水下模块化自重构机器人对接导引

给出一种水下自重构机器人的基本构成模块,针对模块化自重构机器人的对接要求,设计一套基于蓝光波段的可见光定位系统,检测需要对接的两个面之间的位置与姿态关系.在主动连接面呈正三角形安装三个蓝光LED光源,在相应的被动连接面中心安装一个光敏二极管作为光强接收传感器,利用光强接收传感器接收到的信息,设计一套位置检测算法,根据计算出的相对方位误差,修正两对接面的方位.实验结果表明,所设计的蓝光波段可见光导引系统能够在水下准确检测两对接面相对方位,误差小于2cm.     

Geometrical aspects of a sonar-based navigation system for underwater vehicles

A novel self-contained navigation system has been devised for underwater vehicles operating in and around offshore installations. This system matches data from a sector-scanning sonar device to a computer model of the installation. The paper begins by highlighting the existing approaches to subsea navigation before outlining the main features of the proposed system. It then concentrates on a key component of this system which is a method for calculating the position and heading of an underwater vehicle navigating in the vincinity of tubular steel structures. An iterative solution method is presented which incorporates six degree of freedom vehicle motions and this is verified in a series of laboratory experiments with various arrangements of structural members and using a commercial sonar device. The key features, applications and performance of this method are discussed. The main conclusion is that the proposed method for calculating the position and heading of an underwater vehicle contributes towards achieving an accurate and reliable subsea navigation capability.     

An integrated sensory-intelligent system for underwater acoustic signal-processing applications

A generic integrated sensory-intelligent system (ISIS) is developed for underwater acoustic signal-processing applications. ISIS constantly monitors the current acoustic channel conditions and smoothly integrates the outputs of the most appropriate signal-processing procedures or algorithms available to it for those conditions. The system is based on a generalization of a tuneable approximate piecewise linear (TAPL) model derived from the modified probabilistic neural network (MPNN). This model was designed to seamlessly integrate a set of local linear signal-processing algorithms within a given multidimensional data space. Depending on the input signal distortions, which are determined by environmental effects, ISIS automatically weighs and adds the outputs from a set of processing algorithms working in parallel. The weighting is related to the "closeness" of each algorithm to the sensed input signal characteristics or some other measured environmental state. A single tuning parameter is used to smoothly and seamlessly select appropriately among the parallel processing algorithm outputs. A very small tuning-parameter value selects the closest most appropriate algorithm output. At the other extreme, a fixed weighted average of all the algorithm outputs is produced with a very large value. Otherwise, a dynamic weighed average of all algorithm outputs is achieved with values in between. Some features and benefits of ISIS are demonstrated with an illustrative linear sweep chirp signal-detector estimation problem characterized by extremely variable Doppler conditions.     

Enhancement of the inertial navigation system for the Morpheusautonomous underwater vehicles

This paper presents the design and development of an enhanced inertial navigation system that is to be integrated into the Morpheus autonomous underwater vehicle at Florida Atlantic University. The inertial measurement unit is based on the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros and three-axis accelerometers and is aided with ground speed measurements obtained using an RDI Doppler-velocity-log sonar. An extended Kalman filter has been developed, which fuses together asynchronously the inertial and Doppler data, as well as the differential Global Positioning System positional fixes whenever they are available. A complementary filter was implemented to provide a much smoother and stable attitude estimate. Thus far, preliminary study has been made on characterizing the inertial navigation system-based navigation system performance, and the corresponding results and analyzes are provided     

一个水声扩频通信系统设计与实现

严重的多途衰落、多普勒频偏是水声通信中引起误码的主要原因。低功耗、远距离、高隐蔽性、低信噪比检测、高可靠性的数据传输是水声通信的一个发展方向。设计并实现了一个水声扩频通信系统,有效地解决了以上问题,并采用快速相关算法,代替传统的矢量与矩阵相乘运算,极大地减少了程序的运行量,从而实时地处理接收信号。通过湖试和海试,验证了此通信系统的优良性能。     

