自动水下声源探测跟踪系统

发布时间：2018-01-18 05:33

本文关键词：自动水下声源探测跟踪系统　出处：《兰州大学》2016年硕士论文　论文类型：学位论文

更多相关文章： 水下声源 跟踪 阵列信号处理技术 AUV

【摘要】：由于海洋环境有压力大、能见度低等特点,导致人类对海洋的了解和利用还不够充分,水下机器人(Autonomous Underwater Vehicle,AUV)的发展是人类在海洋探索方面迈出的重要一步。水下机器人可以自主地完成各种任务,水下声源的探测跟踪是其重要的一个分支。目前国内外文献中关于水下声源的探测跟踪大多是通过声纳来采集目标的运动图像,通过对声纳图像进行处理分析得到目标的运动情况估计,但是这种方法存在声纳图像本身分辨率不高、噪声大、受环境影响大、微弱信号不易捕捉、探测距离短等问题,这对方位估计的实现就增加了困难,而且运算量较大,实时性方面有所欠缺。本文的主要研究内容是通过将阵列信号处理技术应用到目标源信号的处理上实现对运动目标的探测跟踪。本系统由两大模块构成:目标探测定位模块和跟踪模块。目标探测定位模块是利用传感器阵列被动地接收目标发出的噪声或者声纳信号,对其进行处理,得到信号源的方位信息即方位角和俯仰角。在实现对目标的精确定位后,结合声波在水中传输的速度、衰减规律,跟踪模块实现对被测目标运动趋势、速度的估计,继而可以实现对AUV下一步动作的精确安排。本文对所设计的系统进行了多次实验,采用不同轨迹的信号作为信号源输入,实验得出结论:所提出的新方法计算简单,运算量小,可以有效而快速地对各种不同弯曲程度的运动轨迹实现拟合,对目标的运动趋势和速度等特征做出合理的估计,对水下机器人定位跟踪方面的发展有重要意义。
[Abstract]:Due to the characteristics of high pressure and low visibility in the marine environment, human understanding and utilization of the ocean is not enough. Autonomous Underwater Vehicle. The development of AUV is an important step in ocean exploration. Underwater vehicles can accomplish various tasks autonomously. The detection and tracking of underwater sound sources is an important branch of underwater sound sources. At present, the detection and tracking of underwater sound sources in domestic and foreign literature are mostly using sonar to collect moving images of targets. By processing and analyzing the sonar image, the motion of the target is estimated. However, this method has the advantages of low resolution, high noise, strong environmental influence, and the weak signal is difficult to capture. Because of the short detection distance, it is difficult to realize the azimuth estimation. The main research content of this paper is to realize the detection and tracking of moving target by applying array signal processing technology to the processing of target source signal. The system consists of two modules:. The target detection and positioning module is used to passively receive the noise or sonar signal from the target by using the sensor array. The azimuth information and pitch angle of the signal source are obtained. After the accurate positioning of the target, the attenuation law is combined with the velocity of acoustic wave in the water. The tracking module realizes the estimation of the moving trend and velocity of the target under test, and then the precise arrangement of the next action of the AUV can be realized. In this paper, many experiments have been carried out on the designed system. Using the signal of different trajectory as the signal source, the experiment concludes that the proposed new method is simple in calculation and small in operation, and can be used to fit all kinds of trajectory with different bending degree effectively and quickly. It is of great significance for the development of underwater vehicle positioning and tracking to make a reasonable estimate of the moving trend and velocity of the target.
【学位授予单位】：兰州大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U666.7;TP391.41

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