【摘要】 多AUV协同系统(MAUVS)具有作业范围广、功能强、工作效率高等特点。面对复杂的海洋环境,系统节点在执行任务过程中需要调整自己的运动状态,运动状态的改变会导致节点间通信距离发生变化,并产生多普勒频移,影响协同系统通信性能。基于此,文中从拓扑结构出发,考虑误码率和水下通信的时延特性,提出使用全网完成度来描述系统通信性能的可靠性,并给出全网完成度的计算方法。通过算例分析了不同运动状态下通信距离变化对通信链路的影响,给出了节点运动对MAUVS全网完成度的影响,从一定程度上证明了全网完成度描述MAUVS通信网络可靠性的合理性。更多还原

【Abstract】 The multi-AUV collaborative system(MAUVS) has a wide space range, strong functions and high efficiency. While facing the complex ocean environment, system nodes are required to adjust their movement during execution of tasks. The change in the movement of the nodes will affect communication distance between nodes, and Doppler frequency shifts, which will in turn affect the reliability of MAUVS. Based on the topology, considering the bit error rate and the delay characteristics of underwater communication, the reliability of communication performance is described herein in terms of holistic-network performability, and a method for calculation of holistic-network performability is discussed. The effect of communication distance on links under different motion states is analyzed using examples, and the effect of the movement of nodes on the holistic-network performability of the entire network is discussed. This study verifies the reliability of the MAUVS communication network described using holistic-network performability.更多还原