Design And Implementation Of Diver Monitoring Platform Based On Underwater Acoustic Positioning

Human life originates from the ocean.The ocean not only provides space for human survival and development,but also one of the main battlefields in the world 's military battles.It plays an important role in human politics,economics,and social life.With the development of economy and science and technology,the process of human exploration and development of the ocean is getting faster and faster.There are many projects in ocean engineering that require professionals to complete these tasks by diving.However,despite the professional equipment,working underwater for a long time will still pose a great threat to the safety of divers.Therefore,how to ensure that divers work safely underwater is an issue that must be considered.This thesis designs and implements a set of underwater acoustic positioning platform for divers based on the existing buoy equipment and underwater acoustic positioning scheme.The platform has high positioning accuracy.It can switch algorithms based on two different positioning occasions:cooperative positioning and non-cooperative positioning,choose the appropriate algorithm according to the suitable occasion,and can perform physiological detection on divers,which can better guarantee Diver safety underwater.Based on the long baseline positioning system,the paper establishes a real-time positioning system that can locate divers and perform physiological monitoring.The system divides positioning scenarios into two types.One is a scenario where divers carry beacons to transmit positioning signals,and buoys collect data for positioning.This scenario uses a combination of the Chan-Taylor TDOA positioning algorithm with higher accuracy and the UPF tracking algorithm.For positioning and trajectory prediction,the other is a scenario where the buoy emits a positioning signal and the diver collects the signal for self-positioning.This scenario uses a combination of the Chan TDOA positioning algorithm and the PF tracking algorithm for trajectory tracking.Improve computing efficiency as much as possible,suitable for portable devices.In addition,this paper takes into account the phenomenon of sound ray bending during underwater acoustic communication.This paper uses the dichotomy iteration method based on the sound ray model to modify the speed of sound,which further improves the positioning accuracy.In order to cope with the multipath phenomenon,this paper proposes a particle filter-based delay estimation algorithm,which uses particle filtering to predict and modify the current delay distribution according to the multipath delay distribution at the previous time.Aiming at the problem of network node selection required in the second scenario,this paper improves the node optimization algorithm,and proposes a genetic particle swarm optimization algorithm for underwater acoustic sensor network nodes.Under the premise of ensuring a certain accuracy,the node's Factors such as topology,energy overhead,etc.,select the received positioning signal,reduce the amount of calculation and improve efficiency,and can be better applied to underwater acoustic positioning scenarios.