Research On High Precision Positioning And Tracking System Of Underwater Multi Beacon

In the ocean engineering construction, such as the construction of artificial reefs,underwater salvage, the submarine oil pipeline laying, sub-sea tunnel engineering, optical engineering and marine mineral resources exploration and engineering, the underwater operations and the water location is all needed. At present, underwater positioning technology is widely used in offshore and deep sea engineering, and many domestic and foreign manufacturers provide a variety of products. But now within the scope of small scale, the products who can implement high precision positioning and tracking is relatively difficult, there are no low-cost positioning system products on the market.By using modern advanced electronic information technology, it is possible to develop a high precision water positioning and tracking system which is suitable for small scale range, and realize its small, low energy consumption and low cost. After we finish this system, it can be applied to the monitoring of the state of the water culture net, the positioning of the underwater fish body and the laying of the submarine pipeline and the like.In view of the above problems, this paper puts forward the following research work:First, cheap low energy consumption of small underwater beacon design, including hardware and software design; cheap beacon can be used that is abandoned, after the completion of the position does not need to carry on the follow-up of the recovery work;Second, through a variety of error correction and implemented using 8 channels underwater acoustic data of high precision positioning model and algorithm; error correction including sound velocity error correction and correction of sonar array gesture,the detailed discussed and carries on the simulation of the positioning error caused by.Third, based on the design of pseudo-random code set, the implementation of underwater multi target recognition. Through the use of the best mutual correlation of the best Gold code as underwater beacon address code, while the use of matched filtering technology to complete the signal identification.Fourth, proposes to use extended empirical orthogonal function method for rapid access to full ocean depth sound speed profile; the method not only more efficient, but also overcome the traditional empirical orthogonal function(EOF) can not reconstruct the whole sea deep sound velocity profile.In a simulated marine environment, we of the transmitting transducer of performance measurement and analysis. The test results meet the requirements of distance of small-scale and beacon overall making cost control in less than 100 yuan. At the same time, we in the laboratory environment around the pool to the system do pre testing, will receive the target sound source signals using the matched filtering technique, and combined with the high precision positioning algorithm, achieving the position of the sound source. Pool test results show that the average positioning accuracy of the system to reach 0.2 meters, the optimal is0.05 meters, in line with the expected requirements.