水下信号处理与航行器路径规划方法
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摘要
论文系统研究了水下航行器定位的信号处理和路径规划问题。为了确定水下航行器自身位置以及活动目标位置，论文探讨了水下信息获取、预处理、估计等问题，给出了水下信号与图像融合定位方法；在此基础上，基于三维模型研究了水下航行器路径规划问题。
论文主要工作和贡献如下：
(1)提出了斜坡海底的射线跟踪模型的计算方法和仿真程序方法，通过实际数据仿真曲线给出了计算结果：基于射线理论，采用用声线图计算传播损失，形象直观地给出了仿真计算结果。
(2)提出了一种将非相干检测和相干检测结合在一起的新的调制方法——多载波—多相移键控(MC-MPSK)调制方法，分析了这种调制方法与传统方法相比较的优越性：给出了MC-MPSK调制方法的实际仿真结果和系统性能的分析结果。
(3)为了对水下航行器和活动目标准确定位，给出了水下目标图像红外检测方法。根据最优估计理论，给出了图像融合定位估计算法。
(4)提出了考虑海流影响下的区域探测规划路径规划方法、海图数据的路径规划方法；提出了基于这两种情况下全局路径规划、在线威胁规避路径规划等方面的内容。完成了数字化半物理仿真平台中的仿真管理计算机中的软件开发以及基于电子海图的AUV全局路径规划仿真。
(5)建立在线规划的目标函数，以具体某水下航行器的线性化横侧向运动方程作为等式约束，利用最小值原理，构造了哈密尔顿函数进行最优航迹的解算，实现了航迹的最优控制；利用古典变分极值条件的微分方程组采用梯度迭代法和一维搜索初值方式相结合对其进行求解；垂直方向由于约束在数字预处理中已解决，则在水平规划的基础上用动态规划和树型搜索相结合的方法跟随等效数字地形。最终得到更加精确可行的三维水下航行航迹。
This paper systematically introduces the underwater vehicle location problemsrelating with signal processing and path planning. In order to confirm the location ofunderwater vehicles and moving targets, underwater information acquisition,pre-processing, and estimation are adopted in dealing with problems. This paper alsoresearches the path planning problems of underwater vehicles based on 3-D models,underwater signal location and image fusion location.
The main work and contribution of this paper are as follows:
(1) The calculating method and simulating program of the ray tracing model withthe background of sloping sea bed are presented, and the results of calculation areillustrated by the means of actual simulating curves. The acoustic ray image isadopted to calculate the propagation loss based on ray theory.
(2) A new modulation method—Multi-carrier-code and Multi-phase shiftkeying (MC-MPSK), which combines non-coherent detecting and coherent detecting,is proposed in this paper. We also compare this modulating method with thetraditional methods and state the analysis results of simulation and systemperformance.
(3) With the purpose of exactly locating the underwater vehicles and movingtargets, we present the infrared image detection and fusion method of underwatertargets based on optimal estimation method.
(4) Considering the disturbance of marine current, we bring forward the schemesof detecting path planning and navigational chart path planning, including thecontents of global path planning and on-line risk avoiding. We also accomplished thesoftware in simulation computer based on digital simulation platform and AUV globalpath planning based on electronic chart.
(5) The object function of on-line programming, which is restrained by linearpitching and lateral moving equations, is established to find out the optimalunderwater track, using minimum value theory and with the help of Hamilton function.The methods of gradient iterated and 1-D initials searching are adopted to work outthe differential equations with the extremeness value of classical variation. Therestraint problems in vertical direction are solved in pre-processing, thereforehorizontal dynamic programming and tree searching are combined to match digitalterrain and to get more exact 3-D underwater track in the end.
论文主要工作和贡献如下：
(1)提出了斜坡海底的射线跟踪模型的计算方法和仿真程序方法，通过实际数据仿真曲线给出了计算结果：基于射线理论，采用用声线图计算传播损失，形象直观地给出了仿真计算结果。
(2)提出了一种将非相干检测和相干检测结合在一起的新的调制方法——多载波—多相移键控(MC-MPSK)调制方法，分析了这种调制方法与传统方法相比较的优越性：给出了MC-MPSK调制方法的实际仿真结果和系统性能的分析结果。
(3)为了对水下航行器和活动目标准确定位，给出了水下目标图像红外检测方法。根据最优估计理论，给出了图像融合定位估计算法。
(4)提出了考虑海流影响下的区域探测规划路径规划方法、海图数据的路径规划方法；提出了基于这两种情况下全局路径规划、在线威胁规避路径规划等方面的内容。完成了数字化半物理仿真平台中的仿真管理计算机中的软件开发以及基于电子海图的AUV全局路径规划仿真。
(5)建立在线规划的目标函数，以具体某水下航行器的线性化横侧向运动方程作为等式约束，利用最小值原理，构造了哈密尔顿函数进行最优航迹的解算，实现了航迹的最优控制；利用古典变分极值条件的微分方程组采用梯度迭代法和一维搜索初值方式相结合对其进行求解；垂直方向由于约束在数字预处理中已解决，则在水平规划的基础上用动态规划和树型搜索相结合的方法跟随等效数字地形。最终得到更加精确可行的三维水下航行航迹。
This paper systematically introduces the underwater vehicle location problemsrelating with signal processing and path planning. In order to confirm the location ofunderwater vehicles and moving targets, underwater information acquisition,pre-processing, and estimation are adopted in dealing with problems. This paper alsoresearches the path planning problems of underwater vehicles based on 3-D models,underwater signal location and image fusion location.
The main work and contribution of this paper are as follows:
(1) The calculating method and simulating program of the ray tracing model withthe background of sloping sea bed are presented, and the results of calculation areillustrated by the means of actual simulating curves. The acoustic ray image isadopted to calculate the propagation loss based on ray theory.
(2) A new modulation method—Multi-carrier-code and Multi-phase shiftkeying (MC-MPSK), which combines non-coherent detecting and coherent detecting,is proposed in this paper. We also compare this modulating method with thetraditional methods and state the analysis results of simulation and systemperformance.
(3) With the purpose of exactly locating the underwater vehicles and movingtargets, we present the infrared image detection and fusion method of underwatertargets based on optimal estimation method.
(4) Considering the disturbance of marine current, we bring forward the schemesof detecting path planning and navigational chart path planning, including thecontents of global path planning and on-line risk avoiding. We also accomplished thesoftware in simulation computer based on digital simulation platform and AUV globalpath planning based on electronic chart.
(5) The object function of on-line programming, which is restrained by linearpitching and lateral moving equations, is established to find out the optimalunderwater track, using minimum value theory and with the help of Hamilton function.The methods of gradient iterated and 1-D initials searching are adopted to work outthe differential equations with the extremeness value of classical variation. Therestraint problems in vertical direction are solved in pre-processing, thereforehorizontal dynamic programming and tree searching are combined to match digitalterrain and to get more exact 3-D underwater track in the end.
引文
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