抛落目标水下三维运动轨迹测量系统的设计与实现

发布时间：2018-05-11 19:04

本文选题：抛落目标 + 水声定位　；参考：《哈尔滨工程大学》2014年硕士论文

【摘要】：水下声学定位技术广泛应用于海洋资源的勘探和开发、海上搜寻和搜救等场合。影响定位精度的因素主要包括:海洋环境中的噪声干扰、各种界面或水体产生的混响、由声速梯度引起的声线弯曲而导致的多途等。另外,海水的声吸收也是影响水下定位效果的一个重要因素。为提高定位精度,需要综合考虑定位模型、基阵阵型、信号形式以及处理方法等多方面内容。本文的主要内容是建立一套可实现抛落目标包括入水点的水下三维运动轨迹测量的水声短基线定位系统。系统采用同步式和非同步式两种定位模型,以线性调频信号作为声源发射信号形式,利用匹配滤波技术提高接收信噪比增益,解算出目标的水下运动轨迹。文中对球面交汇和双曲面交汇两种定位模型进行了详细推导,给出了定位方程的解算方法。在此基础上,重点仿真了基阵阵型对定位精度的影响,比较了平面矩形和空间四面体两种阵型的定位误差仿真结果,对比结果表明空间四面体阵定位精度明显高于平面矩形阵。系统设计中,选用MSP430F543x系列混合信号处理器结合nRF905型无线芯片为核心,研制出可实现低功耗待机、无线时钟同步信号发射、宽带线性调频信号发射等功能的新型同步声信标。同时,选用滤波放大器、数据采集卡、TS201型DSP以及高精度授时GPS组建了位置解算单元。本文最后,通过入水点结合目标运动速度与定位结果进行比对的方法,确认测量结果可信。并探讨了利用海面海底反射信号声程差对目标进行定位的可行性。
[Abstract]:Underwater acoustic positioning technology is widely used in the exploration and development of marine resources, marine search and rescue and other occasions. The main factors affecting positioning accuracy include noise interference in marine environment, reverberation produced by various interfaces or water bodies, and multipath caused by sound line bending caused by sound velocity gradient. In addition, the acoustic absorption of seawater is also an important factor affecting the underwater positioning effect. In order to improve the positioning accuracy, it is necessary to consider the location model, matrix, signal form and processing methods. The main content of this paper is to establish a set of underwater acoustic short baseline positioning system which can realize the underwater 3D motion trajectory measurement including the point of entry. The system adopts synchronous and asynchronous positioning models, uses linear frequency modulation (LFM) signal as the form of sound source transmission signal, improves the SNR gain by using matched filtering technology, and solves the underwater motion trajectory of the target. In this paper, two localization models of spherical intersection and hyperboloid intersection are derived in detail, and the method of solving the positioning equation is given. On this basis, the effect of matrix array on positioning accuracy is simulated, and the simulation results of positioning error between plane rectangle and space tetrahedron are compared. The results show that the positioning accuracy of space tetrahedron array is obviously higher than that of plane rectangular array. In the system design, MSP430F543x series mixed signal processor combined with nRF905 wireless chip is used as the core to develop a new synchronous sound beacon which can realize the functions of low power consumption standby, wireless clock synchronous signal transmitting, broadband linear frequency modulation signal transmitting and so on. At the same time, the position calculation unit is constructed by using filter amplifier, data acquisition card type TS201 DSP and high precision timing GPS. Finally, by comparing the moving velocity of the target with the moving velocity of the target, it is confirmed that the measurement results are reliable. The feasibility of using acoustic range difference of sea surface reflection signal to locate target is discussed.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB56

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