First Mission

Let’s create and execute your first USV mission!

Mission Types

JuHai system supports various mission types:

• Waypoint Mission: Cruise along specified waypoints
• Area Survey: Automatic cruise within a specified area
• Path Following: Follow a predefined path
• Custom Mission: Define complex missions using scripts

Create Waypoint Mission

Using Web Interface

1. Open control platform: http://localhost:8080
2. Click “New Mission”
3. Select “Waypoint Mission”
4. Click on the map to add waypoints
5. Set mission parameters
6. Save mission

Using Command Line

Create mission configuration file mission.yaml:

mission:
  name: "first_mission"
  type: "waypoint"

  waypoints:
    - lat: 31.2304
      lon: 121.4737
      speed: 5
      action: "photo"

    - lat: 31.2354
      lon: 121.4787
      speed: 5
      action: "sample"

    - lat: 31.2404
      lon: 121.4837
      speed: 5
      action: "none"

  settings:
    auto_return: true
    max_time: 3600        # Maximum mission time (seconds)
    emergency_action: "return_home"

Load mission:

jhusv mission load mission.yaml

Mission Parameters

Waypoint Parameters

Parameter	Description	Example
lat	Latitude	31.2304
lon	Longitude	121.4737
speed	Speed (knots)	5
action	Action upon arrival	photo, sample, wait
wait_time	Wait time (seconds)	30

Mission Settings

Parameter	Description	Default
auto_return	Auto return after mission completion	true
max_time	Maximum mission time (seconds)	3600
emergency_action	Emergency handling	return_home

Execute Mission

Preview Mission

Preview the mission path before execution:

jhusv mission preview mission.yaml

Validate Mission

Check if the mission is valid:

jhusv mission validate mission.yaml

Start Mission

When everything is ready, start the mission:

jhusv mission start mission.yaml

Monitor Mission

Real-time Status

View mission execution status:

jhusv mission status

Example output:

Mission: first_mission
Status: IN_PROGRESS
Progress: 2/3 waypoints
Current Position: 31.2354°N, 121.4787°E
Battery: 78%
ETA: 15 minutes

Web Monitoring

Open real-time monitoring interface in browser:

http://localhost:8080/monitor

You will see:

• Real-time map position
• Track trajectory
• Sensor data
• System status

Control Mission

Pause Mission

jhusv mission pause

Resume Mission

jhusv mission resume

Stop Mission

jhusv mission stop

USV will stop moving and maintain current position.

Abort Mission

jhusv mission abort

USV will immediately return to starting point.

Mission Completion

After mission completion:

1. USV automatically returns to start point (if auto_return is enabled)
2. Mission report is generated
3. Collected data is saved

View Mission Report

jhusv mission report first_mission

Report includes:

• Mission completion time
• Actual track
• Sensor data statistics
• Event log

Download Data

jhusv data download first_mission --output ./mission_data

Example: Water Quality Survey Mission

Here’s a complete water quality survey mission example:

mission:
  name: "water_quality_survey"
  type: "waypoint"

  waypoints:
    - lat: 31.2304
      lon: 121.4737
      speed: 3
      action: "sample"
      wait_time: 60

    - lat: 31.2324
      lon: 121.4757
      speed: 3
      action: "sample"
      wait_time: 60

    - lat: 31.2344
      lon: 121.4777
      speed: 3
      action: "sample"
      wait_time: 60

  sensors:
    - type: "water_quality"
      enabled: true
      sample_rate: 1    # Hz

    - type: "camera"
      enabled: true
      trigger: "waypoint"

  settings:
    auto_return: true
    max_time: 7200
    data_upload: "realtime"

Execute mission:

jhusv mission start water_quality_survey.yaml

Troubleshooting

What if Mission Fails?

If mission fails, USV will:

1. Stop current action
2. Try to maintain position
3. Send alert
4. Execute emergency action according to settings

Manual Takeover

In emergency, you can manually control:

jhusv control manual

Use arrow keys to control USV movement.

Next Steps

Congratulations! You’ve completed your first mission. Next you can:

• 📖 Deep dive into mission planning
• 🔧 Learn data management
• 💻 Explore API interfaces

Best Practices

:::tip Safety First

• Always perform first mission in a test area
• Keep USV within line of sight
• Prepare emergency stop plan
• Check weather and sea conditions :::

:::info Performance Optimization

• Set reasonable waypoint spacing (recommended > 50m)
• Adjust speed according to sea conditions
• Avoid frequent direction changes
• Optimize sensor sampling rate :::