부산대학교 도서관

This paper presents a novel multi-terminal remote control system for Unmanned Surface Vehicles (USVs) utilizing LoRa technology. The proposed system includes a remote controller, mobile APP, Data Transfer Unit (DTU) for ground-side and USV-side. The system realizes bidirectional data transmission from the USVs to the ground station, and the communication distance is greatly improved compared with the traditional 2.4GHz remote control, which overcomes the defect of insufficient communication distance of traditional remote control for USVs caused by the interference of water reflection. In addition, our system also supports smart devices such as mobile phones and computers to participate in the cooperative remote control of USVs, making the control of USVs more convenient and flexible. Experimental results show that when the data transmission frequency of the DTU for gorund-side and USV-side is 0.1s and 2s respectively, the packet loss rate is about 3.28%, and the system has low communication delay and high flexibility, which meets our requirements.