Đề tài Thiết kế, xây dựng hệ thống định vị dẫn đường tàu cá chi phí thấp

đào tạo: Chương trỡnh trao đổi sinh viờn với trường UBO -Universitộ de Bretagne Occidentale (Phỏp) Giảng viờn hướng dõ̃n: Ts. Lấ NGỌC TRÂN Sinh viờn thực hiợ̀n : Sylvain Marest Lớp : Digital System Niờn khúa : 2016-2018 Bà Rịa-Vũng Tàu, năm 2018 [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 2 Thanks I would like to begin by thanking the University of Baria Vung Tau (BVU) for having welcomed me to their school and their campuses for this period of training, and for giving me the keys to live in Vietnam. I thank Mr Le Ngoc and Mr Le Viet, professors in electronics at the university, for their availability and for the quality of the exchanges we had during this internship, allowing me to enrich myself and to evolve professionally. Introduction The training of the professional license Marine Electronic Systems (SEME) includes a training period of 490 hours. In the training course of the SEME professional license, the internship is necessary to discover several technological facets of marine electronics. It allows you to acquire skills and know-how specific to each company. I chose the internship in Vietnam at the University of BVU with the purpose of the realization of a central navigation "low-cost" because it was mainly found an internship in France and the opportunity presented through Mr Vo, that represented for me a chance to discover a unique know-how and culture in the world. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 3 23-25 10-13 15-16 16-17 17-20 Summary I. Presentation of the project 3-4 The interest of this project 3 The project team 3 Our solution 4 My schedules and my tasks 4 II. Electronic part 5-6 The raspberry pi 3 5 The GPS mouse 5 The module NEO-6M 6 7 inch screen pi 6 III. Computer part 7-9 Opencpn 7 GE2KAP 7 Google Earth 8 Openseamap 8 PuTTY 9 VncViewer 9 IV. The realization 10-20 Creating the map Remote control of the raspberry pi 14 Installing the GPS mouse Installing the module NEO-6M Three possible technical solutions with price estimation V. Conclusion 21 VI. Bibliography 22 VII. Appendices [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 4 UBO UBO BVU BVU I. Presentation of the project The interest of this project The interest of the project is to come and give navigational tools to Vietnamese navigators. Indeed, on 300 000 Vietnamese boats, none have systems to navigate from point A to point B, they can not follow any road where even to locate to access an area they already knew, which could be very convenient for fishermen who want to find their fishing zone. They also have no weather systems and the price for a navigation system is very elevated compared to the average budgets of the Vietnamese. The project team Manager : Claude VO Supervisor and Manager : Than Le VIET Supervisor and Manager : Tran LE NGOC Student : Sylvain MAREST [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 5 Our solution To avoid this problem, we will create a central navigation low-cost by connecting to a Raspberry PI card, an LCD display, a radio module and a GPS mouse for displaying and information of satellite data, and then for installing a system operating system and navigation software to allow Vietnamese navigators to navigate serenely on the waters. As there are no nautical charts for Vietnamese waters, free and downloadable on the Internet, we will have to create a map of the east coast of Vietnam with the software " Opencpn ", " GE2KAP " and " Google Earth " which will allow to use image overlay skills to capture, calibrate and use it by the navigation software. My schedules and my tasks Weeks Monday Tuesday Wednesday Thursday Friday Week 1-2 9h-16h30 9h-16h30 9h-16h30 9h-16h30 9h-16h30 Week 3-4 9h-16h30 9h-16h30 9h-16h30 9h-16h30 9h-16h30 Week 5-6 9h-16h30 9h-16h30 9h-16h30 9h-16h30 9h-16h30 Week 7-9 9h-16h30 9h-16h30 9h-16h30 9h-16h30 9h-16h30 Week 10-11 9h-16h30 9h-16h30 9h-16h30 9h-16h30 9h-16h30 Week 1-2) Installation of the radio module to receive satellite data Week 3-4) Installing a GPS mouse for the transmission of GPS data Week 5-6) Set up the navigation software ô Opencpn ằ Week 7-9) Create a map of the east coast