【摘要】 给出了一种基于水声链路的水下潜航器(Unmanned Underwater Vehicle,UUV)之间测距与授时的新方法。该方法采用水声双向伪码授时-测距(Two-Way Pseudocode Timing-Ranging,T-WPc T-R)及水下UUV的冲突避免多址接入(Multiple Access with Collision Avoidance,MACA)协议实现UUV之间的交互,利用双向伪距授时-测距(Two-Way Pseudorange TimingRanging,T-WPrT-R)体制实现水下UUV间的精密测量及时间同步。首先给出水声链路UUV测距、授时的传输帧协议格式,其次给出水声链路UUV的T-WPrT-R数学模型,最后对相应的测距与时间同步测量误差进行分析。研究表明,所提出的体制信道资源利用率高、工程可实现性强、设备复杂度及成本低,能够满足水下UUV之间的测距及时间同步业务需求。更多还原

【Abstract】 A new method of distance measurement and timing between UUV(Unmanned Underwater Vehicle) based on underwater acoustic link is presented. This method uses underwater acoustic Two-Way Pseudocode Timing-Ranging(T-WPcT-R) and MACA(Multiple Access with Collision Avoidance) protocol to realize the interaction between UUVs, and uses the Two-Way Pseudorange Timing-Ranging(T-WPrT-R) system to realize precise measurement and time synchronization between underwater UUVs. First, the transmission frame protocol format of UUV ranging and timing of underwater acoustic link is given. Then, the T-WPrT-R mathematical model about UUV of underwater acoustic link is given. Finally, the measurement of the ranging and time synchronization errors is analyzed. The results indicate that the proposed system has high channel resource utilization, strong engineering feasibility, low equipment complexity and low cost, and can meet the needs of underwater UUV ranging and time synchronization services.更多还原