Research On Underwater Acoustic Signal Processing And Path Planning Of Autonomous Underwater Vehicle

The paper mainly studies the path planning problem in autonomous underwater vest,AUV)water sound signal processing and complex water sound environments.The sound is the only signal that can be transmitted in the water,acoustic observation is an important technical means of marine observation.In order to better understand the underwater environment,this paper uses the AUV passive water sound detection,relying on the water sound sensor of its own equipment to observe the marine environment,collecting,identifying and classifying the water sound signal,and the information about the water sound signal is given..On this basis,in order to reduce the influence of external complex noise on AUV,acoustic observations in a stable environment,the interference problem of AUV acoustic observations in the stable environment is studied,and the path planning of AUV in complex water sound environments is studied.First,in order to make the AUV can perform normal acoustic observations underwater,the water sound data acquisition on the path is completed.This article integrates vector water hearing on AUV,carrying out the sea test experiment and muffle pool experiment,complete typical water Acoustic signal acquisition.The collected signals are mainly underwater sounds of marine background noise,human noise,biological noise.Then,based on the relevant experimental data,the acquired water acoustic signal is processed,and the Mel feature extraction algorithm is used to identify and classify the processed sound signals to be identified and classified,and the designed water is verified.The accuracy and reliability of the next target feature extraction and the identification classification algorithm.Next,the aqueous sound signal of the classification output is handled,and the environment model under acoustic observation path planning is established.In order to simulate the underwater complex marine environment,this paper uses the two-dimensional flow field vector map through the lamb flow and regular flow model.In addition,on the path of acoustic observation,the ocean complex external water sound environment will cause a certain interference to AUV when performing acoustic observation enemy threats,and this paper is directed according to the identification classification,and directs the symbol signal pointing,The propagation characteristics of the water sound signal have established a water acoustic dissemination impairment model as an environmental disorder in acoustic observation path planning.And the above study is used as environmental data in the AUV acoustic observation path planning.Finally,in order to make the AUV can perform acoustic observations in a quieter observation environment,AUV in the unknown water sound environment avoids path planning of unrelated water interference.First,analog annealing-genetic algorithm is used to perform global path planning for AUV,and the path planning simulation experiment in the waters,effectively solved the shortcomings of the basic genetic algorithm.And use the scroll window method as a probe display tool,a different avoidance strategy is proposed for local path planning.Avoiding a dynamic water barrier in the path planning.The two algorithms are combined to form a double layer algorithm,and the two-layer algorithm structure can better achieve the path of AUV acoustic observations by path planning simulation experiments.Plan,provides reference for acoustic observations.