本文選題：激光通信 + 光電跟蹤�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：水下激光通信具有保密性好、容量大、傳輸速度快等優(yōu)點(diǎn),可廣泛應(yīng)用于水下對(duì)潛通信、水下資源勘查和海洋環(huán)境監(jiān)測(cè)等領(lǐng)域,在軍事和民用領(lǐng)域都有著至關(guān)重要的意義。水下激光通信鏈路的快速建立和持續(xù)穩(wěn)定的維持是水下激光通信應(yīng)用的基本條件。在存在平臺(tái)擾動(dòng)和海水隨機(jī)信道擾動(dòng)等條件下,如何在遠(yuǎn)距離實(shí)現(xiàn)高精度、快速的對(duì)準(zhǔn)是實(shí)現(xiàn)水下激光通信必須解決的問(wèn)題。本文針對(duì)水下激光通信過(guò)程中,系統(tǒng)受到外界環(huán)境的干擾而導(dǎo)致通信失效的問(wèn)題進(jìn)行了研究,利用光電跟蹤系統(tǒng)的特點(diǎn),結(jié)合水下激光通信技術(shù),設(shè)計(jì)研制了一套水下激光通信光電跟蹤控制系統(tǒng)。首先,研究了應(yīng)用于光電跟蹤系統(tǒng)的常用目標(biāo)跟蹤算法,針對(duì)水下激光通信過(guò)程中激光光斑不斷移動(dòng)的問(wèn)題,仿真分析了各種目標(biāo)跟蹤算法的跟蹤效果與應(yīng)用環(huán)境適用性,設(shè)計(jì)了Mean Shift算法與卡爾曼濾波算法相結(jié)合的目標(biāo)跟蹤程序,在實(shí)驗(yàn)室中進(jìn)行了實(shí)驗(yàn)測(cè)試。其次,設(shè)計(jì)了水下激光通信光電跟蹤控制系統(tǒng)的整體結(jié)構(gòu),針對(duì)伺服控制系統(tǒng)研究了基于視頻圖像四象限跟蹤原理的電機(jī)控制算法,根據(jù)電機(jī)的數(shù)學(xué)模型建立了與脫靶量對(duì)應(yīng)的占空比比例控制方程,設(shè)計(jì)了電機(jī)控制模塊的上位機(jī)程序。針對(duì)水下環(huán)境對(duì)平臺(tái)的影響,研制了以MPU9250為慣性傳感單元的穩(wěn)定控制模塊,實(shí)驗(yàn)結(jié)果表明,在目標(biāo)丟失的情況下可以通過(guò)穩(wěn)定控制模塊使系統(tǒng)恢復(fù)成航向角、俯仰角均為0°的穩(wěn)定狀態(tài)。然后,針對(duì)水下激光通信光電跟蹤控制系統(tǒng)的實(shí)際應(yīng)用背景問(wèn)題,研究了激光信號(hào)的PPM調(diào)制原理,設(shè)計(jì)了PPM調(diào)制激光通信系統(tǒng),并在實(shí)驗(yàn)室測(cè)試了文字信息的水下激光通信傳輸效果。最后,搭建實(shí)驗(yàn)系統(tǒng)在實(shí)驗(yàn)室測(cè)試了光電跟蹤控制系統(tǒng)的室內(nèi)目標(biāo)跟蹤性能和水下激光光斑跟蹤性能,并對(duì)水下激光通信光電跟蹤控制系統(tǒng)的通信效果進(jìn)行了實(shí)驗(yàn)測(cè)試。實(shí)驗(yàn)結(jié)果表明,水下激光通信光電跟蹤控制系統(tǒng)可以跟蹤移動(dòng)的激光光斑并實(shí)現(xiàn)水下激光通信功能,具有一定的工程意義。
[Abstract]:Underwater laser communication has many advantages, such as good security, large capacity and fast transmission speed. It can be widely used in underwater communication, underwater resource exploration and marine environment monitoring. It is of great significance in military and civil fields. The rapid establishment and sustained stability of underwater laser communication link is underwater laser communication. The basic condition of application. In the condition of platform disturbance and sea water random channel disturbance, how to achieve high precision and fast alignment at a long distance is a problem to be solved for underwater laser communication. In this paper, the problem of communication failure caused by the interference of the external environment in the process of underwater laser communication is studied in this paper. Based on the characteristics of the photoelectric tracking system and the underwater laser communication technology, a set of underwater laser communication and photoelectric tracking control system is designed and developed. First, the common target tracking algorithm used in the photoelectric tracking system is studied. In view of the problem of the continuous movement of the laser spot in the underwater laser communication process, the simulation and analysis of various targets are carried out. Tracking effect and application environment applicability of the tracking algorithm, a target tracking program combined Mean Shift algorithm and Calman filter algorithm is designed, and experimental test is carried out in the laboratory. Secondly, the whole structure of the underwater laser communication photoelectric tracking control system is designed, and the four images based on the video image are studied for the servo control system. In the motor control algorithm, the control equation of duty ratio proportional to the miss distance is established according to the mathematical model of the motor, and the upper computer program of the motor control module is designed. In view of the influence of the underwater environment on the platform, a stable control module with MPU9250 as the inertial sensor unit is developed. The experimental results show that the target is lost in the target. In the case of loss, the system can be restored to the heading angle by the stability control module. The pitch angle is 0 degrees. Then, in view of the practical application background of the underwater laser communication and photoelectric tracking control system, the PPM modulation principle of the laser signal is studied. The PPM modulation laser communication system is designed and the text is tested in the laboratory. In the end, the experimental system was built to test the indoor target tracking performance of the photoelectric tracking control system and the underwater laser spot tracking performance in the laboratory, and the communication effect of the underwater laser communication photoelectric tracking control system was tested. The experimental results showed that the underwater laser communication optoelectronic communication was carried out. The tracking control system can track the moving laser spot and realize the function of underwater laser communication, which has certain engineering significance.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TN929.1

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