Mosaic-based navigation for autonomous underwater vehicles

We propose an approach for vision-based navigation of underwater robots that relies on the use of video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high-quality video mosaics of the sea bottom in a fully automatic manner, which ensures global spatial coherency. During navigation, a set of efficient visual routines are used for the fast and accurate localization of the underwater vehicle with respect to the mosaic. These visual routines were developed taking into account the operating requirements of real-time position sensing, error bounding, and computational load. A visual servoing controller, based on the vehicle's kinematics, is used to drive the vehicle along a computed trajectory, specified in the mosaic, while maintaining constant altitude. The trajectory toward a goal point is generated online to avoid undefined areas in the mosaic. We have conducted a large set of sea trials, under realistic operating conditions. This paper demonstrates that without resorting to additional sensors, visual information can be used to create environment representations of the sea bottom (mosaics) and support long runs of navigation in a robust manner.     

水下数据传输Turbo码译码系统的实现

为了在恶劣的水声信道中确保数据的可靠传输,采用性能优异的Turbo码,以6711DSP为核心处理单元构建译码系统。系统采用戈泽尔算法进行跳频的软解调,迭代的软输出维特比译码算法(SOVA)进行译码。系统经过实验室水池的试验,证实能保证译码的实时性及其在恶劣信道中数据传输的正确性,具有相当优异的性能。     

Survey of underwater robot positioning navigation

Underwater robot positioning and navigation achieve autonomous underwater robot movement based on the premise that positioning obtains the coordinates of the relative position of the underwater robot using a sensor, and navigation yields a known location to the destination path planning. Due to the location of an underwater robot and the complex and changing environment in which it operates, it is difficult to achieve precise positioning using the traditional positioning method. This paper systematically analyzes and summarizes several typical localization and navigation methods of underwater robots, such as multisensor information fusion technology, underwater acoustic localization and navigation methods, GPS buoy, underwater vision, SLAM and coordinate localization and navigation of multiple underwater robots. Multisensory information fusion technology integrates the advantages of the above methods, enhances the system stability and robustness, overcomes the disadvantages of traditional positioning and navigation, and enables the autonomous navigation and positioning of underwater robots. Underwater acoustics enable flexible and convenient positioning, whereas GPS can achieve high-precision and high-positioning navigation information, and visual positioning effectively overcomes the problem of error accumulation. Multirobot cooperative positioning resolves the problem of positioning failure caused by the collapse of a single system and completes complex tasks that cannot be completed by a single robot, thus enhancing the stability and robustness of the system. This paper systematically describes the realization of these methods, presents an actual analysis of their respective advantages and problems, and discusses the development of the field of research prospects and application prospects.     

Digital underwater acoustic voice communications

This paper describes the design of an underwater acoustic diver communication system controlled by a digital signal processor. The speech signal transmission rate is compressed by using linear predictive coding (LPC) and the extracted parameters are transmitted through the water to a synchronized receiver by employing digital pulse position modulation (DPPM). The pulse position in each time frame is estimated by an energy detection and decision algorithm which enables the received LPC parameters to be recovered and used to synthesize the speech signal     

Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements

This paper presents an integrated navigational algorithm for unmanned underwater vehicles (UUV) using two acoustic range transducers and strap-down inertial measurement unit (SD-IMU). A range measurement model is derived for a UUV having one acoustic transducer and cruising around two reference transponders at sea floor or surface. The proposed algorithm, called pseudo long base line (PLBL), estimates the position of the vehicle integrating the SD-IMU signals corrected with the two range measurements. Extended Kalman filter was applied to propagate error covariance, to update measurement errors and to correct state equation whenever the external measurements are available. Simulations were conducted to illustrate the effectiveness of the PLBL using the 6-d.o.f. nonlinear numerical model of a UUV at current flow, excluding bottom-fixed DVL. This paper also shows the error convergence of the vehicle's initial position by the additional range measurements without velocity information.     

基于Visual C和PC的软件水声调制解调系统

介绍了一种DS/DBPSK调制解调技术方案,该方案采用了具有较强抗干扰、抗衰落和抗多径性能的扩频技术,并结合与信道适应性较好、不需载波恢复的差分相位调制技术,对浅海水声信道造成的干扰进行抑制.在此方法上,基于Visual C(VC)及PC平台设计了一个通用性好的软件水声调制解调系统,利用双缓冲邋和多线程技术机制实现算法实时处理,同时可通过串口通信提供上层应用接口.实验系统验证了扩频和差分调制技术在浅海水声通信中的性能,为水声组网提供了底层支持.海试实验结果表明了系统的有效性.     

