AUV水声跳频通信调制解调器的设计与实现
发布时间：2019-07-09 18:22
【摘要】：在复杂时变水声通信环境中非相干FH-FSK调制解调技术是一种较为稳健、可靠的通信方式,适合于低速、高可靠的水声设备遥控等应用场合,如水面船遥控高速运动的水下智能机器人(autonomous underwater vehicle,AUV)。但也面临着以下困难:1)高速运动带来的多普勒会严重恶化通信系统性能;2)为节省能耗,AUV依据通信需求可对通信单元进行经常性的上电与断电操作,导致异步单工工作模式下水面与水下通信节点之间很难协调工作。针对以上问题,提出了采用脉冲对技术进行可靠多普勒估计,并采用线性插值技术进行高效多普勒补偿;结合通信节点板载高精度时钟以及设计的声链路同步机制有效地解决了AUV和水面控制船之间的双向链路建立与数据传输工作。基于OMAP-L138双核处理器平台设计与实现了FH-FSK的水声调制解调器的样机,湖上实验结果表明提出的传输控制协议可保证通信节点之间的通信链路随机建立和断开,结果证明所设计的样机稳定、可靠。
文内图片：
图片说明：AUV通信机系统工作示意图
[Abstract]:Incoherent FH-FSK modulation and demodulation technology in complex time-varying underwater acoustic communication environment is a robust and reliable communication mode, which is suitable for low speed, high reliability underwater acoustic equipment remote control and other applications, such as surface ship remote control high speed underwater intelligent robot (autonomous underwater vehicle,AUV). However, it also faces the following difficulties: 1) Doppler caused by high-speed motion will seriously deteriorate the performance of the communication system; 2) in order to save energy consumption, AUV can regularly turn on and off the communication unit according to the communication requirements, which makes it difficult to coordinate between the surface and underwater communication nodes in asynchronous simplex mode. In order to solve the above problems, a reliable Doppler estimation technique based on pulse is proposed, and a linear interpolation technique is used for efficient Doppler compensation. Combined with the high precision clock on board of communication nodes and the designed acoustic link synchronization mechanism, the bidirectional link establishment and data transmission between AUV and water surface control ship are effectively solved. The prototype of FH-FSK underwater acoustic modem is designed and implemented based on OMAP-L138 dual-core processor platform. The experimental results on the lake show that the proposed transmission control protocol can ensure the random establishment and disconnection of communication links between communication nodes. The results show that the designed prototype is stable and reliable.
【作者单位】： 哈尔滨工程大学水声工程学院;
【基金】：国家自然科学基金资助项目(50909029)
【分类号】：TN929.3;TN915.05
文内图片：
图片说明：AUV通信机系统工作示意图
[Abstract]:Incoherent FH-FSK modulation and demodulation technology in complex time-varying underwater acoustic communication environment is a robust and reliable communication mode, which is suitable for low speed, high reliability underwater acoustic equipment remote control and other applications, such as surface ship remote control high speed underwater intelligent robot (autonomous underwater vehicle,AUV). However, it also faces the following difficulties: 1) Doppler caused by high-speed motion will seriously deteriorate the performance of the communication system; 2) in order to save energy consumption, AUV can regularly turn on and off the communication unit according to the communication requirements, which makes it difficult to coordinate between the surface and underwater communication nodes in asynchronous simplex mode. In order to solve the above problems, a reliable Doppler estimation technique based on pulse is proposed, and a linear interpolation technique is used for efficient Doppler compensation. Combined with the high precision clock on board of communication nodes and the designed acoustic link synchronization mechanism, the bidirectional link establishment and data transmission between AUV and water surface control ship are effectively solved. The prototype of FH-FSK underwater acoustic modem is designed and implemented based on OMAP-L138 dual-core processor platform. The experimental results on the lake show that the proposed transmission control protocol can ensure the random establishment and disconnection of communication links between communication nodes. The results show that the designed prototype is stable and reliable.
【作者单位】： 哈尔滨工程大学水声工程学院;
【基金】：国家自然科学基金资助项目(50909029)
【分类号】：TN929.3;TN915.05
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6 林e，
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