水下激光通信光电跟踪控制系统研究

发布时间：2018-04-20 03:36

本文选题：激光通信 + 光电跟踪　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：水下激光通信具有保密性好、容量大、传输速度快等优点,可广泛应用于水下对潜通信、水下资源勘查和海洋环境监测等领域,在军事和民用领域都有着至关重要的意义。水下激光通信链路的快速建立和持续稳定的维持是水下激光通信应用的基本条件。在存在平台扰动和海水随机信道扰动等条件下,如何在远距离实现高精度、快速的对准是实现水下激光通信必须解决的问题。本文针对水下激光通信过程中,系统受到外界环境的干扰而导致通信失效的问题进行了研究,利用光电跟踪系统的特点,结合水下激光通信技术,设计研制了一套水下激光通信光电跟踪控制系统。首先,研究了应用于光电跟踪系统的常用目标跟踪算法,针对水下激光通信过程中激光光斑不断移动的问题,仿真分析了各种目标跟踪算法的跟踪效果与应用环境适用性,设计了Mean Shift算法与卡尔曼滤波算法相结合的目标跟踪程序,在实验室中进行了实验测试。其次,设计了水下激光通信光电跟踪控制系统的整体结构,针对伺服控制系统研究了基于视频图像四象限跟踪原理的电机控制算法,根据电机的数学模型建立了与脱靶量对应的占空比比例控制方程,设计了电机控制模块的上位机程序。针对水下环境对平台的影响,研制了以MPU9250为惯性传感单元的稳定控制模块,实验结果表明,在目标丢失的情况下可以通过稳定控制模块使系统恢复成航向角、俯仰角均为0°的稳定状态。然后,针对水下激光通信光电跟踪控制系统的实际应用背景问题,研究了激光信号的PPM调制原理,设计了PPM调制激光通信系统,并在实验室测试了文字信息的水下激光通信传输效果。最后,搭建实验系统在实验室测试了光电跟踪控制系统的室内目标跟踪性能和水下激光光斑跟踪性能,并对水下激光通信光电跟踪控制系统的通信效果进行了实验测试。实验结果表明,水下激光通信光电跟踪控制系统可以跟踪移动的激光光斑并实现水下激光通信功能,具有一定的工程意义。
[Abstract]:Underwater laser communication has many advantages, such as good security, large capacity and fast transmission speed. It can be widely used in underwater communication, underwater resource exploration and marine environment monitoring. It is of great significance in military and civil fields. The rapid establishment and sustained stability of underwater laser communication link is underwater laser communication. The basic condition of application. In the condition of platform disturbance and sea water random channel disturbance, how to achieve high precision and fast alignment at a long distance is a problem to be solved for underwater laser communication. In this paper, the problem of communication failure caused by the interference of the external environment in the process of underwater laser communication is studied in this paper. Based on the characteristics of the photoelectric tracking system and the underwater laser communication technology, a set of underwater laser communication and photoelectric tracking control system is designed and developed. First, the common target tracking algorithm used in the photoelectric tracking system is studied. In view of the problem of the continuous movement of the laser spot in the underwater laser communication process, the simulation and analysis of various targets are carried out. Tracking effect and application environment applicability of the tracking algorithm, a target tracking program combined Mean Shift algorithm and Calman filter algorithm is designed, and experimental test is carried out in the laboratory. Secondly, the whole structure of the underwater laser communication photoelectric tracking control system is designed, and the four images based on the video image are studied for the servo control system. In the motor control algorithm, the control equation of duty ratio proportional to the miss distance is established according to the mathematical model of the motor, and the upper computer program of the motor control module is designed. In view of the influence of the underwater environment on the platform, a stable control module with MPU9250 as the inertial sensor unit is developed. The experimental results show that the target is lost in the target. In the case of loss, the system can be restored to the heading angle by the stability control module. The pitch angle is 0 degrees. Then, in view of the practical application background of the underwater laser communication and photoelectric tracking control system, the PPM modulation principle of the laser signal is studied. The PPM modulation laser communication system is designed and the text is tested in the laboratory. In the end, the experimental system was built to test the indoor target tracking performance of the photoelectric tracking control system and the underwater laser spot tracking performance in the laboratory, and the communication effect of the underwater laser communication photoelectric tracking control system was tested. The experimental results showed that the underwater laser communication optoelectronic communication was carried out. The tracking control system can track the moving laser spot and realize the function of underwater laser communication, which has certain engineering significance.

【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN929.1

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