Signal designing and processing method for high-precision underwater acoustic positioning system

Abstract

The invention discloses a signal designing and processing method for a high-precision underwater acoustic positioning system. The method faces the requirements of marine scientific investigation, exploration, operation, security and protection and the like on underwater multi-user and high-precision positioning and navigation, and the method comprises two steps of signal design and signal processing. In a signal design process, a direct spread spectrum sequence is adopted to design a signal. A designed signal is transmitted through a transmitting circuit and a transducer of the long baseline acoustic positioning system. In the signal processing process, a reference direct spread spectrum sequence which is the same as that in the signal design process is adopted for processing. Doppler frequency shift and code phase can be obtained at the same time. The transmitting moment of the signal is accurately estimated, and high distance measurement precision can be ensured. Due to the fact thatsignals are designed through the direct spread spectrum sequence technology, different beacons are distinguished through the autocorrelation and cross-correlation characteristics of direct spread spectrum sequence codes, the underwater robot can work in a one-way positioning mode that only beacon signals are received and processed, and the problem that the number of users of a traditional long-baseline underwater acoustic system is limited is solved.

Description

technical field [0001] The invention relates to the technical field of underwater positioning and navigation, in particular to a signal design and processing method for a high-precision underwater acoustic positioning system. Background technique [0002] The ocean is an important support for the sustainable development of the country. Underwater positioning and navigation technology is the basic support technology for ocean exploration and development. Underwater acoustic positioning and navigation, etc. Inertial navigation equipment has the advantages of good concealment, continuous navigation information, high short-term positioning accuracy and stability, but due to the influence of its own accumulated errors, the positioning accuracy diverges seriously over time; both terrain matching and geomagnetic navigation technologies require Obtain the relevant data information in the operation area in advance, so the application in the operation is greatly limited; Doppler veloc...

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Problems solved by technology

[0002]The ocean is an important support for the sustainable development of the country. Underwater positioning and navigation technology is the basic support technology for ocean exploration and development. At present, there are many applications of underwater positioning and navigation There are inertial navigation, terrain matching, geomagnetic navigation, Doppler speed measurement, and underwater acoustic positioning navigation. Inertial navigation equipment has the advantages of good concealment, continuous navigation information, high short-term positioning accuracy and stability, but is affected by its own accumulated errors. Positioning accuracy diverges seriously over time; both terrain matching and geomagnetic navigation technologies need to obtain relevant data information in the operation area in advance, so their application in operations is greatly limited; Doppler speed measurement can provide stable and reliable speed information, through Velocity integration can obtain the displacement information of underwater robots. At present, most underwater robots also mainly use the positioning and navigation mode combined with inertial navigation and Doppler; underwater acoustic positioning and navigation technology can provide long-term, real-time and accurate high Accurate positioning data, thus becoming an indispensable positioning method for ocean exploration and development

[0003]According to the length of the measurement baseline, the underwater acoustic positioning navigation system can be divided into long baseline system, short baseline system and ultra-short baseline system. Therefore, the relative positioning accuracy is relatively high. However, when the traditional long baseline system is used in deep water, it generally adopts the two-way working mode of question and answer, which leads to its positioning accuracy still unable to meet the actual needs, and limits the number of users of the system. The scope of use of the long baseline hydroacoustic positioning system

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