of Vietnam in. kap format with the software GE2KAP and Google Earth Week 10-11) Tests in real condition on a boat [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 6 40 pin extended GPIO 4 x USB 2 ports LAN Port (RJ45) DSI Display port CSI Camera Port Micro USB Power Input Full Size HDMI Video Output Composite Video and Audio Output Jack Broadcom BCM2837 64 bit Quad Core CPU at 1.2GHz, 1GB RAM On Board Bluetooth 4.1 WI-FI MicroSD Card Slot RAM II. Electronic part The raspberry pi 3 The Raspberry Pi is an ARM processor single-card nano-computer designed by video game creator David Braben as part of its Raspberry Pi Foundation. The Raspberry Pi 3 is equipped with a broadcom BCM2837 ARM Cortex A53 SoC 64-bit processor with four cores at 1.2 GHz, for an increase in performance in the order of 50% compared to Pi 2 and a WiFi chip and low-power bluetooth. The GPS mouse The active GPS antenna is the easiest way to acquire a GPS position. It can be used for both land and sea navigation. Its simplicity of installation and its powerful material characteristics will make this antenna the perfect tool for navigation. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 7 GPS_NEO-6M EEPROM 24C32 VCC GPS TXD GPS RXD GND GPS PPS UART The module NEO-6M The Neo-6 series of modules is a family of stand-alone GPS receivers with high performance U-Blox 6 positioning engine. The dedicated acquisition engine, is able to search for space in parallel time/mass frequency, allowing it to instantly find satellites. Innovative design and technology removes interference sources, giving neo-6 GPS receivers excellent navigation performance, even in the most challenging environments. 7 inch screen pi The 7 "touch screen for Raspberry Pi gives users the ability to create integrated projects such as tablets, infotainment systems and integrated projects. The 800 x 480 display connects via an adapter card that manages the conversion. It is really interactive, the latest drivers will support a virtual keyboard "on the screen", so there is no need to connect a keyboard and a mouse. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 8 III. Computer part Opencpn OpenCPN (open Chart Plotter Navigator) is a free navigation software. It can be used to edit maps, to plan a route and to view its position in real time, if it is associated with a GPS. OpenCPN uses the GPS to determine the position of the boat and the data from an AIS to trace the positions of the boats in the vicinity. GE2KAP Paul Higgins and his trusty sidekick Whitey authored the program GE2KAP. This free software allows you to make charts with Google Earth overlays. The result is an amazing combination of photo-real land detail and waterways that are navigation charts. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 9 Google Earth Google Earth is a software, owned by Google Company, allowing a visualization of the earth with an assembly of aerial or satellite photographs. Openseamap OpenSeaMap is a project whose objective is to collect freely usable nautical information, and to couple them with geo-localized information with the aim of creating a world nautical chart. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 10 PuTTY PuTTY is a terminal emulator coupled with a client for SSH, Telnet, rlogin, and raw TCP protocols. It also allows direct connections via RS-232 serial link. VncViewer In computing, Virtual Network Computing (VNC) is a graphical desktop shar- ing system that uses the Remote Frame Buffer (RFB) protocol to remotely control an- other computer. It transmits keyboard and mouse events from one computer to another, relaying updates from the graphics screen in the other direction over a network. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 11 IV. The realization Creating the map There are 3 ways to create a map of the coasts of Vietnam with the software OPENCPN, GE2KAP and Google Earth. First of all, it is necessary to install the software in Windows 10. 1°) Using the Google Earth Add-in (Plug-in) from OpenCPN I loaded and installed the plugin ô GoogleEarth ằ and followed the following steps : 1) Run OpenCPN and choose a map. 2) Start the Google Earth plug-in by clicking on the ad-hoc icon in the OpenCPN icons bar. 3) Display, in the GE plug-in, the area you want to transform into a map. 4) Start GE2KAP and wait for it to automatically connect to OpenCPN. 