【摘要】：論文研究了基于浮標(biāo)陣元的多目標(biāo)水下定位系統(tǒng)顯控軟件的設(shè)計(jì),研究其定位原理、定位算法、數(shù)據(jù)傳輸以及軟件功能的實(shí)現(xiàn)。浮標(biāo)基長(zhǎng)基線定位系統(tǒng)顯控軟件是整個(gè)定位系統(tǒng)的解算和控制中心,主要功能是通過接收、挑選、處理多個(gè)運(yùn)動(dòng)目標(biāo)發(fā)射的脈沖信號(hào),解算出目標(biāo)運(yùn)動(dòng)的軌跡。本文分別從數(shù)據(jù)處理算法與軟件架構(gòu)兩部分來研究顯控軟件。在數(shù)據(jù)處理算法部分中,本文首先討論長(zhǎng)基線定位系統(tǒng)常用的球面交匯模型與雙曲面交匯模型,通過目標(biāo)到浮標(biāo)的信號(hào)傳播時(shí)延、浮標(biāo)陣位與水下聲速來解算目標(biāo)位置;其次討論由于水聲信道的復(fù)雜性導(dǎo)致的接收聲脈沖不唯一的現(xiàn)象,并研究專家系統(tǒng)對(duì)從“脈沖群”中挑選直達(dá)聲脈沖及浮標(biāo)陣元挑選的方法和原則;而后探究當(dāng)目標(biāo)距浮標(biāo)的傳播時(shí)延大于系統(tǒng)同步周期時(shí)出現(xiàn)的“距離模糊”現(xiàn)象,討論在不同條件下抗距離模糊的算法;最后研究水下有效聲速表的建立與根據(jù)查表法求取水下有效聲速的方法。在軟件構(gòu)架部分中,首先介紹顯控軟件在Windows平臺(tái)上基于的Qt類庫;其次根據(jù)長(zhǎng)基線定位系統(tǒng)的工作流程,分析了顯控系統(tǒng)應(yīng)該具備的主要功能,包括對(duì)長(zhǎng)基線定位系統(tǒng)中的浮標(biāo)、基站等平臺(tái)進(jìn)行功能設(shè)置、狀態(tài)監(jiān)控、數(shù)據(jù)傳輸?shù)?同時(shí)具有實(shí)時(shí)解算和事后解算能力;最后根據(jù)顯控系統(tǒng)的功能分析完成顯控系統(tǒng)的各個(gè)功能模塊的構(gòu)建,具有功能詳盡、界面友好、操作方便、結(jié)果查看直觀、各模塊可移植性強(qiáng)等特點(diǎn)。本文介紹的長(zhǎng)基線定位系統(tǒng)顯控軟件經(jīng)過實(shí)驗(yàn)室電聯(lián)調(diào)、水池聯(lián)調(diào)、與松花湖湖上試驗(yàn),驗(yàn)證了系統(tǒng)工作的穩(wěn)定性,并能夠完成與浮標(biāo)、船載基站平臺(tái)的指令通信、同時(shí)實(shí)時(shí)解算多目標(biāo)軌跡(包括發(fā)射單頻信號(hào)與調(diào)頻信號(hào)的目標(biāo))、事后數(shù)據(jù)分析與處理等功能,實(shí)現(xiàn)了多目標(biāo)、高精度的水下目標(biāo)定位的試驗(yàn)要求。完成情況符合既定設(shè)計(jì)要求,達(dá)到了預(yù)期設(shè)計(jì)目標(biāo)。
[Abstract]:In this paper, the design of display and control software of multi-target underwater positioning system based on buoy array is studied, and the positioning principle, positioning algorithm, data transmission and the realization of software function are studied. The display and control software of the long baseline positioning system of buoy is the solution and control center of the whole positioning system. The main function of the software is to calculate the trajectory of the target by receiving, selecting and processing the pulse signals transmitted by several moving targets. In this paper, the display control software is studied from two parts: data processing algorithm and software architecture. In the part of data processing algorithm, this paper first discusses the spherical intersection model and hyperboloid intersection model commonly used in the long baseline positioning system. The target position is calculated by the signal propagation delay from the target to the buoy, the position of the buoy array and the underwater sound velocity. Secondly, the phenomenon that the received acoustic pulse is not unique due to the complexity of underwater acoustic channel is discussed, and the method and principle of selecting direct acoustic pulse and buoy array element from "pulse group" by expert system are studied. Then it explores the phenomenon of "distance ambiguity" when the propagation delay of the target distance buoy is longer than the synchronization period of the system, and discusses the anti-range fuzzy algorithm under different conditions. Finally, the establishment of the underwater effective sound velocity meter and the method of calculating the underwater effective sound velocity according to the look-up table method are studied. In the part of software architecture, the Qt class library based on display control software on Windows platform is introduced, and the main functions of display control system are analyzed according to the work flow of long baseline positioning system. Including the long baseline positioning system in the buoy, base station and other platforms for functional setting, state monitoring, data transmission, and so on, at the same time has real-time solution and post-resolution capability; Finally, according to the function analysis of the display and control system, the construction of each function module of the display and control system is completed. It has the characteristics of detailed function, friendly interface, convenient operation, visual view of the result, strong portability of each module and so on. The display and control software of the long baseline positioning system introduced in this paper is tested on Songhua Lake by the combination of laboratory and pool, and the stability of the system is verified, and the command communication with buoy and base station platform can be completed. At the same time, the multi-target trajectory (including the target of transmitting single frequency signal and frequency modulation signal) and the function of data analysis and processing are solved in real time. The experimental requirements of multi-target and high-precision underwater target positioning are realized. The completion is in line with the established design requirements and achieves the expected design objectives.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TB56;TP311.52

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本文編號(hào)：2281487