多普勒计程仪处理算法研究与实现
摘要
多普勒计程仪是舰船导航设备之一。随着海洋技术的发展,越来越多的国家和机构开始对它进行研究,尤其是适用于深海环境的大深度计程仪。
声速补偿曾经是多普勒计程仪精度提高的一个瓶颈,相控阵的应用则从根本上消除了这一问题,使其性能得到很大提高。本文围绕此类多普勒计程仪,从系统角度进行进一步研究。
算法上,本文研究了FFT测频、过零法测频和复协方差测频三种方法,通过matlab仿真软件对它们的测频性能进行了对比。软件开发方面,在CCS环境下编写了回波信号模拟器软件,通过采用查表法缩小了DSP计算正弦函数所用的时间,实现了模拟器造数的实时性；研究了整个系统的工作流程,包括系统自检流程、不同水深情况下的回波信号搜索和跟踪算法,在CCS环境下对它们进行编程实现。在VC++6.0环境下,开发了整个系统的显控软件,实现用户与系统交互,实时显示系统工作时的波形和测频结果。数据的后续处理方面,重点研究了数据的平滑处理算法,对于野点剔除和平滑速度问题进行了深入研究。本文末尾,对湖试情况进行了介绍,根据联调和试验情况对各个算法的测频性能和适用情况进行了分析和预测。
DVL (Doppler Velocity Log) is one of the navigation equipments on ship. With the development of marine technology, more and more countries and institutions began to study it, especially the one for deep sea environment.
Velocity compensation was once a bottleneck to improve the accuracy. The application of phased-array technique on sonar solved this problem in theory, which made the performance of Doppler log greatly improved. In this thesis, we made further study on this kind of Doppler log.
In this thesis, three frequency estimation algorithms have been researched:FFT algorithm, Zero-cross algorithm and Complex-covariance algorithm. Their performances in frequency estimation have been compared in matlab simulation environment. In the part of software development, the software of signal simulator was developed on CCS platform. To make sure the simulator's real-time performance, look-up table algorithm was used which reduced the calculation time of sine function in DSP greatly. The system flow and interfaces between different parts were designed in the DSP control software, including the self-test process, search and follow algorithm in different water depths. And the display and control software which would display the waves and frequency measurement in real-time was developed on Visual C++ platform; it implements user interaction with the system as well. In the part of data process, a lot of work was done on the data smoothing algorithm in this thesis, especially the relation of outliers'elimination and smoothing speed. And last, the situation of the lake test was introduced, and the performances and application conditions of the algorithms were analyzed based on the experimentation condition.
声速补偿曾经是多普勒计程仪精度提高的一个瓶颈,相控阵的应用则从根本上消除了这一问题,使其性能得到很大提高。本文围绕此类多普勒计程仪,从系统角度进行进一步研究。
算法上,本文研究了FFT测频、过零法测频和复协方差测频三种方法,通过matlab仿真软件对它们的测频性能进行了对比。软件开发方面,在CCS环境下编写了回波信号模拟器软件,通过采用查表法缩小了DSP计算正弦函数所用的时间,实现了模拟器造数的实时性；研究了整个系统的工作流程,包括系统自检流程、不同水深情况下的回波信号搜索和跟踪算法,在CCS环境下对它们进行编程实现。在VC++6.0环境下,开发了整个系统的显控软件,实现用户与系统交互,实时显示系统工作时的波形和测频结果。数据的后续处理方面,重点研究了数据的平滑处理算法,对于野点剔除和平滑速度问题进行了深入研究。本文末尾,对湖试情况进行了介绍,根据联调和试验情况对各个算法的测频性能和适用情况进行了分析和预测。
DVL (Doppler Velocity Log) is one of the navigation equipments on ship. With the development of marine technology, more and more countries and institutions began to study it, especially the one for deep sea environment.
Velocity compensation was once a bottleneck to improve the accuracy. The application of phased-array technique on sonar solved this problem in theory, which made the performance of Doppler log greatly improved. In this thesis, we made further study on this kind of Doppler log.
In this thesis, three frequency estimation algorithms have been researched:FFT algorithm, Zero-cross algorithm and Complex-covariance algorithm. Their performances in frequency estimation have been compared in matlab simulation environment. In the part of software development, the software of signal simulator was developed on CCS platform. To make sure the simulator's real-time performance, look-up table algorithm was used which reduced the calculation time of sine function in DSP greatly. The system flow and interfaces between different parts were designed in the DSP control software, including the self-test process, search and follow algorithm in different water depths. And the display and control software which would display the waves and frequency measurement in real-time was developed on Visual C++ platform; it implements user interaction with the system as well. In the part of data process, a lot of work was done on the data smoothing algorithm in this thesis, especially the relation of outliers'elimination and smoothing speed. And last, the situation of the lake test was introduced, and the performances and application conditions of the algorithms were analyzed based on the experimentation condition.
