海洋探测设备的超声波定位系统设计

Design of Ultrasonic Positioning System for Ocean Exploration Equipment

为了准确定位海洋电磁探测设备的高度,基于海洋声波分层介质射线声学的声线轨迹方程,短基线定位原理,采用海水声速经验公式和主动声纳方程,推导出了适合本系统的浅海超声波定位算法。同时对该算法进行了仿真测试,并将算法仿真测试结果值与实际高度值进行了比较。硬件实现部分采用拥有低功耗模式的MSP430单片机,逆变H桥路,WBT-30海底超声波换能器,换能器匹配电路,滤波器电路和放大接收电路等元器件构建了浅海海底超声波定位系统硬件结构,并在吉林大学的实验室模拟海水水池中进行了实验和标定。通过对定位系统在水池实验中获得的结果和与设备真实位置的比较,证明该系统可以满足对水下目标设备的定位要求。

In order to accurately position eleetronlagnelle detection equipment in the oeean floor, this text uses a shallow ultrasonic positioning algorithm whieh is suitable to the system. The algorithm is derived flom seawater empirical formula for sound velocity and aelive sonar equation. The theory used in this system bases on Ray trajeetory equati（m of Layered medium ray acoustics and the principle of short baseline positioning. The hardware platform of tnderwater ultrasonic positioning system （.onsists of MSP430 mieroeontroller integrated H-bridge module, WBT-30 underwaier ultrasonic transducers, transdu（＇er malehing eircuil, fiher circuit and amplifier receiving eiret, it eomponenls and other omponents. This svstem has been tested and （＇alihrated in the pool of laboratory in Jilin University. The results which mle flom the comparison of simulation test results and the true location of the equipment demonstrate that the system an meet the requirements on the detection equipment location under water.