5) Enter a path and a map name in the field "path in PCNom: ". 6) Click the "Create Map " button in GE2KAP. 7) To view the resulting map, click on "See " in GE2KAP. 2°) Merge the Google Earth screen with that of OpenCPN I loaded and installed the plugin ô ge2kap ằ and followed the following steps : 1) Start GE2KAP. 2) Enter a path and a map name in the field "path in PCNom: ". 3) You can just specify the path that leads to the folder that will contain the map. In this case, the created map will be named "OPENCPN. KAP " 4) Open, if necessary, the central part of the GE2KAP options 5) In the field "path in the PC to a map/image or OpenCPN screen", use the drop- down list to enter just: "OpenCPN " (Do not enter a path). 6) Do not check the "create a non-merge KAP" checkbox. Do not use GE ". 7) Click the "Create Map " button. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 12 3°) Calibrating a JPEG image This method consists of capturing an image on Openstreetmap and then coming to calibrate it with GE2KAP to be readable by OPENCPN. I followed the following method : 1) Open Openstreetmap World 2) Choose a piece of card 3) Place the cursor in the left corner at the top and note the latitude and the longitude, same thing for the right corner at the bottom. 4) Capture exactly the window rectangle, save and give a name to the JPEG file. (eg VietNam. jpg) 5) Open the template. gpx file with Notepad. Type the latitude and longitude in both lines. GPX File <gpx version="1.1" creator="OpenCPN" xmlns:xsi=" instance" xmlns="" xmlns:gpxx="" xsi:schemaLocation=" " xmlns:opencpn=""> latitude and longitude 6) Save and give the same name as the image (eg VietNam.jpx). 7) Place the .jpg image of the card and the .jpx file in the KAP folder and start GE2KAP by double-clicking. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 13 8) In the window that opens . Press the button (1) >> and in the window, navigate to open the folder and type in the 'File name' box the name that will be given to the card (for example. VietNam.kap), Save , and close the window. The path and name appear in (2). 9) With the button (3) >>, navigate to search the KAP folder of GE2KAP, and click on the image (for example VietNam.jpg), open, close the window. The path and the name are displayed in (4). Type Meters in (5). Mark the box (6) and click on 'Create KAP' (7). 10) When the window announces 'Successfully created ...', open OpenCpn, in the Toolbox / Maps, 'add directory' which contains the new map. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 14 After having tested these 3 solutions, none of them worked, most of the time, the card does not register in .kap format readable by Opencpn or so I had this error code. Error: GE KML Copy Failed! Error: Can not find on Google Earth the image overlay edit window. Error: Unable to add the merge file: C: \ DUMMY \ OPENCPN_DMY.KAP Being blocked with these 3 solutions, I found a much simpler solution on openseamap which offers free .kap maps for most of the world's maritime zones. 4°) Download free map on Openseamap You have to open Openseamap and go to "download the map", then you have to unzip the file and send it to a folder.kap that Opencpn knows. Then in Opencpn, open the toolbox and go to "cards / data" then add the folder.kap where is the file unzip. Here is the result : [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 15 Remote control of the Raspberry pi I decided to control the Raspberry pi with my laptop using the software "puTTY" and "VncViewer". This choice is optional and is not necessary, but it is useful because it avoids using too much material, like the mouse and the keyboard. For this, simply go to the terminal of the raspberry and type "ipconfig" to find the IP address. Then, you must install the software on your computer and establish the connection by activating the SSH link on the raspberry and then physically connecting it via an ethernet cable on the laptop. When all this is done, open VncViewer and establish a new connection. When you have typed the IP address of the raspberry who is “169.254.14.132”, it's over. I can finally control the screen of my raspberry with my laptop. