水声定位及遥测系统接收机设计与实现
摘要
在人类对海洋进行探索和研究的工作中,水声定位与遥测技术一直是一项重要的研究内容。从目前来看,无论从海洋开发,还是从军事方面的需求出发,水下定位和遥测技术都越来越受到各个国家的重视,已成为水声领域的一个重要分支。随着人类对海洋研究开发工作的深入开展,所采用的研究手段也越来越多,例如载人深潜器、水下机器人、海底油气管线布设、摄像系统以及其它各种探测设备等等,而水下高精度的定位与遥测是实现水下安全、高效率科研和生产活动的前提与保障。
本文的主要任务是针对水池实验条件,为自航模水下航行试验研制开发一套水声定位及遥测系统接收机。该接收机的主要功能包括:
1、对接收水声信号进行多通道模拟调理;
2、获得各接收通道的时延及遥测频率编码信息;
3、协调系统内各分系统的工作并与显控平台接口进行数据传输。
论文首先对水声定位及遥测系统的研究进展和发展方向进行了论述,着重介绍了本系统采用的定位及遥测原理,为接收机的硬件及软件设计实现打下理论基础。其次,为接收机设计硬件工作平台,详细介绍了模拟调理板和数字接口板,其中模拟调理板包括放大,增益控制,滤波等几个部分;数字接口板包括单片机(MCU),现场可编程门阵列器件(FPGA:FieldProgrammable Gate Array)以及它们之间的连接设计。第三,对接收机的软件设计进行了研究,使接收机的功能得以完善。最后,介绍了该系统的实验及其结果。
In the understanding of marine exploration and research, the positioning and telemetring technology has always been an important research. Judging from the current situation, either from the military aspects or the marine development, it has gained more and more attention in various countries, and has become an important branch in the acoustic field. As human goes deep into the underwater research, the research means will be more and more, such as a manned deep-diver, underwater robots, oil and gas pipelines laid in the seabed, underwater imaging systems, as well as various other detection equipments, etc. However, the underwater high-precision positioning and telemetring technology is the premise and the guarantee to achieve safe and efficient underwater scientific researches and production activities.
The main task of this paper is to develop a receiver. The receiver's main function is as follows:
(1) Manage the received multi-channel signals with analog conditioning;
(2) Gain the delay information of the positioning and the frequency coding of the telemetry form each channel;
(3) Correspond each subsystem and transmit data with the software interface.
Firstly, this article outlines the acoustic positioning and telemetring system,focusing on the principle of the positioning and telemetring, so lays theoretical basis for the design and implementation of the receiver. Secondly, the hardware platform for the receiver is designed, which gives the detailed descriptions of the analog conditioning board and digital interface board. Among them, the use of programmable FPGA adds flexibility to the logic control of the system. Thirdly, the design of the software is researched, so that the receiver's function can be fully realized. Finally, the experiment results of the system are introduced.
本文的主要任务是针对水池实验条件,为自航模水下航行试验研制开发一套水声定位及遥测系统接收机。该接收机的主要功能包括:
1、对接收水声信号进行多通道模拟调理;
2、获得各接收通道的时延及遥测频率编码信息;
3、协调系统内各分系统的工作并与显控平台接口进行数据传输。
论文首先对水声定位及遥测系统的研究进展和发展方向进行了论述,着重介绍了本系统采用的定位及遥测原理,为接收机的硬件及软件设计实现打下理论基础。其次,为接收机设计硬件工作平台,详细介绍了模拟调理板和数字接口板,其中模拟调理板包括放大,增益控制,滤波等几个部分;数字接口板包括单片机(MCU),现场可编程门阵列器件(FPGA:FieldProgrammable Gate Array)以及它们之间的连接设计。第三,对接收机的软件设计进行了研究,使接收机的功能得以完善。最后,介绍了该系统的实验及其结果。
In the understanding of marine exploration and research, the positioning and telemetring technology has always been an important research. Judging from the current situation, either from the military aspects or the marine development, it has gained more and more attention in various countries, and has become an important branch in the acoustic field. As human goes deep into the underwater research, the research means will be more and more, such as a manned deep-diver, underwater robots, oil and gas pipelines laid in the seabed, underwater imaging systems, as well as various other detection equipments, etc. However, the underwater high-precision positioning and telemetring technology is the premise and the guarantee to achieve safe and efficient underwater scientific researches and production activities.
The main task of this paper is to develop a receiver. The receiver's main function is as follows:
(1) Manage the received multi-channel signals with analog conditioning;
(2) Gain the delay information of the positioning and the frequency coding of the telemetry form each channel;
(3) Correspond each subsystem and transmit data with the software interface.
Firstly, this article outlines the acoustic positioning and telemetring system,focusing on the principle of the positioning and telemetring, so lays theoretical basis for the design and implementation of the receiver. Secondly, the hardware platform for the receiver is designed, which gives the detailed descriptions of the analog conditioning board and digital interface board. Among them, the use of programmable FPGA adds flexibility to the logic control of the system. Thirdly, the design of the software is researched, so that the receiver's function can be fully realized. Finally, the experiment results of the system are introduced.
