Design And Implementation Of Underwater Positioning And Communication System Based On Single Vector Hydrophone

In recent years,with the increasing investment in the utilization and development of the ocean,autonomous underwater vehicles(AUV)and unmanned underwater vehicles(UUV)have attracted more and more attention.In particular,AUVs often work in the form of formation cooperation.In order to complete mutual positioning and information interaction among the underwater vehicles in the formation,it is necessary to design a small integrated positioning and communication sonar,which is specially used for position acquisition and information interaction between the underwater vehicles.First of all,for the problem that the positioning system does not use the traditional layout of the array and needs to be miniaturized,a single vector hydrophone is used for active positioning.According to the characteristics of the single vector hydrophone,the modeling of the single vector hydrophone is completed,and the azimuth estimation methods of the average sound intensity and complex sound intensity are deduced and analyzed.Carry out the analysis of the Cramerlow lower bound of the azimuth estimation error of the single vector hydrophone,and simulate the azimuth estimation error of the average sound intensity and complex sound intensity.Aiming at the azimuth estimation method of the single vector hydrophone,an acoustic localization method of the single vector hydrophone including slant distance measurement and attitude compensation is designed.Secondly,the doppler compensation method based on Chirp-Z transform and the Orthogonal Matching Pursuit(OMP)channel based on Chirp-Z transform are proposed for the Doppler compensation problem and channel estimation problem of the key technology of OFDM technology in communication systems.Estimate method.The simulation results show that the two methods have improved performance and reduced complexity compared with traditional methods.At the same time,two signal processing methods based on vector hydrophone receiving OFDM are analyzed,and the gains of the two signal processing methods to the communication system are verified through simulation.Then,the parameters of each part of the system were determined according to the indicators.Through the obtained parameters,the hardware part of the system is designed,including the system's preamplifier circuit,A/D acquisition circuit,power amplifier circuit,and system power supply module.And complete the driver programming of the corresponding part on the processor,and adopt the DMA method to collect the AD signal and send the DA signal according to the requirements of the system for real-time signal processing.Completed the software implementation of the communication positioning system process and the corresponding algorithm module implementation.The algorithm implementation gave the complex sound intensity device,the Doppler compensation method based on the Chirp-Z transform and the OMP channel estimate method based on the Chirp-Z transform.At the same time,the algorithm is implemented and optimized on DSP.Finally,the verification and testing of the hardware system is completed.The system is tested for functionality in the channel pool.The results of the pool test show that the equipment can perform the preset functions.Finally,the working distance of the equipment was verified through the field test,and the related requirements of the use were guaranteed.