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 16 Installation the GPS mouse To install the GPS mouse, just install the driver and then connect it to the rasp- berry. Then, you have to configure the connection in Opencpn, in the menu options >> menu connections. Just click on "add connection", choose the "serial" mode, select the com port and choose the connection speed which is "4800 baud". Cheksum control is optional. To check if the connection is established, check "open the NMEA data display window". NMEA data appears which confirms that the connection is established. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 17 We also have the position of the GPS which is automatically displayed in Opencpn. Installation the module NEO-6M Installation of the NEO-6M module is completely optional. It all depends on the technical solution you want to choose. The module works like the GPS mouse but it is cheaper. We connect it to the GPIO pins of the raspberry to test it but if we really wanted to implement it, it would have been necessary to convert the signal to USB with a cable TTL REV 232 3V3 to configure it with the Opencpn software. Cable TTL REV 232 3V3 [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 18 VCC TXD RXD GND PPS Three possible technical solutions with price estimation Not knowing how the boat is equipped for system installation. I propose to make a cost estimate for 3 possible technical solutions. 1) If the boat has 220 volts AC 50 Hz. 2) If the boat has not 220 volts AC 50 Hz. 3) By replacing the GPS mouse with the NEO-6M. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 19 1/ The first solution if the boat has 220 volts AC 50 Hz. Estimated cost : Components References Quantities Price (Euros) Price (Dong) Television E&M 001435 1 67,72€ 1828754.36 Raspberry pi 3+HDMI cable+16G micro SD card+5 Volts Power charger Model B+ 1 14,84€ 400748.89 The USB mouse 1 2,51€ 67695.88 The GPS mouse BT-708 U-G7020-KT 1 15,37€ 414536.11 Total 3 100,44€ 2712346.25 GPS mouse HDMI cable 220V AC Charger 5V USB mouse Raspberry pi [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 20 2/ The second solution if the boat has not 220 volts AC 50 Hz. The 220v AC-5v charger is replaced with a 12v-5v DC-DC converter and the 15-inch HDMI display by a 7-inch pi display. Estimated cost : Components References Quantities Price (Euros) Price (Dong) 7-inch pi display 1 42,00€ 1132759.69 Converter DC-DC D8739 1 3,31€ 89272.25 Raspberry pi 3+16G micro SD card Model B+ 1 14,84€ 400748.89 The USB mouse 1 2,51€ 67695.88 The GPS mouse BT-708 U-G7020-KT 1 15,37€ 414536.11 Total 3 78,03€ 2107172.22 GPS mouse Converter 12V to 5V USB mouse 7-inch pi display Raspberry pi [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 21 USB mouse Converter 12V to 5V 7-inch pi display Cõble TTL 232 R3V3 Raspberry pi Module NEO-6M 3/ The third solution, the fully integrated GPS module is replaced by the NEO GPS module and a TTL 232 3V3 cable. Estimated cost : Components References Quantities Price (Euros) Price (Dong) TTL 232 R3V3 cable PL2303TA 1 8,77€ 236830.71 Case of proctection NE0-6M 1 8,71€ 235210.43 7-inch pi display 1 42,00€ 1132759.69 Converter DC-DC D8739 1 3,31€ 89272.25 Raspberry pi 3+16G micro SD card Model B+ 1 14,84€ 400748.89 The USB mouse 1 2,51€ 67695.88 The module NEO-6M 1 7,51€ 200 132,86 [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 22 V. Conclusion Finally, we have chosen the first solution that is easier to implement, the television will make much more readable data reading than on the LCD raspberry. It will only remain to install the system on the boat. All in all, all the tests went well. I managed to display the map of Vietnam on Opencpn software, control the raspberry pi via my portable computer to avoid hardware clutter and display the GPS position of the boat with the GPS mouse. I also learned to use Opencpn to create navigational routes and memorable ge- ographic coordinate points. This internship was a unique experience for me. This allowed me to familiarize myself