引文
[1]刘伯胜,雷家煜编著.水声学原理.哈尔滨工程大学出版社,1993:2-13,59-72页
[2]田坦著.水下定位与导航技术.国防工业出版社.2007:14-65页
[3]丁士圻,徐新盛,王智元,惠俊英.船载式远程高精度水声定位系统.海洋工程.1996(11):16-22页
[4]王燕,梁国龙.一种适用于长基线水声定位系统的声线修正方法.哈尔滨工程大学学报.2002(5):32-34页
[5]Lee,Pan-Mook.Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements.Ocean Engineering,v34,n3-4,March,2007,416-425P
[6]田坦,刘国枝,孙大军编著.声纳技术.哈尔滨工程大学出版社,2000:192-219,247-263页
[7]Audric,M.GAPS,a new concept for USBL(Global Acoustic Positioning System for Ultra Short Base Line positioning).Oceans'04 MTS/IEEE Techno-Ocean '04.2004:786-788P
[8]Peyronnet,J.POSIDONIA 6000:a new long range highly accurate ultra short base line positioning system.IEEE Oceanic Engineering Society.OCEANS'98.1998:1721-1727P
[9]James C Kinsey,Louis L Whitcomb.Preliminary Field Experience with the DVLNAV Integrated Navigation System for manned and unmanned Submersibles.2003
[10]刘国枝,关浩,张殿伦,田坦.用于声纳设备中的分布式遥控遥测技术.遥测遥控.1998(5):25-31页
[11]林耀华,范健,许天增,何恩典.海洋要素的水声遥测.海洋技术.1987(6):31-36页
[12]顺晓军,魏纳新,肖今新等.水下自航模水声遥测遥控及数据传输系统的机电一体化设计.船舶力学.2002(6):62-72页
[13]张贤达,保铮.通信信号处理.国防工业出版社,2000:2-63页
[14]粘宝卿,傅仰大.频分多路复用在水声遥测中的应用.海洋技术.1991(10):56-61页
[15]赵雅兴.FPGA原理、设计与应用.天津大学出版社,1999:5-178页
[16]时洁,刘伯胜,宋海岩.高精度短基线定位系统关键技术研究.全国博士生学术论坛,2007年9月
[17]田野,刘伯胜.水声定位通讯系统处理技术研究.哈尔滨工程大学硕士论文.2005:2-7页
[18]阎福旺,刘载芳,荣新光,张海粟,凌青,刘清宇编著.现代声纳技术.海洋出版社,1998:72-91,120-137页
[19]章诗白主编.模拟电子技术基础.高等教育出版社,1991:71-378页
[20]潘继成,纪祥春.水下机器人水声定位系统硬件的设计与实现.哈尔滨工程大学硕士论文.海洋技术.2006:56-61页
[21]OP37 Low-Noise Precision OperationalAmplifiers Datasheet.1992
[22]AD7111 Logarithmic D/AConverter Datasheet.1992
[23]MAX275 4~(th) and 8~(th) Order Continuous-Time Active Filters Datasheet.1996
[24]宋万杰等.CPLD技术及其应用.西安电子科技大学,2000:45-89页
[25]LM310 Voltage Follower Datasheet.1994
[26]卢逢春,张殿伦,张宏宇.多波束条带测深仪的增益控制方案.海洋工程.2003(2):90-94页
[27]阳昌汉.高频电子线路.哈尔滨工程大学出版社,2001:124-133页
[28]LM239 Quad Differential Comparators Datasheet.2004
[29]王修才,刘祖望编著.单片机接口技术.复旦大学出版社.1995:1-48页
[30]徐凤霞,齐跃斗等著.单片机原理及应用教程.黑龙江科学技术出版社.2003年:1-106,160-178页
[31]89C51 8-bit Microcontroller Family Datasheet.2002
[32]EPF10K30 Device Pin-Outs.2001
[33]FLEX 10K Embedded Programmable Logic Device Family Datasheet.2003
[34]Configuration EPROMs for FLEX Devices Datasheet.1998
[35]Jan Axelson著.精英科技译.串行端口大全.中国电力出版社,2001:23-25页
[36]MAX232 +5V Powered,Multichannel RS-232 Drivers/Receivers.2000
[37]索梅,郑普京编著.80386/80286汇编语言程序设计.清华大学出版社,1995:2-189页
[38]Simth,Douglas J.HDL Chip Design:a practical guide for designing,synthesizing,and simulating ASICs and FPAGs using VHDL or Verilog.Madison,AL:Doone Publications,1996
[39]Ashenden,Peter J,Designer's Guide to VHDL,Morgan Kaufman,1995
[40]刘伯胜,时洁.《XX自航模水声遥控,遥测及测迹系统研制》水池验收报告.2006年7月
[41]刘伯胜.《XX自航模水声遥控、遥测及测迹系统研制》项目研制总结报告.2006年7月
[42]刘伯胜,时洁,宋海岩.遥测系统方案补充说明及试验结果.2007年6月
