高精度水下多信标定位跟踪系统研究

发布时间：2018-12-13 01:47

【摘要】：在海洋工程建设中,例如人工岛礁建设、海底打捞、海底输油管道铺设、海底隧道开发工程、光缆工程以及海洋矿产资源勘探工程等,都需要进行水下作业和水下定位。目前在近海和深海海洋工程中,水下定位技术有广泛应用,并且有不少国内外厂家提供的多种产品。但是就目前的产品来说,在小尺度的范围内对水下多目标实施高精度定位跟踪还比较困难,低价消耗型的定位系统产品在研发以及应用上仍然是一片空白。利用现代先进的电子信息技术成果,开发适用于小尺度范围的高精度水中定位跟踪系统,实现其小型、低能耗和低成本成为可能。该系统研发成功后,能应用在例如海水养殖网衣状态的监测,水下鱼体的定位以及海底管道铺设等定位工作上。针对上述的问题,本文提出了以下的研究工作:第一,廉价低能耗小型的水下信标设计制作,包括硬件和软件设计制作;廉价的信标可即用即弃,定位完成后不需要进行后续的回收工作;第二,通过多种误差校正和使用8通道水声数据实现的高精度定位模型及算法;误差校正包括声速误差校正以及基阵姿态校正,文章中详细地讨论了引起定位误差的因素并对其进行了仿真模拟。第三,利用设计的伪随机码集实施水下多目标识别。通过选用互相关性最好的Gold码作为水下信标的地址码,同时配合使用匹配滤波技术完成信号的识别。第四,提出使用扩展经验正交函数的方法来快速获取全海深的声速剖面;该方法除了效率更高,还解决了传统的经验正交函数(EOF)不能重构全海深声速剖面的问题。在模拟海洋环境的情况下,我们对制作的发射换能器进行了性能测试分析,测试结果满足了小尺度定位的作用距离要求,而且信标的总体制作成本控制在了一百元以内。与此同时,我们在实验室的水池环境中对系统做了前期的测试验证,将接收到的目标声源信号使用匹配滤波技术处理,并结合高精度定位算法,实现了声源位置的获取。水池测试结果显示,系统的平均定位精度达到0.2米,最优为0.05米,符合预期的要求。
[Abstract]:In the construction of ocean engineering, such as artificial reef construction, submarine salvage, submarine pipeline laying, submarine tunnel development, optical cable engineering and marine mineral resource exploration, underwater operation and underwater positioning are required. At present, underwater positioning technology is widely used in offshore and deep sea engineering, and many domestic and foreign manufacturers provide a variety of products. However, for the current products, it is difficult to carry out high-precision positioning and tracking for underwater multi-targets in a small scale, and the low-cost positioning system is still a blank in the research and development and application. Using the modern advanced electronic information technology, it is possible to develop a high-precision water positioning and tracking system suitable for small scale range, which can realize its small size, low energy consumption and low cost. After successful development, the system can be used in monitoring the condition of mariculture net, positioning underwater fish body and laying submarine pipeline. Aiming at the above problems, this paper puts forward the following research work: first, the design and manufacture of low cost and low energy consumption underwater beacons, including hardware and software design; Cheap beacons can be discarded at once, and no subsequent recovery work is needed after the positioning is completed. Second, a high-precision positioning model and algorithm based on 8-channel underwater acoustic data and error correction are proposed. Error correction includes sound velocity error correction and array attitude correction. In this paper, the factors causing positioning errors are discussed in detail and simulated. Thirdly, the designed pseudorandom code set is used to realize underwater multi-target recognition. The best correlation Gold code is chosen as the address code of underwater beacon, and the matching filtering technique is used to complete the signal recognition. Fourthly, an extended empirical orthogonal function is proposed to obtain the sound velocity profile of the whole sea depth quickly, which solves the problem that the traditional empirical orthogonal function (EOF) can not reconstruct the sound velocity profile of the whole sea depth in addition to its higher efficiency. Under the circumstance of simulating the marine environment, we have tested and analyzed the performance of the emissive transducer. The test results meet the requirements of the range of small scale positioning, and the overall production cost of the beacons is less than 100 yuan. At the same time, the system is tested and verified in the laboratory pool environment. The target sound source signal is processed by using the matched filter technology, and the location of the sound source is obtained by combining the high precision localization algorithm. The results of pool test show that the average positioning accuracy of the system is 0.2 m, and the optimum is 0.05 m, which meets the expected requirements.
【学位授予单位】：浙江海洋大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P754

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