The Software And Hardware Development Of Short Baseline Positoning System

This Short Base Line Positioning System is mainly designed for real-time tracking andpositioning of the underwater robot, and assisting navigation to the underwater robot beingunderwater operations. The system is constituted by acoustic array, transponder, the mainprocessing unit of the system and the display and control platform.This paper focuses on the design and implementation of a short baseline positioningsystem hardware and software platform, mainly including the digital and analog circuits andsignal processing software.The main circuit of the short baseline positioning system is designed for processing aLFM signal With35~45kHz frequency. The analog circuit includes programmableamplification, band-pass filter, and impedance matching and so on, and the digital circuitincludes A/D conversion, D/A conversion and DSP minimum system. The low-power DSPTMS320VC5509A and the DSP TMS320C6455are selected as the main digital signalprocessing cores of the acoustic transponder and the main processing unit of the system.The signal processing software development is based on the DSP/BIOS embeddedoperating system. In software the propagation time of sound in water is measured to preciselydetermine slope distances of the transponder to acoustic array by signal detection and delayestimation techniques, finally locating the target. The paper provides clear introduction aboutsignal detection algorithm besides EDMA data transmission, automatic gain control, theadaptive threshold, the second boot load, network development, and delay compensation. Theentire software implements signal acquisition, transmission and storage of data, signaldetection, control and scheduling of threads, data processing and analysis, and networkcommunication, and ultimately achieve the purpose of positioning.Finally, the results of the experiments in the pool, given in order to verify the functionpositioning system, shows that the expected goals are basically achieved...