一种水声组网定位一体化系统设计与实现

Design and Implementation of an Underwater Acoustic Integrated Networking-positioning System

摘要:

水声网络已在海洋信息立体化获取、传输、感知领域中得到广泛研究和应用，水声网络节点的位置是水声网络协议设计、多样化应用中常常需要的重要信息。依托全球定位系统定位、采用常规水声定位技术获取水声网络节点位置等解决方案存在着无法直接水下应用、多节点需多次定位效率低、需要精确时间同步等问题。提出一种水声组网定位一体化方案，该方案利用水声网络运行过程中网络节点互联互通进行的交互可以直接通过应答测距方式进行节点位置解算，从而实现在不影响网络通信的情况下，无需精确同步的通信定位一体化功能。给出了系统组网通信、测距、定位、误差校正等核心环节的设计过程，设计了一套小规模水声网络通信定位试验系统，并开展湖试试验。湖试试验结果初步表明了该系统组网、定位一体化的有效性。

关键词:水声通信;组网定位一体化;水声网络;测距

Abstract:

Underwater acoustic networks have been widely studied and applied in the fields of three-dimensional acquisition，transmission，and perception of ocean information. The location of nodes in underwater acoustic networks is an important information needed in the protocol design and diverse application of underwater acoustic network. Conventional positioning solutions which rely on Global Positioning System and use conventional underwater acoustic positioning technology to obtain the location of underwater acoustic network nodes encounter problems such as inability to directly apply underwater，low efficiency in multiple node localization，and the requirement for precise time synchronization. In this paper，a scheme for underwater acoustic integrated networking-positioning（UAINP）is presented. In this scheme，by using the interaction between network nodes during the operation of underwater acoustic networks，a response-ranging capability can be provided to solve the node position，thus integrated communication and positioning capability that does not requirement for precise time synchronization can be achieved without affecting the network communication. The design details of core modules such as network communication，ranging，positioning，error compensation，etc.，are provided. Then，a small-scale experimental underwater acoustic integrated networking-positioning system is developed and evaluated via lake trial. The results of the lake trial preliminarily demonstrate the effectiveness of the integrated networking-positioning capabilities of the proposed system.

Key words:underwater acoustic communication;integrated networking-positioning;underwater acoustic network;ranging