首页|基于FPGA的水下单程声径跟踪测速系统设计与实现

基于FPGA的水下单程声径跟踪测速系统设计与实现

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针对现有水下航行体的导航存在时延大和无法同时满足跟踪测速一体化问题,提出了一种基于单程声径的水下定位测速方法.相比传统长基线的双程声径定位测距,该方法基于高精度原子钟的同步系统,实现单程声径的目标测距测速.该水下定位测速一体化系统是基于具有快速并行计算能力的FPGA实现,解算结果可在微秒内完成,时延有效降低.针对目标跟踪测速一体化问题,水下航行体在系统同步时刻周期性发射线性调频信号,水下信标接收基阵设计基于短时傅里叶变换/逆变换算法对信号进行时频域转换分析,能够准确地提取信号的到达时刻和多普勒频偏.水下信标基阵进而可在系统同步周期内解算每个接收信标单元相对于水下航行体的径向速度和径向距离,实现目标的跟踪测速.仿真实验表明,该方法的跟踪相对误差控制在0.2％,测速相对误差控制在0.8 m/s.湖试试验结果表明,该方法跟踪相对误差控制在5％,测速相对误差控制在0.3 m/s.
Design and Implementation of Integrated System for Underwater One-Way Acoustic Path Tracking and Velocity Measurement Based on FPGA
Targeting at the problems that the navigation of existing underwater vehicles has large time delay and cannot meet the integra-tion of tracking and velocity measurement at the same time,an underwater positioning and velocity measurement method based on one-way acoustic path is proposed. Compared with the traditional long-baseline two-way sound path positioning and ranging,the proposed method is based on the synchronization system of the high-precision atomic clock,and realizes the one-way sound path target ranging and speed measurement. The underwater positioning and speed measurement integrated system is based on fast parallel computing capa-ble FPGA implementation,and the solution result can be completed in microseconds to reduce the delay effectively. Aiming at the inte-gration of target tracking and speed measurement,the underwater vehicle periodically transmits a chirp signal at the time of system syn-chronization,and the underwater beacon receiving array is designed to transform the signals in the time-frequency domain based on the short-time Fourier transform/inverse transform algorithm. Analysis can accurately extract the time of arrival and Doppler frequency offset of the signal,and the underwater beacon array can then calculate the relative relationship between each receiving beacon unit relative to the underwater vehicle within the system synchronization period. The radial velocity and radial distance can realize the tracking velocity measurement of the target. Simulation experiments show that the relative tracking error of this method is controlled at 0.2％,and the rel-ative error of velocity measurement is controlled at 0.8 m/s. The results of the lake test show that the relative tracking error of the pro-posed method is controlled at 5％,and the relative error of velocity measurement is controlled at 0.3 m/s.

underwater communicationField Programmable Gate Array( FPGA)one-way sound trackShort-Time Fourier Transform ( STFT)doppler frequency offsetTime Of Arrival( TOA)

赵冬冬、徐荣宝、陈朋、梁荣华、梁世慧、吕成财

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浙江工业大学计算机科学与技术学院,浙江 杭州 310023

中国科学院深海科学与工程研究所,海南 三亚 572000

水下通信 FPGA 单程声径 短时傅里叶变换 多普勒频偏 到达时刻

浙江省自然科学基金国家自然科学基金项目浙江省属高校基本科研业务专项资金中国科学院战略性先导科技专项(A类)

LQ21F01001162001418RF-C2019001XDA22030301

2024

10.3969/j.issn.1004-1699.2024.05.010

传感技术学报
东南大学 中国微米纳米技术学会

传感技术学报

CSTPCD北大核心
影响因子：1.276
ISSN：1004-1699
年,卷(期)：2024.37(5)