本文關(guān)鍵詞：自動(dòng)水下聲源探測(cè)跟蹤系統(tǒng)　出處：《蘭州大學(xué)》2016年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 水下聲源 跟蹤 陣列信號(hào)處理技術(shù) AUV

【摘要】：由于海洋環(huán)境有壓力大、能見(jiàn)度低等特點(diǎn),導(dǎo)致人類(lèi)對(duì)海洋的了解和利用還不夠充分,水下機(jī)器人(Autonomous Underwater Vehicle,AUV)的發(fā)展是人類(lèi)在海洋探索方面邁出的重要一步。水下機(jī)器人可以自主地完成各種任務(wù),水下聲源的探測(cè)跟蹤是其重要的一個(gè)分支。目前國(guó)內(nèi)外文獻(xiàn)中關(guān)于水下聲源的探測(cè)跟蹤大多是通過(guò)聲納來(lái)采集目標(biāo)的運(yùn)動(dòng)圖像,通過(guò)對(duì)聲納圖像進(jìn)行處理分析得到目標(biāo)的運(yùn)動(dòng)情況估計(jì),但是這種方法存在聲納圖像本身分辨率不高、噪聲大、受環(huán)境影響大、微弱信號(hào)不易捕捉、探測(cè)距離短等問(wèn)題,這對(duì)方位估計(jì)的實(shí)現(xiàn)就增加了困難,而且運(yùn)算量較大,實(shí)時(shí)性方面有所欠缺。本文的主要研究?jī)?nèi)容是通過(guò)將陣列信號(hào)處理技術(shù)應(yīng)用到目標(biāo)源信號(hào)的處理上實(shí)現(xiàn)對(duì)運(yùn)動(dòng)目標(biāo)的探測(cè)跟蹤。本系統(tǒng)由兩大模塊構(gòu)成:目標(biāo)探測(cè)定位模塊和跟蹤模塊。目標(biāo)探測(cè)定位模塊是利用傳感器陣列被動(dòng)地接收目標(biāo)發(fā)出的噪聲或者聲納信號(hào),對(duì)其進(jìn)行處理,得到信號(hào)源的方位信息即方位角和俯仰角。在實(shí)現(xiàn)對(duì)目標(biāo)的精確定位后,結(jié)合聲波在水中傳輸?shù)乃俣取⑺p規(guī)律,跟蹤模塊實(shí)現(xiàn)對(duì)被測(cè)目標(biāo)運(yùn)動(dòng)趨勢(shì)、速度的估計(jì),繼而可以實(shí)現(xiàn)對(duì)AUV下一步動(dòng)作的精確安排。本文對(duì)所設(shè)計(jì)的系統(tǒng)進(jìn)行了多次實(shí)驗(yàn),采用不同軌跡的信號(hào)作為信號(hào)源輸入,實(shí)驗(yàn)得出結(jié)論:所提出的新方法計(jì)算簡(jiǎn)單,運(yùn)算量小,可以有效而快速地對(duì)各種不同彎曲程度的運(yùn)動(dòng)軌跡實(shí)現(xiàn)擬合,對(duì)目標(biāo)的運(yùn)動(dòng)趨勢(shì)和速度等特征做出合理的估計(jì),對(duì)水下機(jī)器人定位跟蹤方面的發(fā)展有重要意義。
[Abstract]:Due to the characteristics of high pressure and low visibility in the marine environment, human understanding and utilization of the ocean is not enough. Autonomous Underwater Vehicle. The development of AUV is an important step in ocean exploration. Underwater vehicles can accomplish various tasks autonomously. The detection and tracking of underwater sound sources is an important branch of underwater sound sources. At present, the detection and tracking of underwater sound sources in domestic and foreign literature are mostly using sonar to collect moving images of targets. By processing and analyzing the sonar image, the motion of the target is estimated. However, this method has the advantages of low resolution, high noise, strong environmental influence, and the weak signal is difficult to capture. Because of the short detection distance, it is difficult to realize the azimuth estimation. The main research content of this paper is to realize the detection and tracking of moving target by applying array signal processing technology to the processing of target source signal. The system consists of two modules:. The target detection and positioning module is used to passively receive the noise or sonar signal from the target by using the sensor array. The azimuth information and pitch angle of the signal source are obtained. After the accurate positioning of the target, the attenuation law is combined with the velocity of acoustic wave in the water. The tracking module realizes the estimation of the moving trend and velocity of the target under test, and then the precise arrangement of the next action of the AUV can be realized. In this paper, many experiments have been carried out on the designed system. Using the signal of different trajectory as the signal source, the experiment concludes that the proposed new method is simple in calculation and small in operation, and can be used to fit all kinds of trajectory with different bending degree effectively and quickly. It is of great significance for the development of underwater vehicle positioning and tracking to make a reasonable estimate of the moving trend and velocity of the target.
【學(xué)位授予單位】：蘭州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：U666.7;TP391.41

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