Design and realization of autopilot system based on ARM for small vessel
Weigang Pan, Hairong Xiao, Yaozhen Han, Changshun Wang, Fengyu Zhou · 2010
The paper introduced autopilot system for small vessel. Switch problem between hand steering and wheel steering is solved by used relay with normally open contact and normally close contact.485 bus is used to solve the transmission problem of rudder signal. Confirmed by tried in a fished boat, the autopilot system is high reliability, good stability, obvious energy-saving.