability to maintain specific direction and position for long periods of time. The postion error is maintained less than 1 meter most of the experimental time and the heading error is between -5 and +5 degrees.