基于FPGA的高精度水下对接声导引技术
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摘要
随着现代海洋技术的不断发展,无人水下航行器(UUV)水下对接技术成为近年来研究的热点问题。在水下对接系统中,声导引技术作用距离远但精度低,光导引技术精度高但作用距离近。文中提出了一种基于现场可编程门阵列(FPGA)的高精度水下对接声导引技术,可以实现从较远距离以声导引的方式高精度导引至光导引的作用距离内。通过仿真试验与消声水池试验验证结果表明,该方法可以提供可靠有效的导引数据,满足精度要求,可为水下对接系统设计提供参考。
For the underwater docking system of an unmanned undersea vehicle(UUV), the sound guidance technology has large operating distance but low precision, while the light guidance technology has high precision but short operating distance. In this paper, a high-precision underwater docking method via sound guidance based on the field programmable gate array(FPGA) is proposed, which precisely guide UUV via the sound guidance from a comparatively long distance to the operating range of the light guidance. Simulation and pool test show that this method can provide reliable guidance data with required accuracy. This study may facilitate the design of underwater docking systems.
For the underwater docking system of an unmanned undersea vehicle(UUV), the sound guidance technology has large operating distance but low precision, while the light guidance technology has high precision but short operating distance. In this paper, a high-precision underwater docking method via sound guidance based on the field programmable gate array(FPGA) is proposed, which precisely guide UUV via the sound guidance from a comparatively long distance to the operating range of the light guidance. Simulation and pool test show that this method can provide reliable guidance data with required accuracy. This study may facilitate the design of underwater docking systems.
引文
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[2]姚蓝,陈燕.发展UUV装备的几个问题[J].声学技术,2011,30(1):1-8Yao Lan,Chen Yan.Discussions on Development of UUV Equipment[J].Technical Acoustics,2011,30(1):1-8.
[3]燕奎臣,吴利红.AUV水下对接关键技术研究[J].机器人,2007,29(3):267-273.Yan Kui-chen,Wu Li-hong.A Survey on the Key Technologies for Underwater AUV Docking[J].Robot,2007,29(3):267-273.
[4]陈强,张林根.美国军用UUV现状及发展趋势分析[J].舰船科学技术,2010,32(7):129-134.Chen Qiang,Zhang Lin-gen.Analysis of Current Situational Development Trend of US Military UUV[J].Ship Science and Technology,2010,32(7):129-134.
[5]孙现有,马琪.美海军UUV使命任务必要性与技术可行性分析[J].鱼雷技术,2010,18(3):231-235.Sun Xian-you,Ma Qi.Necessity and Technical Feasibility Analysis on the Missions of Unmanned Underwater Vehicles in US Navy[J].Torpedo Technology,2010,18(3):231-235.
[6]Singh H,Bellingham J G,Hover F,et al.Docking for an Autonomous Ocean Sampling Network[J].IEEE Journal of Oceanic Engineering,2001,26(4):498-514.
[7]Allen B,Austin T,Forrester N,et al.Autonomous Docking Demonstrations with Enhanced REMUS Technology[C]//Oceans 2006.Boston,MA:IEEE Press,2006.
[8]Kawasaki T,Noguchi T,Fukasawa T,et al.“Marine Bird”,a New Experimental AUV-results of Docking and Electric Power Supply Tests in Sea Trials[J].Oceans,2004,3(8):1738-1744.
[9]Park J Y,Jun B H,Lee P M,et al.Experiment on Underwater Docking of an Autonomous Underwater Vehicle“ISi MI”Using Optical Terminal Guidance[C]//Oceans 2007-Europe.Aberdeen,UK:IEEE,2007.
[10]Feezor M D,Sorrell F Y,Blankinship P R,et al.Autonomous Underwater Vehicle Homing/docking via Electromagnetic Guidance[J].IEEE Journal of Oceanic Engineering,2001,26(4):515-521.
[11]郑翠娥.超短基线定位技术在水下潜器对接中的应用研究[D].哈尔滨:哈尔滨工程大学,2008.