本文選題：長(zhǎng)基線定位 + 波形設(shè)計(jì)��； 參考：《哈爾濱工程大學(xué)》2014年博士論文

【摘要】：隨著海洋技術(shù)的飛速發(fā)展,深海礦產(chǎn)資源的開發(fā)受到越來越多的關(guān)注,AUV作為一種便捷的勘探工具被廣泛應(yīng)用。而長(zhǎng)基線定位技術(shù)是保障深海環(huán)境中AUV安全作業(yè)和高精度導(dǎo)航的必備手段之一。論文以深海大范圍勘探作業(yè)對(duì)長(zhǎng)基線定位的需求為背景,在分析比對(duì)了不同誤差源對(duì)定位精度影響程度的基礎(chǔ)上,研究了適用于低速目標(biāo)的多標(biāo)序列生成算法與檢測(cè)技術(shù)、基陣網(wǎng)的整體平差與標(biāo)定技術(shù)以及基于卡爾曼濾波的運(yùn)動(dòng)補(bǔ)償技術(shù)。對(duì)于長(zhǎng)基線定位系統(tǒng)而言,穩(wěn)定可靠的測(cè)距技術(shù)是高精度定位的前提,具有優(yōu)良檢測(cè)估計(jì)性能的跳頻編碼序列為此提供了便利途徑。但深海礦產(chǎn)資源的勘探往往具有探測(cè)覆蓋面積廣的特點(diǎn),為此需要投放大量的聲信標(biāo)以滿足區(qū)域內(nèi)的高精度定位服務(wù),以Costas陣列為代表的構(gòu)造方法為保證序列的相關(guān)抑制能力,普遍存在著序列數(shù)量與信號(hào)頻帶寬度、脈沖長(zhǎng)度相制約的缺陷。論文以Costas陣列追求完美的圖釘式模糊函數(shù)的設(shè)計(jì)思想為引導(dǎo),提出了以犧牲信號(hào)在大多普勒頻偏條件下的相關(guān)性能為代價(jià)的序列生成方法,以解決多用戶的識(shí)別問題。針對(duì)典型的檢測(cè)干擾,研究了基于拷貝相關(guān)波形的壓縮特性、脈沖對(duì)組合檢測(cè)以及拷貝相關(guān)檢測(cè)與能量檢測(cè)聯(lián)合檢測(cè)的改進(jìn)方法。仿真與試驗(yàn)證明,方法在保證了高精度測(cè)距的同時(shí),有效的解決了干擾問題。多信標(biāo)陣型擴(kuò)大了長(zhǎng)基線覆蓋范圍,但同時(shí)也引入了標(biāo)定精度和標(biāo)定效率的問題。基于測(cè)量船航行的標(biāo)定方法受深海聲速修正和船搖擺補(bǔ)償精度不夠的影響,標(biāo)定精度很難提高,從而導(dǎo)致定位精度下降;另外,大量信標(biāo)的標(biāo)定時(shí)間甚至超出了實(shí)際勘探時(shí)間,嚴(yán)重的影響了作業(yè)效率。為此,論文提出了一種基于基陣網(wǎng)整體平差的聯(lián)合標(biāo)定方法,利用高精度的測(cè)距信息,提高了陣型的相對(duì)精度和標(biāo)定效率。仿真和試驗(yàn)證明,方法對(duì)相對(duì)陣型標(biāo)定精度有明顯的改善效果。依靠聲信號(hào)檢測(cè)的長(zhǎng)基線定位系統(tǒng),不可避免的存在定位數(shù)據(jù)無效或者輸出錯(cuò)誤數(shù)據(jù)的現(xiàn)象而且數(shù)據(jù)輸出速率偏低,這對(duì)于實(shí)時(shí)性要求較高的自主導(dǎo)航系統(tǒng)而言是難以接受的�？柭鼮V波技術(shù)對(duì)于數(shù)據(jù)穩(wěn)定性和輸出速率的提升具有良好的效果,但由于長(zhǎng)基線聲學(xué)測(cè)距信息更新慢,外界干擾嚴(yán)重,致使常規(guī)卡爾曼濾波模型極易發(fā)散。本文提出了基于時(shí)延與位置互反饋的發(fā)散抑制方法,克服了估計(jì)模型與實(shí)際運(yùn)動(dòng)狀態(tài)不匹配的問題。利用測(cè)距采樣時(shí)刻補(bǔ)償?shù)姆椒ǜ纳屏四繕?biāo)運(yùn)動(dòng)引入的定位誤差,并對(duì)附有深度信息融合的解算模型進(jìn)行了分析,給出了一種基于深度解算的參數(shù)誤差檢測(cè)方法。試驗(yàn)證明,改進(jìn)的長(zhǎng)基線定位解算方法提高了系統(tǒng)的穩(wěn)定性和可靠性。
[Abstract]:With the rapid development of marine technology, more and more attention has been paid to the exploitation of deep-sea mineral resources. AUV is widely used as a convenient exploration tool. Long baseline positioning technology is one of the necessary means to ensure AUV safe operation and high precision navigation in deep sea environment. In this paper, based on the requirement of long baseline positioning in deep sea exploration, based on the analysis and comparison of the influence of different error sources on positioning accuracy, the algorithm and detection technology of multi-scale sequence generation suitable for low speed targets are studied. The integral adjustment and calibration technology of array network and the motion compensation technology based on Kalman filter. For long baseline positioning system, stable and reliable ranging technology is the premise of high precision location, and frequency hopping coding sequence with excellent detection and estimation performance provides a convenient way for this purpose. However, the exploration of deep-sea mineral resources often has the characteristics of wide exploration coverage, so a large number of acoustic beacons need to be put in to meet the high-precision