【作者】 王冬；

【导师】 付进；

【作者基本信息】 哈尔滨工程大学 ， 水声工程， 2016， 硕士

【摘要】 长基线水声定位系统是水声定位的经典系统,本文的船载测距仪平台是某长基线水下定位导航系统中的重要组成部分。船载测距仪平台要完成的主要任务包括参与完成对水下应答器基阵的测阵、校阵;发射询问信号和水声遥控指令;接收应答器发射信号及水声指令信号;对接收信号进行处理并将结果上传至显控平台。船载测距仪软件需要完成对水下多个应答器发射信号的时延估计、应答器上传水声遥控指令的检测、与显控平台之间的网络通信。本文研究的主要内容是船载测距仪的软件设计,包括算法实现原理、软件设计流程以及最后的性能测试。本系统的信号形式包括宽带调频信号与窄带CW信号,使用快速滑动相关法进行宽带信号处理并进行时延估计;使用多通道自适应Notch滤波器对窄带信号进行预处理,并辅以瞬时频率方差判决准则进行窄带信号的检测与时延估计。水声遥控指令的检测同样使用自适应Notch滤波器。为达到多通道实时处理的要求,本系统选择使用DSP TMS320C6678,一款高性能的8核处理器,并使用SYS/BIOS实时操作系统进行软件开发。软件设计分为网络通信模块、宽带信号时延估计模块、窄带信号时延估计模块、水声遥控指令检测模块以及核间通信模块,分别在DSP的0、1、2、3核上运行;并研究了针对于TMS320C6678的I2C多核加载技术。最后通过湖试实验对船载测距仪平台的性能进行测试,经过对湖试实验结果的分析,证明了测距仪平台能够稳定可靠的完成预先设计的功能。更多还原

【Abstract】 Long baseline acoustic positioning system is a classic acoustic positioning system. As an important part of this kind of system, the main tasks to the shipborne rangefinder platform are measuring transponder array, launching ask signal and underwater acoustic remote control instruction, receiving underwater acoustic signal from transponder, processing signal and uploading results to PC by network. The software is required to calculate time delay of signal and detect instructions from transponders, then, upload results to PC. The main content of this paper is the design of shipborne rangefinder software, including algorithm implementation,software design process and performance test.The signals of this system include broadband frequency signal and CW signal, using the fast sliding correlation to process the broadband frequency signal and estimate the time delay; using adaptive Notch filter to preprocess CW signal,then,detecting and estimating the time delay by means of VIFD.DSP TMS320C6678 is a high-performance processor with eight cores, which can meet the requirement of real-time processing. The software includes network data transmission module, time delay estimation module and instruction detection module on the basis of SYS/BIOS real-time operating system, loading those four software modules into the first four cores of TMS320C6678. What’s more, this paper studied the multi-core loading technology applied to TMS320C6678.Finally, testing the performance of this software by lake experiments, and the facts show that ship rangefinder software can complete the task stably and reliably.更多还原