Signal processing method for underwater robot positioning system

Abstract

The invention discloses a signal processing method for an underwater robot positioning system, and the method comprises the steps: after carrying out the modular two-addition operation of communication data and spreading code data, modulating carrier data based on binary phase shift keying according to a result, and enabling the obtained result to serve as transmitting data A1; after the A1 is received, obtaining data A2 to be processed through signal conditioning and digital acquisition processes; intercepting a segment of to-be-processed data from A2, multiplying the to-be-processed data bylocally generated spreading code data to obtain intermediate data, and recording the intermediate data as A3; performing Fourier transform on the intermediate data A3 to obtain frequency domain data,and performing modulo operation on the frequency domain data to obtain intermediate data marked as A4; comparing the intermediate data A4 with a detection threshold, locking a real frequency, removinga fuzzy frequency, and determining a code phase resolution; obtaining doppler information and code phase information according to the real frequency, and obtaining communication data. The problem that the number of underwater robots contained in a traditional underwater acoustic positioning and navigation system is limited can be solved.

Description

technical field [0001] The invention belongs to the technical field of underwater robot positioning and navigation, and more specifically relates to a signal processing method for an underwater robot positioning system. Background technique [0002] With the continuous development of my country's marine industry, there are higher requirements for the security of marine territories and the exploration and exploitation of marine resources. Competing with enterprises and units to develop various underwater robots with different structures and functions that can be put into production and practical application. [0003] The positioning and navigation of underwater robots is the core key technology of underwater robots. Traditional underwater robot positioning and navigation mainly include inertial navigation, terrain matching navigation, underwater acoustic positioning navigation, visual navigation, and combined navigation based on the above methods. Inertial navigation is an a...

AI Technical Summary

Problems solved by technology

Aiming at the problem that the number of underwater robots accommodated by the underwater acoustic positioning and navigation system is limited, the present invention provides a sign...

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