Chiral composites as underwater acoustic attenuators

A plane-wave propagation in an elastic matrix containing the structural chiral microstructures is employed to model the dynamic response of a particles-mixture composite. Two nondispersive longitudinal wavenumbers and four dispersive circularly polarized transverse wavenumbers result from the dispersion equation of the so-called effective chiral (isotropic, noncentrosymmetric) composite. Our previous research indicated both that two transition frequencies divide the frequency spectrum of the transverse wavenumbers into three varying groups and that the four transverse modes can be distinguished only in a specified frequency range. This study illustrates the reflected and transmitted characteristics at a fluid-chiral interface at certain frequencies. The reflected and transmitted fields at the fluid-isotropic interface are solved to depict the effects of the chirality. The chiral material should instigate a reducible reflected plane wave and may be used as an anechoic coating to “absorb” sound underwater, due to the mode conversion of the chirality in the chiral medium     

一种改进的水下声学定位算法

通过分析讨论泰勒级数展开法和Chan算法的优缺点,提出了一种先由Chan算法解算求得初始参考值,再由泰勒级数展开法在该初始值处展开进行迭代求解的协同定位算法。通过实验,将本方法与传统定位算法(泰勒法)、Chan算法进行对比。结果表明,该方法无需额外提供初始值,解算出较好的结果的同时且能保持良好的时间效率。通过此方法,在实际生产作业中可节约定位时间,改善定位精度。     

Performance limitations in underwater acoustic telemetry

Performance limitations in digital acoustic telemetry are addressed. Increases in computational capabilities have led to a number of complex but practical solutions aimed at increasing the reliability of acoustic data links. These solutions range from ocean-basin scale data telemetry to video-image transmission at a few hundred yards' distance. The opportunity to implement highly complex tasks in real time on modest hardware is a common factor. The data rates range from 1 to 500 kb/s and are much slower than satellite channels, while acceptable system complexity is higher than virtually any other channel with comparable data throughput. The basic performance bounds are the channel phase stability, available bandwidth, and the channel impulse response fluctuation rate. Phase stability is of particular concern for long-range telemetry, channel fluctuation characteristics drive equalizer, and synchronizer design; the bandwidth limitation is a direct constraint on data rate for a given signaling method     

CSI feedback-based CS for underwater acoustic adaptive modulation OFDM system with channel prediction

In this paper, we investigate the performance of adaptive modulation （AM） orthogonal frequency division multiplexing （OFDM） system in underwater acoustic （UWA） communications. The aim is to solve the problem of large feedback overhead for channel state information （CSI） in every subcarrier. A novel CSI feedback scheme is proposed based on the theory of compressed sensing （CS）. We propose a feedback from the receiver that only feedback the sparse channel parameters. Additionally, prediction of the channel state is proposed every several symbols to realize the AM in practice. We describe a linear channel prediction algorithm which is used in adaptive transmission. This system has been tested in the real underwater acoustic channel. The linear channel prediction makes the AM transmission techniques more feasible for acoustic channel communications. The simulation and experiment show that significant improvements can be obtained both in bit error rate （BER） and throughput in the AM scheme compared with the fixed Quadrature Phase Shift Keying （QPSK） modulation scheme. Moreover, the performance with standard CS outperforms the Discrete Cosine Transform （DCT） method.     

浅海声信道文本信息传输研究

论文首先介绍浅海声信道声传输的基本特性,指出在此类信道中进行多媒体信息传输的特殊困难.随后论述了文本信息传输所具有的抗噪声、抗起伏等优良性能,较能适应于水声信道的复杂性和多变性,但属于较高速率的文本信息传输,多途干扰仍然是文本信息正确检测的根本障碍.文中分析了频率跳变技术克服时域扩散较短的浅海多途的可行性和需解决的关键技术.海上获得的初步实验结果说明了文本信息传输所具有的优越性,值得今后继续深入的研究.     