with a country that I already knew. Since my visit last year, I discovered a new facet of Vietnam thanks to the internship, because for the realization of my project, I did not think to have so many difficulties. It also allowed me to overcome my apprehension of traveling to a country com- pletely different from mine and adapting to new situations. I was also able to increase my curiosity both culturally and technically. A very good atmosphere reigns at the university and all the people I met were very cooperative and attentive to our questions. For me, it has been a very rewarding experience. Finally, I would like to thank all the professors and students I worked with during this internship. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 23 Link 1 ỗais/OpenC PN.html#overlaying Link 2 Link 3 https://deusyss.developpez.com/tutoriels/RaspberryPi/Pyt honEtLeGpio/ Link 4 https://www.u- blox.com/sites/default/files/products/documents/NEO- 6_DataSheet_%28GPS.G6-HW-09005%29.pdf Link 5 https://www.raspberrypi.org/products/raspberry-pi-3-model-b/ Link 6 https://www.tyboat.com/achat/P-42963-mc-marine_antenne- gps-active-mc-marine-gp-01-usb-167-canaux-sky-traq-venus- 8.html VI. Bibliography [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 24 VII. Appendices VIII. The Toolbar is floating and can be placed anywhere on the screen, vertical or horizontal. Note the “grabber” symbol at the far right side of the toolbar. Use this handle to drag the toolbar wherever you want it. The default position is horizontal and docked top left. It snaps to the edges. Right click on the grabber and a cross will appear. Left click on the cross and the toolbar shifts its orientation, to vertical or horizontal format. Right click on the cross to return to the grabber. On Windows (at least), unless in OpenGL display mode, the toolbar dims down transparently until you roll over it. There are three different styles of Toolbars to choose from. Go to the ToolBox→“User interface”→ “Toolbar and Window Style” and select one of the following styles: Traditional Journeyman Journeyman Flat Only the buttons with a ticked box will be displayed. The available shortcuts are also shown in parenthesis to the right of the button description. [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 25 When a toggle button is pressed, it changes and becomes darker, Traditional style also adds a stronger outer frame. For example, tracking off , tracking on . A brief explanation of the use of each button is available by just hovering with the cursor over a button. Traditional Style (from left to right) : Zoom In (Zooming ) Zoom Out (Zooming) Scale Next Chart Down (Scaling Charts)1 Scale Next Chart Up (Scaling Charts)1 Create Route (Create Route) Find/Follow Boat. Toggles on/off. (Auto Follow and Display Orientation) Launch Toolbox (Options Setting) Show/Hide Text Labels on Vector Chart. (Vector Display) Show/(Attenuate less critical Targets3 )/Hide AIS Targets2 (AIS) Show/Hide Currents On Chart (Tides and Currents) Show/Hide Tides On Chart (Tides and Currents) [Professional License-Project of the central navigation low-cost] 2017-2018 University of Baria Vung Tau, 80 Truong Cong Dinh, Campus 3, Vietnam MAREST Sylvain 26 Print. Prints your current view, using a simple dialog. Route/Track/Waypoints/Layer- Manager. (Route & Mark Manager) Toggle Track On/Off (Ship Track) About OpenCPN and Help File (Helpand Getting Started) Adjust Screen Brightness for Dawn/Dusk and Night viewing. (Night Navigation) Show/Hide the Dashboard Plugin (Dashboard//) Show/Hide the Grib Overlay Plugin (Grib Weather//) World Magnetic Model (WMM) Drop Man Over Board marker (Man OverBoard) Always the far right Button. A separate GPS status and Chart Orientation Status is normally in the upper right corner of the display, unless the floating ToolBar covers this position Course Up/North Up2 (Display Orientation) GPS status2 (GPS Status) No GPS data or position not available. GPS fix, GPS position known and good for navigation. Sat count not available. Active/Valid GPS data + GPS reporting 1 - 4 satellites. Active/Valid GPS data + GPS reporting 5 - 9 satellites. Active/Valid GPS data + GPS reporting 10+ satellites.