引文
[1]张宝成,徐雪仙,刘锐.潜艇多普勒测速系统[J].声学与电子工程.1996
[2]任茂东.国外船用水声计程仪概述[J].世界海运.第二期.1994
[3]刘占存.多普勒和多普勒效应的起源.物理学史和物理学家[M].32卷27期,2003
[4]http://www.link-quest.com/html/intro_nq.htm
[5]http://www.vckbase.com/document/viewdoc/?id=192
[6]陈传坎.船用多普勒计程仪测速精度分析[J].航海技术.第2期.2004
[7]张殿伦,卢逢春,张国忠,张咏霞.相控阵多普勒测速技术研究[J].哈尔滨工程大学学报.2002
[8]薛敬宏.声相关测速技术研究.哈尔滨工业大学工学博士学位论文.2009
[9]宛宁.声相关计程仪的工作原理与适用性[J].船舶电气.第6期.2009
[10]张贤达.现代信号处理.清华大学出版社.2002：20-24页
[11]彭启琮,李玉柏,管庆.DSP与实时信号处理.电子科技大学出版社.1995
[12]孙兴亮.多普勒测速技术——信号处理技术研究与实现.西安电子科技大学硕士学位论文.2005
[13]战兴群,张炎华,徐廷良.大深度多普勒计程仪方案研究[J].中国造船.42卷第3期.2001
[14]李延.大深度多普勒测速技术研究.哈尔滨工程大学工学博士学位论文.2003
[15]田坦.水下定位与导航技术[M].北京：国防工业出版社.2007
[16]周敏.多普勒测速与船位推算技术研究哈尔滨工程大学硕士学位论文.2003
[17]冯世英.基于相控阵的多普勒测速系统的硬件实现.哈尔滨工程大学硕士学位论文.2004
[18]耿志辉,王玉林.实正弦信号频率估计的高精度综合算法[J].Radio Engineering.第三期.2008
[19]何树阳.高精度测频技术研究与实现.哈尔滨工程大学硕士学位论文.2008
[20]王春铃,孟伟编著.面向对象的程序设计语言—C++.人民邮电出版社.2007：31-34页
[21]彭启琮,管庆等.DSP集成开发环境——CCS/BIOS的原理与应用.电子工业出版社.2005：60-65页
[22]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南.北京航空航天大学出版社.2003：50-64页
[23]Rulph Chassaing著.王华,张健等译.DSP原理开发及其C编程开发术.电子工业 出版社.2006：30-44页
[24]Texas Instruments Incorporated.TI DSP集成化开发环境(CCS)使用手册.清华大学出版社.2005：22-24页
[25]TMS320C645x DSPGeneral-Purpose InputOutput (GPIO)User's Guide.2005
[26]TMS320C6455 Fixed-Point Digital Signal Processor.2007
[27]TMS320C645x DSP 64-Bit Timer User's Guide.2005
[28]李方惠,王飞,何佩琨.TMS320C6000系列DSPs原理与应用(第二版).北京：电子工业出版社.2003：30-34页
[29]王鑫.X波段多普勒接收机关键技术研究.南京理工大学硕士学位论文.2007
[30]Kevin V.J. et al. Doppler Precision Underwater Navigation. Sea Technology. March.1992
[31]Pettigrew, N. R. and Irish, J. D. An Evaluation of Bottom Mounted Doppler Acoustic Profiling Current Meter. Proc. Oceans'83. Sept.1983
[32]Emmanuel C.B. and Manics, P. A. A Feasibility Study for the Remote Measurement of Underwater Currents Using Acoustic Doppler Technics. NOAA Tech. Aug.1973
[33]KRITZ J. Parametric Array Doppler Sonar. IEEE J. Oceanic Eng.1977
[34]Kevin V. Jorgensen, Brian L. Grose and F. Anthony Grandall. Doppler Sonar Applied to Precision Underwater Navigation. Proceeding of Engineering In Harmony With The Ocean.1993
[35]J.Sawyer. Modern Development In The Doppler Log. IEEE Proc.1989
[36]TMS320C6000 Cpu and Instruction Set Reference Guide.1999
[37]TMS320C6000 Programmer's Guide. Texas Instrument Incorporated.2001
[38]TMS320C6000 Optimizing C Compiler User's Guide. Texas Instruments Incorporated.2001
[39]TMS320C6000 Peripherals Reference Guide. Texas Instruments Incorporated.2001
[40]陈志泊,王春玲,孟伟.面向对象的程序设计语言——C++(第二版).北京：人民邮电出版社.2007：60-66页
[41]孙鑫,余安萍.VC++深入详解.电子工业出版社.2007：50-54页
[42]邹洪,向大威,景永刚.多普勒计程仪的数据平滑方法[J].声学技术.第四期.2008