positioning services in the area, and the structural method represented by Costas array is used to ensure the relevant suppression ability of the sequence. The number of sequences is limited by the frequency band width and pulse length. Guided by the design idea of the perfect map nail ambiguity function of Costas array, this paper presents a series generation method based on the correlation of sacrificial signals under the condition of large Doppler frequency offset to solve the problem of multi-user identification. For typical detection interference, the compression characteristics based on copy correlation waveform, pulse pair combination detection and improved method of joint detection of copy correlation detection and energy detection are studied. Simulation and experiments show that the method not only ensures high precision ranging, but also effectively solves the interference problem. Multi-beacon array expands the coverage of long baseline, but also introduces the problems of calibration accuracy and calibration efficiency. The calibration method based on the navigation of the survey ship is affected by the deep sea sound velocity correction and the ship swaying compensation accuracy is not enough, so it is difficult to improve the calibration accuracy, which leads to the decrease of the positioning accuracy. In addition, the calibration time of a large number of beacons is even longer than the actual exploration time. A serious impact on the efficiency of the operation. For this reason, this paper proposes a joint calibration method based on the integral adjustment of the array network. The relative precision and calibration efficiency of the array are improved by using the high-precision ranging information. Simulation and experiments show that the accuracy of relative matrix calibration is improved obviously. In the long baseline positioning system which depends on acoustic signal detection, it is inevitable that the localization data is invalid or the output error data rate is low, which is difficult to accept for the autonomous navigation system with high real-time requirements. The Kalman filtering technique has good effect on improving the data stability and the output rate, but the conventional Kalman filter model is easy to divergence due to the slow updating of the long baseline acoustic ranging information and the serious external interference. In this paper, a divergence suppression method based on time delay and position feedback is proposed, which overcomes the mismatch between the estimation model and the actual motion state. The location error introduced by target motion is improved by the method of distance measurement sampling time compensation, and the solution model with depth information fusion is analyzed, and a parameter error detection method based on depth solution is presented. Experimental results show that the improved long baseline positioning method improves the stability and reliability of the system.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：P744;U666

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