Recent advances in high-speed underwater acoustic communications

In recent years, underwater acoustic (UWA) communications have received much attention as their applications have begun to shift from military toward commercial. Digital communications through UWA channels differ substantially from those in other media, such as radio channels, due to severe signal degradations caused by multipath propagation and high temporal and spatial variability of the channel conditions. The design of underwater acoustic communication systems has until recently relied on the use of noncoherent modulation techniques. However, to achieve high data rates on the severely band-limited UWA channels, bandwidth-efficient modulation techniques must be considered, together with array processing for exploitation of spatial multipath diversity. The new generation of underwater communication systems, employing phase-coherent modulation techniques, has a potential of achieving at least an order of magnitude increase in data throughput. The emerging communication scenario in which the modern underwater acoustic systems mill operate is that of an underwater network consisting of stationary and mobile nodes. Current research focuses on the development of efficient signal processing algorithms, multiuser communications in the presence of interference, and design of efficient modulation and coding schemes. This paper presents a review of recent results and research problems in high-speed underwater acoustic communications, focusing on the bandwidth-efficient phase-coherent methods. Experimental results are included to illustrate the state-of-the-art coherent detection of digital signals transmitted at 30 and 40 kb/s through a rapidly varying one-mile shallow water channel     

Correlation-based decision-feedback equalizer for underwater acoustic communications

The purpose of this paper is to develop a decision-feedback equalizer (DFE) using a fixed set of parameters applicable to most shallow oceans with minimal user supervision (i.e., a turn key system). This work is motivated by the superior performance [bit error rate (BER)] of the multichannel DFE compared with other methods, such as passive-phase conjugation (PPC), at the same time noting its sensitivity to different acoustic environments. The approach is to couple PPC, utilizing its adaptability to different environments, with a single-channel DFE. This coupling forms an optimal processor for acoustic communications in theory, but it has never been implemented in practice. By coupling with DFE, the method achieves the same spatial diversity as conventional multichannel DFE, without requiring a large number of receivers as does PPC. The correlation-based DFE in terms of the autocorrelation functions of the channel impulse responses summed over the receiver channels (the Q function) is derived. This paper shows in terms of waveguide physics, further supported by real data, the many desirable features of the Q function that suggest, given adequate sampling of the water column, a general applicability of the correlation-based equalizer to different environments, irrespective of the sound speed profiles, bottom properties, and source-receiver ranges/depths. This property can be expected to hold approximately for a small number of receivers with spatial diversity. This paper demonstrates the robustness of the new equalizer with moving source data despite the range change (which modifies the impulse response) and symbol phase change due to time-varying Doppler.     

Spatial diversity processing for underwater acoustic telemetry

A large increase in the reliability of shipboard or stationary underwater acoustic telemetry systems is achievable by using spatially distributed receivers with aperture sizes from 0.35 to 20 m. Output from each receiver is assigned a quality measure based on the estimated error rate, and the data, weighted by the quality measure, are combined and decoded. The quality measure is derived from a Viterbi error-correction decoder operating on each receiver and is shown to perform reliability in a variety of non-Gaussian noise and jamming environments and reduce to the traditional optimal diversity system in a Gaussian environment. The dynamics of the quality estimator allow operation in the presence of high-power impulsive interference by exploiting the signal and noise differential travel times to individual sensors. The spatial coherence structure of the shallow water acoustic channel shows relatively low signal coherence at separations as short as 0.35 m. Increasing receiver spacing beyond 5 m offers additional benefits in the presence of impulsive noise and larger-scale inhomogeneities in the acoustic field. A number of data transmission experiments were carried out to demonstrate system performance in realistic underwater environments     

Uncertainty tolerance in underwater acoustic signal processing

Because of the difficulties in accurately characterizing the statistical behavior of underwater acoustic channels, tolerance to uncertain statistical modeling is an important property for underwater acoustic signal processing procedures to possess. This paper provides an overview of a number of techniques developed in recent years that can be applied to provide uncertainty tolerance in underwater signal processing applications. In addition to a discussion of general concepts of uncertainty tolerance, specific methods for attaining tolerance to uncertainty in temporal/spatial statistics for procedures such as Wiener and matched filtering, time-delay estimation, sonar system design, and signal prediction are reviewed. Tolerance to uncertainty in amplitude statistics is also a key issue in underwater channels, and techniques for achieving this goal are discussed in the contexts of signal estimation, identification, and detection procedures.