Matija Mazalin (2012) GPS based boat autopilot. EngD thesis.
Abstract
The thesis idea was to design and implement an automatic boat autopilot, based on the GPS technology for positioning. This technology already exists, but what was intended here was an encouragement and a push forward of the development and evolution of automated autopilots. The main part of the thesis consists on building the autopilot from various components accessible on the market. It is made from a microcontroller, GPS and wireless modules. It explains the theory behind the logic of the autopilot, like calculating the distance between two points and getting a course by different methods. Furthermore, it describes the PID controller's role in todays industry. There is a tuning guide for it as well. It is shown how the autopilot is supposed to work. The control unit, an application written in C#, serves as a link between an operator and the autopilot. At the end, there is the process of testing with the description of problems that were observed.
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