自主回收UUV水声定位与遥测遥控导引技术研究

Research on Technology of Underwater Acoustic Location and Telemetry and Remote Control Guidance for Self-recovery UUV

摘要:

针对 UUV 任务结束或能源不足时自主回收的需求,深入研究了 UUV 中远程水声定位与遥测遥控导引技术,完成了水声定位与遥测遥控导引系统方案设计,重点研究了 MFSK、OFDM、扩频等水声遥测遥控调制方式。 通过分析和对比,设计了一种正交混合扩频调制方式,并采用相干二维搜索技术,提高扩频技术多普勒补偿能力。 开展了湖上静态与动态跑船试验,试验数据结果表明:水声水平定位精度优于 0. 5%,水声遥测遥控系统解算误码率达到了 10^-3 数量级,可有效引导 UUV 回收作业。

Abstract:

Based on self-recovery demand for UUV at the end of missions or when energy is insufficient, this paper deeply studies underwater acoustic location and telemetry and remote control guidance technology on mid-long range, completes underwater acoustic location and telemetry and remote control guidance system scheme design, and focus on the modulation methods of under- water acoustic location and telemetry and remote control, such as MFSK, OFDM, spread spectrum, etc. Through analysis and com- parison, this paper designs an orthogonal hybrid spread spectrum modulation method, and uses coherent 2-D search technology to improve the Doppler compensation capability of spread spectrum technology. The static and dynamic ship experiments are carried out on lake, and the results of experiments data show that the system can effectively guide the recovery operation of UUV, the accuracy of underwater acoustic horizontal location is better than 0. 5%, and the bit error rate of underwater acoustic location and telemetry and remote control system is 10^-3 magnitude.