Signal Processing And Path Programming For Under-water Vehicles

This paper systematically introduces the underwater vehicle location problemsrelating with signal processing and path planning. In order to confirm the location ofunderwater vehicles and moving targets, underwater information acquisition,pre-processing, and estimation are adopted in dealing with problems. This paper alsoresearches the path planning problems of underwater vehicles based on 3-D models,underwater signal location and image fusion location.The main work and contribution of this paper are as follows:(1) The calculating method and simulating program of the ray tracing model withthe background of sloping sea bed are presented, and the results of calculation areillustrated by the means of actual simulating curves. The acoustic ray image isadopted to calculate the propagation loss based on ray theory.(2) A new modulation method—Multi-carrier-code and Multi-phase shiftkeying (MC-MPSK), which combines non-coherent detecting and coherent detecting,is proposed in this paper. We also compare this modulating method with thetraditional methods and state the analysis results of simulation and systemperformance.(3) With the purpose of exactly locating the underwater vehicles and movingtargets, we present the infrared image detection and fusion method of underwatertargets based on optimal estimation method.(4) Considering the disturbance of marine current, we bring forward the schemesof detecting path planning and navigational chart path planning, including thecontents of global path planning and on-line risk avoiding. We also accomplished thesoftware in simulation computer based on digital simulation platform and AUV globalpath planning based on electronic chart.(5) The object function of on-line programming, which is restrained by linearpitching and lateral moving equations, is established to find out the optimalunderwater track, using minimum value theory and with the help of Hamilton function.The methods of gradient iterated and 1-D initials searching are adopted to work outthe differential equations with the extremeness value of classical variation. Therestraint problems in vertical direction are solved in pre-processing, thereforehorizontal dynamic programming and tree searching are combined to match digitalterrain and to get more exact 3-D underwater track in the end.