Design And Realization Of Display And Control Software For Underwater Target Acoustic Positioning And Monitoring System

Marching into the ocean,accelerating the construction of a maritime power,and promoting the comprehensive development of marine science and technology are major strategic measures in the field of national defense in the new era.Underwater acoustic positioning technology is one of the most important supporting forces in marine development and application,and has an irreplaceable position.Based on the long-baseline underwater acoustic positioning technology,this paper focuses on the problem of how to improve the positioning accuracy of the underwater moving target encountered in the development of the underwater target acoustic positioning monitoring system.Firstly,the high-precision measurement method of the underwater target trajectory is studied.Then,the filtering algorithm is applied to the preprocessing of the positioning observation data in order to obtain a continuous and reliable target motion trajectory,and the above research results are comprehensively applied to the display and control software.For underwater target trajectory positioning,this paper first discusses the commonly used time-delay convergence algorithms in traditional long-baseline positioning systems,conducts simulation studies on synchronous and asynchronous working modes,and analyzes the positioning of each algorithm at different positions of the measurement array.On the basis of the traditional algorithm,this paper considers making full use of redundant array element information,deduces the iterative positioning formula based on the optimization theory,and studies two robust optimal positioning algorithms,the steepest descent method and the Gauss-Newton method.The combination of algorithms improves the positioning accuracy of the system.In the vertical direction,a double-pulse sounding strategy is adopted,and a pressure sensor is installed on the underwater cooperative target.The distance between the double-pulse signal emitted by the target changes with its own depth during the underwater movement.Due to the complexity of the underwater acoustic channel and the interference in the environment,there are often time delay estimation outliers and delay missed detections in the detection and estimation process of the underwater acoustic signal,and the time delay is a key parameter in the target localization algorithm.In this paper,we consider the application of filtering algorithms in the preprocessing of localization solution,and study various filtering algorithms for the basic target motion model.Firstly,based on the Bayesian principle,the Kalman filtering algorithm and the particle filtering algorithm are studied.The effect of delay filtering and its influence on positioning accuracy;the RBMCDA algorithm under the framework of Rao-Blackwellized particle filter is studied,and the filtering ability of double-pulse delay under multiple observations per cycle is simulated and analyzed.In the process of design and implementation of the display and control software of the underwater target acoustic positioning monitoring system,the demand analysis and task clarification of the display and control software are firstly carried out,and the overall structural framework of the software is designed;The solving software is divided into several modules with independent functions and low coupling degree,and software development is carried out under the framework of cross-platform Qt.The performance of the software is tested through laboratory electrical and field tests,and the experimental measurement results are analyzed,which proves the effectiveness and practicability of the above algorithm in engineering software.