【作者】 刘林泉；

【导师】 梁国龙；

【作者基本信息】 哈尔滨工程大学 ， 信号与信息处理， 2008， 博士

【摘要】 水声跟踪定位、导航以及水声通信是水声系统的基础应用领域,在海洋科学领域应用广泛,但将水声精确跟踪定位、导航和水声通信融为一体的应用尤有重要价值。我国某试验场原有的水声跟踪定位、导航和通信系统都是单独工作的,其功能比较单一,多系统共同作业时,还会经常出现不能兼容工作的问题,且海上试验过程中目前还难于实现对水下航行目标的指挥通信功能,因此,难以满足试验使用需求。本文针对某海上试验场的大型水声综合测控系统装备预研项目的立项要求,结合我国大陆架延伸距离远、试验海域离岸远的特点,在分析研究了相关技术的基础上,研究了基于浮标式活动阵元的具有水下多目标跟踪、导航和试验指挥水声通信功能的水声综合测控系统体系。着重研究了低速率高清晰度指挥语音水声通信技术、系统定位精度校验技术、浮标水下阵元坐标测量校准技术、水声通信与跟踪导航系统整合等关键技术。讨论了采用可折叠式多功能浮标实现多目标水声跟踪定位、水声导航和水声通信功能的系统整合技术,并对可将水声定位、跟踪监测、水下导航和水声通信相结合的水声及无线电通信传输协议、系统的声兼容等技术进行了研究探讨。其中水声定位精度校验技术、精确自定位可折叠式浮标结构和低速率高清晰度指挥语音水声通信技术是系统研究的独特之处,使系统可以实现大范围、多目标高精度跟踪定位、导航和高清晰度指挥语音水声通信功能。在水声精确定位方面,从定位数据处理方法入手,分析研究了影响系统定位误差的相关因素,研究了自带短基线组合定位功能的浮标阵元水下精确自定位及校准技术和平均声速精确测量技术,并结合同步测时技术来提高系统定位精度的方法,还对系统定位精度和浮标水下阵元的定位精度进行了仿真研究。在指挥通信方面,概要地分析比较了国内外相关水声及无线电数据通信体制及其技术发展状况,研究了基于多媒体信息代码转换的极低速率高清晰度指挥语音水声通信方法。通过对文字及语音等信息的联合编码和解码,可将复杂的语音水声通信转变成简单的水声代码传输。另外,对时频编码水声通信技术和基于扩频水声通信的语音信息代码传输技术也进行了理论探讨和海上试验研究。系统定位精度海上校验方面,研究了水下位置基准建模方法,研制了水声定位精度标定系统,并进行了陆上和海上应用试验测试,验证了该方法的有效性。最后,通过对浮标阵元自定位精度、系统定位精度的实验室仿真,以及通过对模拟目标的标准位置陆上校验、文字及其语音联合编码水声通信海上试验,证实主要关键技术的解决方法合理可行,理论与仿真及海试结果合理地一致,应用这些技术能实现该水声综合测控系统所需的功能和技术要求。更多还原

【Abstract】 Underwater acoustic positioning, navigating and communicating are the basic applications of underwater system and widely used in ocean science field. But it is a more valuable application to combine underwater acoustic positioning, navigating and communicating. Original underwater acoustic positioning, navigating and communicating systems worked separately, had simplex function and low precision. When multi-system worked together, they usually cannot work compatibly with each other. Further more, they cannot perform commanding and communicating function to the underwater target during sea test and cannot meet the requirement of the test range. In order to meet the prestudy need of the large hydroacoustic synthetic measurement and control system of a test range of our country, considering the characteristics of long continental shelf and long distance from test sea area to coast, on the basis of analyzing and researching several correlative technologies, this paper lays emphasis on analysis of such key technologies as high definition command speech underwater acoustic communication at low bit rate, system positioning precision verify, array element coordinate measuring calibration, integration of underwater acoustic communication and navigation system etc, brings forward a general design philosophy about comprehensive underwater acoustic measurement and control system, which, based on active array element of buoyage, can perform the functions of underwater multi-target tracking, navigation and test commanding and underwater acoustic communication.The system conformity technologies are discussed, which adopted folding multifunction buoy to carry out multiobjective underwater acoustic positioning, navigating and communicating. By discussing such technologies as underwater acoustic and wireless communication protocol and system sound compatibility which are combined with underwater acoustic positioning, tracing and navigation, and underwater acoustic communication, a new underwater acoustic system is put forward. What is unusual in the system design is the accoustic positioning accuracy verifying technique, the self positioning buoyage structure and low rate but high definition command speech underwater acoustic communicating technology, which can realize large-scale and multi-target tracking and positioning with high accuracy, accurately navigating for underwater targets and high definition command speech communication.For the underwater acoustic positioning, beginning from the positioning data processing method, this paper analyzes and researches the correlative factors which influences system positioning error, brings forward a technology of buoyage array element underwater exactly self-positioning and calibration with short baseline combination positioning function, in which the average sound velocity is taken place by equivalent one measured practically, by combining with synchronization measuring technology, the positioning precision is improved, and the system dynamic positioning precision verifying technology on the sea is analyzed and researched.For the communication, domestic system and developing status of correlative underwater acoustic technology and wireless communication technology were briefly compared with abroad ones, a high definition command speech underwater acoustic communication method at very low rate is proposed. By researching on coding and decoding multimedia information of character and voice, the complicated sound underwater acoustic communication is turned into simple underwater acoustic code transfer. In addition, time frequency coding underwater acoustic communication technology and spread spectrum underwater acoustic communication were also discussed theoretically and researched by the test at sea.For the system positioning accuracy verifying, underwater position reference modeling method was reseached. An underwater acoustic positioning calibration system was developed. It’s performance test on land and on the sea was carried out, and the results prove the efficiency of the method.Finally, through the laboratory emulation of buoyage array element self-positioning and system positioning precision, land verification of simulative targets’ accurate position, sea test of united coding of message and voice, the main key technologies and solving method are proved to be reasonable and feasible, theoretical value, emulation value and test result coincide well. These technologies can realize the function and request of underwater acoustic comprehensive measure and control system.更多还原