无线电水声浮标阵多目标跟踪定位系统
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摘要
水声定位系统在海洋科学领域应用广泛，但原有系统大多或设备庞大、操作复杂，或定位范围小、精度低，很难真正下满足使用需求。声学、信号处理理论逐步成熟；电子技术，如DSP、DGPS技术的发展，为我们提供了开发更先进的定位系统的可能。
本论文的主要工作包括水下多目标跟踪系统的总体设计研究与实现，浮标中嵌入式DGPS接收机的使用和海上无线通信系统的搭建，最后通过实验验证系统的工作性能。
系统的总体结构设计是决定一个系统性能好坏的关键因素。本系统由船载显控分系统、中继站和浮标三大部分组成，其中浮标式结构的提出是系统设计的独特之处，使系统可以实现大范围、高精度的目标跟踪定位。文中介绍了整个系统的设计模式，声信号检测与估计的手段，定位解算的方式，并且对浮标电子平台、基站综合处理机的软、硬件实现及主控软件的模块化设计也进行了论述。
根据定位原理，除了测量目标的声学信息外，必须得到浮标的位置信息。DGPS技术使这一问题迎刃而解，将DGPS接收机嵌入浮标的电子平台内，就可以动态获得浮标的精确位置。此外，系统的各节点需要同步工作，而DGPS接收机此时同样起到了重要的作用，其输出的秒脉冲(1PPS)信号使系统只利用一个普通的时钟就实现了高精度的同步。本文介绍DGPS的使用及同步过程。
各浮标的数据汇总到主控计算机，由主控机对数据进行综合、解算才能最终得到目标的位置。本系统以无线微波扩频通信的方式实现浮标与主控机的数据交换。无线通信分系统是一个由浮标、中继站、基站综合处理机组成的无线局域网，工作于2.4GHz频段，最高通信速率可达1Mbps。这种无线数字微波通信系统很少在海上使用，这对我们也是一种挑战。本文对选用的收发信机的特点及通信的实现方法作了说明，并结合本系统的实际工作特点设
哈尔滨工程大学博士学位论文
计了通信协议。通信距离是系统设计时需重点考虑的问题之一，通过理论分
析、仿真和海上拉距的实验结果，证实所设计的通信系统可以达到15km的通
信距离(基站与浮标间)，这也是保证系统跟踪范围的一个重要依据。
最后，本文对系统的湖试、海试作了介绍，系统的各项优良陛能在实验
中得到了充分的体现。
Acoustic positioning system has wide application in Ocean Scientific field. However, existing systems have disadvantages of bulkiness, perplexing operation, limited position range and low precision, resulting in their incompetence of satisfying many application needs. With the development of Acoustics and Signal Processing theory, as well as that of DSP and DGPS technology, it is possible for us to develop more advanced positioning systems.
The main work of this thesis includes: system level design and implementta-tion of an Underwater Multiple Targets Tracking (UMTT) system, use of the embedded DGPS receiver in buoy, migration of wireless communication system on ocean, and performance verification by experiments.
System architecture design is crucial to a system's performance. Our system is composed of display and control subsystem on boat, relay station, and buoys. Among others, buoy-style structure is one of its innovations, which enables it to track and position targets in wide range with high precision. This thesis introduces the design mode of the system, acoustic signal detection and estimation methods, how to position and solve, etc. Others discussed in the thesis include software and hardware realization of buoy electrical platform and base station synthesizer, and module design of controlling application.
According to position principle, it is necessary to get buoys' location besides targets' acoustic information. Fortunately, DGPS has made such problem easy to be solved. With DGPS embedded in buoy electrical platform, accurate location of buoy can be dynamically acquired. In addition, nodes in the system need be synchronized periodically to properly work, where DGPS also plays an important role. The 1PPS (one pulse per second) signal output from DGPS provides an easy way to accurately time using an ordinary clock. Its use and synchronization
methods are presented in the thesis.
Measurement data of buoys is collected for master computer, where target positions are obtained by synthesizing data and resolving equations. Data exchange between buoys and computer comes true with the help of wireless microwave spread spectrum communication system, which is a wireless LAN comprising buoys, relay and base station synthesizer and utilizing 2.4 GHz band with bit rate up to 1Mbps. As we know, ssuch wireless digital microwave communication is seldom put into action on ocean, and then offers a challenge for us. Next, the thesis illustrates the feature of transceiver and how to communicate, and designs communication protocol on the basis of practical working environment. Communication acceptance range is one of the important issues to be considered during design. Through theory analysis, simulation and experiment on ocean, reliable communication can be achieved as distance between base station and buoy increasing up to 15 kilometer, which guarantees the system's tracking range.
