水下机器人通信与控制技术研究

Communication and control technology of underwater vehicle

通过调研水下机器人的发展历程,提出了带有履带机器人的系统设计方案,并对其车载模块进行设计以及算法控制。然后通过对脉冲调制、差分脉冲调制进行对比,提出利用改进的DPPM进行水下通信,最后通过实验说明此种方法提高了数据的传输速率,添加白噪声进行实验仿真,说明当信号因延迟为叠加时,系统抗干扰能力会先变强,然后随着叠加数据的增多,抗干扰性减弱。

Research the development process of underwater vehicle,this article proposed vehicle system design with a track and designed the automotive module and algorithm control. Then contrast pulse modulation, differential pulse modulation, made use of improved underwater communication DPPM.Finally,experiments show that this method improves the data transfer rate. Add white noise to simulation experiment. When the signal is superimposed,anti-jamming capability of system would first become strong,with the increase in data,anti-jamming capability was weakened.