3D Active And Passive Detection Sonar Master Control And Interface Software Implementation

With the gradual attention paid by the country to the development of the ocean,the application of sonar in the military and civilian fields is increasing,and sonar equipment such as target reconnaissance and seabed terrain detection has also developed rapidly.The3 D active and passive reconnaissance sonar involved in the paper combines the functions of active target detection,passive target reconnaissance,and seabed terrain detection.It can be loaded on an underwater unmanned platform and can be used for active obstacle avoidance of underwater targets,as well as passive reconnaissance of the opponent’s active sonar.It also has the 3D high-resolution mapping ability of underwater terrain,achieving integrated detection of the marine environment,Therefore,developing a three-dimensional sonar system with active and passive working modes has great practical application value.The paper implements an embedded main control software and upper computer display and control interface software for real-time 3D active and passive sonar with active terrain detection,active target detection,and passive target reconnaissance.The embedded main control software is implemented based on the Zynq 7100 processor,and the display and control interface software is developed based on the Qt framework.The main research content of the paper is as follows:Firstly,based on the Zynq PL FPGA,the logic development is implemented using Verilog language.The main function is to receive data from other functional modules,and write the data into the PS DDR through the AXI bus and AXI-HP interface using DMA;Forwarding the sonar control parameters issued by the PS terminal to other functional modules,controlling the overall working status of the sonar,and returning the current parameters and working status of the sonar to the PS terminal to confirm whether the parameter settings are successful and correct;Generate synchronous signals to unify the time reference of various parts of the sonar system;Control the time-varying gain of the receiver to realize the acoustic wave propagation loss compensation.Secondly,based on the Zynq PS ARM Cortex A9 processor,embedded software development is implemented using C language,mainly including DMA Ping Pong receiving PL data;Using RAW API network programming to complete the reception of commands and parameters transmitted by the display and control interface software,and uploading the data obtained from the sonar to the display and control interface software;In addition,for the convenience of debugging,a remote burning Zynq PL and PS program function has been developed.Finally,based on the Qt framework,a set of upper computer display and control interface software is developed using C++language.The software uses multithreading technology to improve the parallel processing ability,and realize sonar data reception and analysis,data storage and display,sonar parameter control,data sector conversion,image enhancement,pseudo color mapping,image scaling and other functions,which can effectively display the original channel data,water body data,terrain data,And based on Qt visualization technology,real-time dynamic display of 3D scatter maps of surface terrain or targets,with basic operation functions such as scaling and rotation.The final test results of the system indicate that the embedded main control software and upper computer interface software of the 3D active passive reconnaissance sonar developed in the paper have completed high-speed data transmission,and the 3D real-time display of the system main control with terrain and targets,meeting the requirements of various design indicators.