堤坝检测水下机器人水声定位抗多途干扰方案研究  

The research on anti-multipath-interference underwater acoustic positioning for dam inspection ROVs

作　　者：乔钢 李壮 孙宗鑫 

机构地区：[1]哈尔滨工程大学水声技术国防重点实验室,哈尔滨150001

出　　处：《高技术通讯》2013年第4期331-336,共6页Chinese High Technology Letters

基　　金：863计划(2009AA093601-2);国防基础科研(B2420710007)资助项目

摘　　要：针对堤坝检测水下机器人在水下定位过程中极易受到由水面、坝体等引起的多途干扰的问题,提出了一种结合时间反转镜(TRM)技术抗多途干扰的水下定位方案。该方案利用时间反转在自由场可以聚焦的特点,在信标模式下通过对定位阵元接收到的信标信号信道估计,虚拟地实现时间反转聚焦抗多途干扰;在应答模式下通过时间反转应答器中接收到的信号,再返回给定位阵元接收,主动地实现时间反转聚焦抗多途干扰。仿真和实验数据表明,采用时间反转聚焦信道多途的作用,改善了信道多途对定位阵元信号检测精度的影响,解决了由多途引起的解算轨迹产生的野点及间断点等问题。To overcome the muhipath interference with underwater acoustic positioning for dam inspection ROVs caused by the water surface and the dam body, an anti-muhipath-interference underwater acoustic positioning scheme using the time-reversal mirror （TRM） technology is proposed. When using the scheme, the time reversal takes advantage of rich scattering environments to achieve signal focusing, which enables the use of simple receiver structures with- out sacrificing performance. A single element virtual time reversal is applied to beacon mode, which achieves the time reversal by channel estimation in computer instead of ocean channel. A single element active time reversal is applied to transponder mode, which takes advantage of the heterogeneity of the medium to match the acoustic channel automatically without any transcendental knowledge. The results of computer simulations and lake trials show that using the time reversal focusing the channel multi-path characteristics can improve the precision of underwater vehicle positioning and navigation.

关 键 词：堤坝检测 水下机器人(ROV) 时间反转 水声定位 应答器 多途干扰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TV698.1[自动化与计算机技术—控制科学与工程]