【摘要】：在復雜時變水聲通信環(huán)境中非相干FH-FSK調(diào)制解調(diào)技術是一種較為穩(wěn)健、可靠的通信方式,適合于低速、高可靠的水聲設備遙控等應用場合,如水面船遙控高速運動的水下智能機器人(autonomous underwater vehicle,AUV)。但也面臨著以下困難:1)高速運動帶來的多普勒會嚴重惡化通信系統(tǒng)性能;2)為節(jié)省能耗,AUV依據(jù)通信需求可對通信單元進行經(jīng)常性的上電與斷電操作,導致異步單工工作模式下水面與水下通信節(jié)點之間很難協(xié)調(diào)工作。針對以上問題,提出了采用脈沖對技術進行可靠多普勒估計,并采用線性插值技術進行高效多普勒補償;結合通信節(jié)點板載高精度時鐘以及設計的聲鏈路同步機制有效地解決了AUV和水面控制船之間的雙向鏈路建立與數(shù)據(jù)傳輸工作。基于OMAP-L138雙核處理器平臺設計與實現(xiàn)了FH-FSK的水聲調(diào)制解調(diào)器的樣機,湖上實驗結果表明提出的傳輸控制協(xié)議可保證通信節(jié)點之間的通信鏈路隨機建立和斷開,結果證明所設計的樣機穩(wěn)定、可靠。
文內(nèi)圖片：
圖片說明：AUV通信機系統(tǒng)工作示意圖
[Abstract]:Incoherent FH-FSK modulation and demodulation technology in complex time-varying underwater acoustic communication environment is a robust and reliable communication mode, which is suitable for low speed, high reliability underwater acoustic equipment remote control and other applications, such as surface ship remote control high speed underwater intelligent robot (autonomous underwater vehicle,AUV). However, it also faces the following difficulties: 1) Doppler caused by high-speed motion will seriously deteriorate the performance of the communication system; 2) in order to save energy consumption, AUV can regularly turn on and off the communication unit according to the communication requirements, which makes it difficult to coordinate between the surface and underwater communication nodes in asynchronous simplex mode. In order to solve the above problems, a reliable Doppler estimation technique based on pulse is proposed, and a linear interpolation technique is used for efficient Doppler compensation. Combined with the high precision clock on board of communication nodes and the designed acoustic link synchronization mechanism, the bidirectional link establishment and data transmission between AUV and water surface control ship are effectively solved. The prototype of FH-FSK underwater acoustic modem is designed and implemented based on OMAP-L138 dual-core processor platform. The experimental results on the lake show that the proposed transmission control protocol can ensure the random establishment and disconnection of communication links between communication nodes. The results show that the designed prototype is stable and reliable.
【作者單位】： 哈爾濱工程大學水聲工程學院;
【基金】：國家自然科學基金資助項目(50909029)
【分類號】：TN929.3;TN915.05

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