Lastly, this thesis gives detail information about experiments both on lake and on ocean, in which many high performance of the system has fully embodied.
本论文的主要工作包括水下多目标跟踪系统的总体设计研究与实现，浮标中嵌入式DGPS接收机的使用和海上无线通信系统的搭建，最后通过实验验证系统的工作性能。
系统的总体结构设计是决定一个系统性能好坏的关键因素。本系统由船载显控分系统、中继站和浮标三大部分组成，其中浮标式结构的提出是系统设计的独特之处，使系统可以实现大范围、高精度的目标跟踪定位。文中介绍了整个系统的设计模式，声信号检测与估计的手段，定位解算的方式，并且对浮标电子平台、基站综合处理机的软、硬件实现及主控软件的模块化设计也进行了论述。
根据定位原理，除了测量目标的声学信息外，必须得到浮标的位置信息。DGPS技术使这一问题迎刃而解，将DGPS接收机嵌入浮标的电子平台内，就可以动态获得浮标的精确位置。此外，系统的各节点需要同步工作，而DGPS接收机此时同样起到了重要的作用，其输出的秒脉冲(1PPS)信号使系统只利用一个普通的时钟就实现了高精度的同步。本文介绍DGPS的使用及同步过程。
各浮标的数据汇总到主控计算机，由主控机对数据进行综合、解算才能最终得到目标的位置。本系统以无线微波扩频通信的方式实现浮标与主控机的数据交换。无线通信分系统是一个由浮标、中继站、基站综合处理机组成的无线局域网，工作于2.4GHz频段，最高通信速率可达1Mbps。这种无线数字微波通信系统很少在海上使用，这对我们也是一种挑战。本文对选用的收发信机的特点及通信的实现方法作了说明，并结合本系统的实际工作特点设
哈尔滨工程大学博士学位论文
计了通信协议。通信距离是系统设计时需重点考虑的问题之一，通过理论分
析、仿真和海上拉距的实验结果，证实所设计的通信系统可以达到15km的通
信距离(基站与浮标间)，这也是保证系统跟踪范围的一个重要依据。
最后，本文对系统的湖试、海试作了介绍，系统的各项优良陛能在实验
中得到了充分的体现。
Acoustic positioning system has wide application in Ocean Scientific field. However, existing systems have disadvantages of bulkiness, perplexing operation, limited position range and low precision, resulting in their incompetence of satisfying many application needs. With the development of Acoustics and Signal Processing theory, as well as that of DSP and DGPS technology, it is possible for us to develop more advanced positioning systems.
The main work of this thesis includes: system level design and implementta-tion of an Underwater Multiple Targets Tracking (UMTT) system, use of the embedded DGPS receiver in buoy, migration of wireless communication system on ocean, and performance verification by experiments.
System architecture design is crucial to a system's performance. Our system is composed of display and control subsystem on boat, relay station, and buoys. Among others, buoy-style structure is one of its innovations, which enables it to track and position targets in wide range with high precision. This thesis introduces the design mode of the system, acoustic signal detection and estimation methods, how to position and solve, etc. Others discussed in the thesis include software and hardware realization of buoy electrical platform and base station synthesizer, and module design of controlling application.
According to position principle, it is necessary to get buoys' location besides targets' acoustic information. Fortunately, DGPS has made such problem easy to be solved. With DGPS embedded in buoy electrical platform, accurate location of buoy can be dynamically acquired. In addition, nodes in the system need be synchronized periodically to properly work, where DGPS also plays an important role. The 1PPS (one pulse per second) signal output from DGPS provides an easy way to accurately time using an ordinary clock. Its use and synchronization
methods are presented in the thesis.
Measurement data of buoys is collected for master computer, where target positions are obtained by synthesizing data and resolving equations. Data exchange between buoys and computer comes true with the help of wireless microwave spread spectrum communication system, which is a wireless LAN comprising buoys, relay and base station synthesizer and utilizing 2.4 GHz band with bit rate up to 1Mbps. As we know, ssuch wireless digital microwave communication is seldom put into action on ocean, and then offers a challenge for us. Next, the thesis illustrates the feature of transceiver and how to communicate, and designs communication protocol on the basis of practical working environment. Communication acceptance range is one of the important issues to be considered during design. Through theory analysis, simulation and experiment on ocean, reliable communication can be achieved as distance between base station and buoy increasing up to 15 kilometer, which guarantees the system's tracking range.
Lastly, this thesis gives detail information about experiments both on lake and on ocean, in which many high performance of the system has fully embodied.
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