[2]田坦著.水下定位与导航技术.国防工业出版社.2007:14-65页
[3]丁士圻,徐新盛,王智元,惠俊英.船载式远程高精度水声定位系统.海洋工程.1996(11):16-22页
[4]王燕,梁国龙.一种适用于长基线水声定位系统的声线修正方法.哈尔滨工程大学学报.2002(5):32-34页
[5]Lee,Pan-Mook.Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements.Ocean Engineering,v34,n3-4,March,2007,416-425P
[6]田坦,刘国枝,孙大军编著.声纳技术.哈尔滨工程大学出版社,2000:192-219,247-263页
[7]Audric,M.GAPS,a new concept for USBL(Global Acoustic Positioning System for Ultra Short Base Line positioning).Oceans'04 MTS/IEEE Techno-Ocean '04.2004:786-788P
[8]Peyronnet,J.POSIDONIA 6000:a new long range highly accurate ultra short base line positioning system.IEEE Oceanic Engineering Society.OCEANS'98.1998:1721-1727P
[9]James C Kinsey,Louis L Whitcomb.Preliminary Field Experience with the DVLNAV Integrated Navigation System for manned and unmanned Submersibles.2003
[10]刘国枝,关浩,张殿伦,田坦.用于声纳设备中的分布式遥控遥测技术.遥测遥控.1998(5):25-31页
[11]林耀华,范健,许天增,何恩典.海洋要素的水声遥测.海洋技术.1987(6):31-36页
[12]顺晓军,魏纳新,肖今新等.水下自航模水声遥测遥控及数据传输系统的机电一体化设计.船舶力学.2002(6):62-72页
[13]张贤达,保铮.通信信号处理.国防工业出版社,2000:2-63页
[14]粘宝卿,傅仰大.频分多路复用在水声遥测中的应用.海洋技术.1991(10):56-61页
[15]赵雅兴.FPGA原理、设计与应用.天津大学出版社,1999:5-178页
[16]时洁,刘伯胜,宋海岩.高精度短基线定位系统关键技术研究.全国博士生学术论坛,2007年9月
[17]田野,刘伯胜.水声定位通讯系统处理技术研究.哈尔滨工程大学硕士论文.2005:2-7页
[18]阎福旺,刘载芳,荣新光,张海粟,凌青,刘清宇编著.现代声纳技术.海洋出版社,1998:72-91,120-137页
[19]章诗白主编.模拟电子技术基础.高等教育出版社,1991:71-378页
[20]潘继成,纪祥春.水下机器人水声定位系统硬件的设计与实现.哈尔滨工程大学硕士论文.海洋技术.2006:56-61页
[21]OP37 Low-Noise Precision OperationalAmplifiers Datasheet.1992
[22]AD7111 Logarithmic D/AConverter Datasheet.1992
[23]MAX275 4~(th) and 8~(th) Order Continuous-Time Active Filters Datasheet.1996
[24]宋万杰等.CPLD技术及其应用.西安电子科技大学,2000:45-89页
[25]LM310 Voltage Follower Datasheet.1994
[26]卢逢春,张殿伦,张宏宇.多波束条带测深仪的增益控制方案.海洋工程.2003(2):90-94页
[27]阳昌汉.高频电子线路.哈尔滨工程大学出版社,2001:124-133页
[28]LM239 Quad Differential Comparators Datasheet.2004
[29]王修才,刘祖望编著.单片机接口技术.复旦大学出版社.1995:1-48页
[30]徐凤霞,齐跃斗等著.单片机原理及应用教程.黑龙江科学技术出版社.2003年:1-106,160-178页
[31]89C51 8-bit Microcontroller Family Datasheet.2002
[32]EPF10K30 Device Pin-Outs.2001
[33]FLEX 10K Embedded Programmable Logic Device Family Datasheet.2003
[34]Configuration EPROMs for FLEX Devices Datasheet.1998
[35]Jan Axelson著.精英科技译.串行端口大全.中国电力出版社,2001:23-25页
[36]MAX232 +5V Powered,Multichannel RS-232 Drivers/Receivers.2000
[37]索梅,郑普京编著.80386/80286汇编语言程序设计.清华大学出版社,1995:2-189页
[38]Simth,Douglas J.HDL Chip Design:a practical guide for designing,synthesizing,and simulating ASICs and FPAGs using VHDL or Verilog.Madison,AL:Doone Publications,1996
[39]Ashenden,Peter J,Designer's Guide to VHDL,Morgan Kaufman,1995
[40]刘伯胜,时洁.《XX自航模水声遥控,遥测及测迹系统研制》水池验收报告.2006年7月
[41]刘伯胜.《XX自航模水声遥控、遥测及测迹系统研制》项目研制总结报告.2006年7月
[42]刘伯胜,时洁,宋海岩.遥测系统方案补充说明及试验结果.2007年6月
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