;#; ;#;

The Garmin GPS 18x-5Hz LVC and the serial port on the BeagleBone operate on different voltage levels. Thus, MAX3232 voltage converter was used to convert the 5V signals of the GPS to 3.3V signals the BeagleBone serial port supports. The newly converted 3.3V signals are connected to the Rx and Tx pin headers of the UART1. To be able to receive the GPS data a GPS Task needs to be enabled in the same fashion as the AIS (Automatic Identification System). The IMC message GpsFix were then dispatched by the GPS Task and later consumed by the CAS Task. Here, the current GPS position (latitude, longitude), speed over ground and heading was set to be AutoNaut new system states. ;#; ;#;

The Raymarine AIS650 is equipped with a GPS antenna and a VHF antenna and receives continually AIS data from surrounding vessels. These vessel data, containing information such as vessels position, velocity and heading is to be used in a similar manner as the simulated ObstacleState from Chapter 6. The AIS unit requires a 12V DC power source, which was provided from the batteries connected to the Level1. When powered the AIS unit provides AIS data to the BeagleBone via NMEA0183 connections, made via the units power/data cable. For the BeagleBone to actually receive this NMEA 0183 data, the data cable had be converted into USB format. The data cable consists of 8 signal wires whereas the four wires(green,grey,blue,brown) are being used to output GPS and AIS data by the units NMEA0183 (38400 high baud rate) connections. These wires are made into USB format and consequently, plugged into the USB port of the BeagleBone. To handle the incoming AIS data, DUNE supplies an AIS Task to assist in this data handling. However, in order to get it to work the AIS Task needs to be enabled with the correct baudrate and serial port in the configuration file, and also the NMEA lookup table needs to be activated inside the AIS Task. Now, the AIS Task handles the incoming AIS data, and dispatches the dynamic AIS information as the IMC message RemoteSensorInfo. However, the static information was not handled, so a new IMC message AisStaticInfo was created inside the AIS Task. Whenever static AIS information related a vessel was received, it was stored into the AisStaticInfo and dispatched to the IMC bus. Consequently, both the dynamic and the static AIS data are consumed by the CAS Task where they are handled in different matters. If the distance to the vessel dispatching the dynamic data is inside a distance parameter set by the operator, for instance 5000 meters, the vessel data will be stored and investigated as a possible collision threat, while being outside they are discarded. On the other hand, when a static AIS data arrives it checks whether the MMSI number of the static data is equal to any of the vessels MMSI numbers already stored in the list of potential collision threats. If a match occur the dimensions of the vessels are updated with its real dimensions, until then the dimensions of a vessel is initialized to resemble a mid-sized oil tanker. ;#; ;#;

The Model 120WX is Airmar’s solution for recreational boating; feature rich, in a durable, rugged, Small footprint that is IPX4 or IPX6 rated for this environment.

Reliability and performance, along with no moving parts, makes the 120WX an easy and affordable choice for your recreational boating needs.

• Ultrasonic wind readings
• Apparent Wind speed & angle
• Barometric pressure
• Air temperature
• Wind chill
• Optional relative humidity module
• IPX4 with the RH Option
• IPX6 without the RH Option
• Output: Via a single cable (various lengths available)
• NMEA 0183 protocol over RS-422 standard interface and NMEA 2000® protocol over CAN BUS

The ADIS16485 device is a complete inertial system that includes a triaxial gyroscope and a triaxial accelerometer using MEMS technology. The inertial measurement unit (IMU) is used on the AutoNaut for control and navigation applications. It provides accurate sensor measurements using dynamic compensation formulas from factory calibrations. SPI and register structure provide a simple interface for data collection and configuration control. It comes in a module that is approximately 47 mm × 44 mm × 14 mm and has a standard connector interface.

The Honeywell HMR3000 is a digital compass module that provides heading, pitch, and roll outputs for navigation. The three of Honeywell’s magneto-resistive sensors are oriented in orthogonal directions plus a fluid tilt sensor are employed to measure the vector components of the earth’s magnetic field and a gravitational reference. These solid-state sensors create a strapdown compass that is both rugged and reliable. The data output is serial full-duplex RS-232 or half-duplex RS-485 with 1200 to 19,200 data rates.

Application:

• Compassing & Navigation
• Dead Reckoning Backup to GPS Systems
• Marine Navigation
• Antenna Positioning
• Land Surveying