各路传感器模块主要外接在STM32集成控制板上的，进行信息的采集。由于

Each sensor module is mainly connected to the STM32 integrated control board to collect information. Because there are fewer serial ports on the STM32 integrated control board, serial port expansion is carried out to facilitate the access of devices that communicate in serial mode in the future. After receiving the driving command of the unmanned boat, the drive control center can adjust the speed and steering of the unmanned boat propulsion through the control gear control system and the PWM signal output. Connected, the sensor module performs the corresponding environmental parameter collection work, and uploads the collected data to the unmanned ship management system platform. The block diagram of the peripheral interface circuit design is shown in Figure 3-2.

各路传感器模块主要外接在STM32集成控制板上的，进行信息的采集。由于STM32集成控制板上的串口较少，故进行了串口扩展，便于以后以串口方式通信的设备的接入。驱动控制中心接收到无人船行驶指令后，可以通过控制档位控制系统和PWM信号输出进行无人船推进器的调速与转向，同时通过STM32F103VCT6微处理器引出的引脚与相关的传感器模块相连，传感器模块进行相应的环境参数采集工作，并将采集到的数据上传至无人船管理系统平台。外围接口电路设计框图如3-2所示。

Each sensor module is mainly connected to STM32 integrated control board for information collection. Because there are few serial ports on the STM32 integrated control board, the serial port expansion is carried out to facilitate the access of devices communicating by serial port in the future. After receiving the driving instruction of the unmanned vessel, the drive control center can adjust the speed and turn the unmanned vessel propeller through the control gear control system and PWM signal output. At the same time, the pins led out by STM32F103VCT6 microprocessor are connected with the relevant sensor module, which collects the corresponding environmental parameters and uploads the collected data to the unmanned vessel management system Unified platform. The design block diagram of peripheral interface circuit is shown in 3-2.<br>