短基线定位系统软件的设计与实现

发布时间：2018-01-08 09:17

本文关键词：短基线定位系统软件的设计与实现　出处：《哈尔滨工程大学》2012年硕士论文　论文类型：学位论文

【摘要】：本文的短基线定位系统主要是针对水下探坝机器人而设计的，用于对水下机器人的实时跟踪和定位，指导水下机器人完成大坝的探测任务。该系统可以工作在两种模式下：船载模式和岸基模式，根据不同的实际情况来选择适当的工作模式。整套短基线定位系统由短基线接收基阵、水下应答器、信号处理机、远程控制平台、船载姿态仪和其他外部设备组成。本文主要完成了远程控制平台的设计与实现，信号处理机中基于DSP板的信号处理算法的软件设计与实现。远程控制平台运行在计算机上，由短基线定位系统显示控制软件和接口扩展设备组成。显示控制软件基于Microsoft（微软）公司最新的图形界面开发技术WPF（Windows Presentation Foundation），采用Microsoft Visual Studio2010和MicrosoftExpression Blend4作为开发平台。显示控制软件的主要功能有：显示水下机器人相对于接收基阵的轨迹和位置等相关信息；设定信号处理平台的部分工作参数，协调整个系统的工作；完成定位方程的解算和定位位置的修正；显示水下接收基阵的位置分布。论文中从定位显控软件的总体结构出发，分模块具体介绍了整个定位显控软件的设计与实现。信号处理算法软件是基于TMS320C6455DSP实现的，，运用相关法时延估计技术完成了对目标位置的精确估计，信号检测部分采用快速卷积和滑动相关算法，利用DSP中的EDMA传输数据优点，从而实现系统的实时处理。文中通过对软件的总体设计及完整工作流程的介绍，逐步分模块详细介绍每一部分的设计与实现。最后，经过实验室调试证明两部分软件达到了预定的要求，同时验证了软件的稳定性。
[Abstract]:Short baseline positioning system in this paper is mainly designed for water dropping dam robot, for real-time tracking and positioning of underwater robots, underwater guidance robot to complete the detection task of dam. The system can work in two modes: the mode of ship and shore based model, to select the appropriate mode according to the actual situation different. Set short baseline positioning system consists of short baseline array, underwater transponder, signal processor, remote control platform, composed of ship attitude instrument and other external devices.
This paper mainly completes the design and implementation of the remote control platform, and the software design and implementation of the signal processing algorithm based on the DSP board in the signal processor.
The remote control platform running on the computer, by the short baseline positioning system display control software and interface components. Display control software based on Microsoft (Microsoft), the latest graphics interface development technology WPF (Windows Presentation Foundation), using Microsoft Visual Studio2010 and MicrosoftExpression Blend4 as the development platform. The main function of the control software are: show the underwater robot relative to the track and location information of the receiving array; signal processing platform setting parameters, coordinate the whole system work; complete positioning equation solution and position correction; display position distribution of the receiving array under water. The general structure of the paper from the location control software the design and implementation of the specific sub module introduces the location control software.
The signal processing software is realized based on TMS320C6455DSP, using the correlation method of time delay estimation technique can accurately estimate the position of the target signal detection part adopts fast convolution and sliding correlation algorithm, the advantages of using EDMA to transfer data in DSP, so as to realize the real-time processing system. Based on the general design of the software and complete the work flow this module gradually introduces design and implementation of each part.
Finally, the laboratory tests prove that the two parts of the software meet the required requirements, and the stability of the software is verified.

【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】：2012
【分类号】：TP368.1;TP311.11

【参考文献】