Design Of Quaternary Stereo Array Acoustic Observer Based On Underwater Glider

Underwater Glider has the advantages of low cost,wide observation range,long observation time,good concealment,strong maneuverability and autonomous control.With the development of China's ocean,the Underwater Glider is used as a working platform and equipped with acoustic equipment.The technology used to obtain acoustic information of the marine environment has been receiving more and more attention and application.Based on this,this paper designs an acoustic observer with a Underwater Glider as the working platform and a quaternary stereo array to acquire the horizontal and vertical dimensional acoustic information in the deep sea marine environment and store it in the storage medium.The quaternary stereo array used to obtain acoustic information consists of four deep-water sound pressure hydrophones,two of which are fixed at the Glider's front shroud and tail wing tip position to detect the acoustic information of the vertical dimension,the other two fixed at the wingtip position of the two wings to detect the acoustic information of the horizontal dimension.The acoustic observer designed in this paper mainly includes two parts: hardware design and software design.The hardware design includes the design of analog receiver and the design of digital circuit.In the hardware design,the design of the analog receiver is mainly based on the requirements of technical indicators,designing the amplifying circuit and the filtering circuit,and amplifying and filtering the collected analog signals;the digital circuit is mainly based on the TMS320C6416 DSP designed and produced by TI as the central processing chip.The data acquisition circuit,data transmission circuit,data storage circuit,clock synchronization circuit and power supply circuit are designed.Software design mainly includes the implementation of data acquisition,synchronization,feedback and data storage.The design of the data acquisition software mainly includes three parts: acoustic signal acquisition,temperature and depth and compass information collection and synchronization time information collection.The acquisition methods include timing acquisition,depth acquisition and so on.Finally,the system was initially tested in a laboratory environment,and all indicators met the requirements.After the sea test,the stable and reliable performance of the quaternary stereo acoustic observer designed in this paper is verified,and the horizontal and vertical dimensional marine environmental noise information of a certain sea area and a certain sea depth can be obtained.