[2]任茂东.国外船用水声计程仪概述[J].世界海运.第二期.1994
[3]刘占存.多普勒和多普勒效应的起源.物理学史和物理学家[M].32卷27期,2003
[4]http://www.link-quest.com/html/intro_nq.htm
[5]http://www.vckbase.com/document/viewdoc/?id=192
[6]陈传坎.船用多普勒计程仪测速精度分析[J].航海技术.第2期.2004
[7]张殿伦,卢逢春,张国忠,张咏霞.相控阵多普勒测速技术研究[J].哈尔滨工程大学学报.2002
[8]薛敬宏.声相关测速技术研究.哈尔滨工业大学工学博士学位论文.2009
[9]宛宁.声相关计程仪的工作原理与适用性[J].船舶电气.第6期.2009
[10]张贤达.现代信号处理.清华大学出版社.2002：20-24页
[11]彭启琮,李玉柏,管庆.DSP与实时信号处理.电子科技大学出版社.1995
[12]孙兴亮.多普勒测速技术——信号处理技术研究与实现.西安电子科技大学硕士学位论文.2005
[13]战兴群,张炎华,徐廷良.大深度多普勒计程仪方案研究[J].中国造船.42卷第3期.2001
[14]李延.大深度多普勒测速技术研究.哈尔滨工程大学工学博士学位论文.2003
[15]田坦.水下定位与导航技术[M].北京：国防工业出版社.2007
[16]周敏.多普勒测速与船位推算技术研究哈尔滨工程大学硕士学位论文.2003
[17]冯世英.基于相控阵的多普勒测速系统的硬件实现.哈尔滨工程大学硕士学位论文.2004
[18]耿志辉,王玉林.实正弦信号频率估计的高精度综合算法[J].Radio Engineering.第三期.2008
[19]何树阳.高精度测频技术研究与实现.哈尔滨工程大学硕士学位论文.2008
[20]王春铃,孟伟编著.面向对象的程序设计语言—C++.人民邮电出版社.2007：31-34页
[21]彭启琮,管庆等.DSP集成开发环境——CCS/BIOS的原理与应用.电子工业出版社.2005：60-65页
[22]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南.北京航空航天大学出版社.2003：50-64页
[23]Rulph Chassaing著.王华,张健等译.DSP原理开发及其C编程开发术.电子工业 出版社.2006：30-44页
[24]Texas Instruments Incorporated.TI DSP集成化开发环境(CCS)使用手册.清华大学出版社.2005：22-24页
[25]TMS320C645x DSPGeneral-Purpose InputOutput (GPIO)User's Guide.2005
[26]TMS320C6455 Fixed-Point Digital Signal Processor.2007
[27]TMS320C645x DSP 64-Bit Timer User's Guide.2005
[28]李方惠,王飞,何佩琨.TMS320C6000系列DSPs原理与应用(第二版).北京：电子工业出版社.2003：30-34页
[29]王鑫.X波段多普勒接收机关键技术研究.南京理工大学硕士学位论文.2007
[30]Kevin V.J. et al. Doppler Precision Underwater Navigation. Sea Technology. March.1992
[31]Pettigrew, N. R. and Irish, J. D. An Evaluation of Bottom Mounted Doppler Acoustic Profiling Current Meter. Proc. Oceans'83. Sept.1983
[32]Emmanuel C.B. and Manics, P. A. A Feasibility Study for the Remote Measurement of Underwater Currents Using Acoustic Doppler Technics. NOAA Tech. Aug.1973
[33]KRITZ J. Parametric Array Doppler Sonar. IEEE J. Oceanic Eng.1977
[34]Kevin V. Jorgensen, Brian L. Grose and F. Anthony Grandall. Doppler Sonar Applied to Precision Underwater Navigation. Proceeding of Engineering In Harmony With The Ocean.1993
[35]J.Sawyer. Modern Development In The Doppler Log. IEEE Proc.1989
[36]TMS320C6000 Cpu and Instruction Set Reference Guide.1999
[37]TMS320C6000 Programmer's Guide. Texas Instrument Incorporated.2001
[38]TMS320C6000 Optimizing C Compiler User's Guide. Texas Instruments Incorporated.2001
[39]TMS320C6000 Peripherals Reference Guide. Texas Instruments Incorporated.2001
[40]陈志泊,王春玲,孟伟.面向对象的程序设计语言——C++(第二版).北京：人民邮电出版社.2007：60-66页
[41]孙鑫,余安萍.VC++深入详解.电子工业出版社.2007：50-54页
[42]邹洪,向大威,景永刚.多普勒计程仪的数据平滑方法[J].声学技术.第四期.2008