CN101060349B - Full-duplex underwater acoustic communication unit able to suppress the local transmitting interference - Google Patents
Full-duplex underwater acoustic communication unit able to suppress the local transmitting interference Download PDFInfo
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- CN101060349B CN101060349B CN200610076254A CN200610076254A CN101060349B CN 101060349 B CN101060349 B CN 101060349B CN 200610076254 A CN200610076254 A CN 200610076254A CN 200610076254 A CN200610076254 A CN 200610076254A CN 101060349 B CN101060349 B CN 101060349B
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Abstract
The related full-duplex underwater acoustic communication apparatus comprises: connected in turns, a multiplex-frequency communication module, a DAC, a power amplifier, an emission energy converter, a receiver, an ADC, an adaptive filter module between the DAC and multiplex frequency module, wherein the input of filter receives coding modulated data from the communication module, the reference end receives data from ADC, and its output end sends data to the multiplex frequency module. Compared with prior art, this invention can eliminate greatly the local emission interference, and improves system performance.
Description
Technical field
The invention belongs to the full-duplex underwater acoustic communication field, specifically, the present invention relates to a kind of full-duplex underwater acoustic communication machine that can suppress local emission interference.
Background technology
The full-duplex underwater acoustic communication technology is one of the research difficult point in underwater sound communication field, also carries out seldom both at home and abroad at present.Owing to will transmit and receive simultaneously, this locality transmits can become a strong interference source, and this has influenced the performance of full-duplex underwater acoustic communication greatly.Present implementation method is mainly continued to use frequency division multiple access (FDMA) and code division multiple access (CDMA) technology in the radio communication.Frequency division multiple access is to transmit and receive signal to adopt different operating frequencies respectively, and code division multiple access is to transmit and receive signal to adopt different have orthogonality, codings that cross-correlation coefficient is little respectively.Its principle all is to rely on the difference of signal itself to reduce the phase mutual interference between sending and receiving.
But for underwater sound communication, because the restriction of bandwidth of operation, the frequency division multiple access technology lacks enough frequency resources on the one hand, CDMA (Code Division Multiple Access) also is difficult to adopt the coding of sufficient length on the other hand, make the mutual difference between the sending and receiving signal be difficult to do greatly, so the performance of full-duplex underwater acoustic communication has been subjected to very big restriction.As document 1:Catipovic, J.A, Performance limitations in underwater acoustic telemetry, IEEE J.Oceanic Eng., vol.15, Jul.1990, pp.205-216; Document 2:Stojanovic, M, Recentadvances in high-speed underwater acoustic communications, IEEE J.Oceanic Eng., vol.21, Apr.1996, pp.125-136.
Summary of the invention
The objective of the invention is the interference adaptive cancellation technology is applied in the middle of the full-duplex underwater acoustic communication, reduce this locality and transmit, can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed thereby provide a kind of to the strong interference of the signal of communication that arrives at a distance.
For achieving the above object, the full-duplex underwater acoustic communication machine that can suppress local emission interference provided by the invention, comprise: the spread-spectrum underwater sound communication module of Xiang Lianing successively, digital to analog converter, power amplifier, transmitting transducer, the receiving hydrophone of Xiang Lianing successively, analog to digital converter, it is characterized in that, also comprise the adaptive-filtering module that is connected between analog to digital converter and the spread-spectrum underwater sound communication module, the fan-in of described adaptive-filtering module is according to the coding modulation data that produces from the spread-spectrum underwater sound communication module, through data after A, fan-out is according to delivering to the spread-spectrum underwater sound communication module from receiving hydrophone for the reference edge data.
In the technique scheme, described spread-spectrum underwater sound communication module realizes on industrial computer or DSP; Described adaptive-filtering module realizes on industrial computer or DSP.
In the technique scheme, described adaptive-filtering module adopts least-mean-square error algorithm or RLS to realize.
In the technique scheme, described spread-spectrum underwater sound communication module comprises transmitter module and receiver module, and described transmitter module is encoded to the message information of needs transmission and modulated; The input data of this transmitter module are exactly the Miscellaneous Documents of preserving in the computer, can be arbitrary formats such as literal, picture, voice, transmitter module reads encoded and modulation behind the file that needs transmission, delivers to the input of digital-to-analogue conversion part and adaptive-filtering module.
In the technique scheme, described receiver module is at first searched for synchronizing signal in the signal of communication that arrives at a distance by matched filter, carry out the channel matched processing according to the amplitude and the time delay information of peak value in the matched filter dateout then, carry out demodulation, decoding at last; The fan-in of this receiver module is according to the output from the adaptive-filtering module, and fan-out is also preserved into file simultaneously according to showing by computer screen or alternate manner.
In the technique scheme, it is that the back addition is delayed time, amplified to received signal accordingly that described channel matched is handled, thus the processing procedure of the loss that the compensate for channel influence causes.
The present invention compared with prior art can eliminate this locality emission of sneaking in the existing full-duplex underwater acoustic communication machine receiver greatly and disturb, and improves the performance of existing full-duplex underwater acoustic communication machine.Experimental data shows, existing for certain, the full-duplex underwater acoustic communication machine of structure as shown in Figure 1, when carrying out the full-duplex communication experiment, this locality emission jam-to-signal of sneaking in the receiving hydrophone is far come the high approximately 40dB of signal, the signal to noise ratio that promptly is input to the spread-spectrum underwater sound communication module by signal is about-40dB, considerably beyond the anti-interference process ability of this communication equipment, and can't proper communication.After adding adaptive interference cancelling processing module as shown in Figure 2, local emission interference signal is all cut out basically, and the signal to noise ratio that is input to the spread-spectrum underwater sound communication module by signal has improved 35dB, and communication is normally carried out.This has proved that the present invention is eliminating this locality interferences that transmit, the good result that raising full-duplex underwater acoustic communication machine aspect of performance is had.
Description of drawings
Fig. 1 is a kind of module diagram of existing full-duplex underwater acoustic communication machine;
Fig. 2 is the module diagram of the full-duplex underwater acoustic communication machine of one embodiment of the invention;
Fig. 3 is the structural representation (BPF represents band pass filter among the figure) of the transmitter module of spread spectrum communication module of the present invention;
Fig. 4 is the schematic diagram of the adaptive-filtering module in one embodiment of the present of invention;
Fig. 5 is the structural representation (LPF represents low pass filter among the figure) of the receiver module of spread spectrum communication module of the present invention.
Embodiment
When carrying out full-duplex underwater acoustic communication, received signal is transmitted by very strong this locality and forms with relative very faint distant place arrival signal, and the signal that wherein arrives at a distance is a useful signal, and promptly the message that transmits of the other side is unknown.This locality transmits and can disturb the useful signal that arrives strongly at a distance, but it is known concerning the bolter, therefore can deduct local signal from received signal, thus the interference of subduing local signal.
Further specify as follows.
If local interference signal is x, the signal that arrives at a distance is y, and received signal is exactly x+y so, and x can disturb y.Existing FDMA, CDMA technology are to reduce the interference of x to y by the difference that strengthens between x and the y, and the present invention makes every effort to x cut obtain simple y.
Below in conjunction with drawings and the specific embodiments the present invention is done to describe further.
The present invention includes: transmitting transducer, receiving hydrophone, power amplifier, analog to digital converter, digital to analog converter, spread-spectrum underwater sound communication module, adaptive-filtering module. transmitting transducer adopts the 065 type 7kHz transmitting transducer that state-run 612 factories produce in the present embodiment; The broadband reception hydrophone that receiving hydrophone adopts state-run 612 factories to produce; The PSM2000A type power amplifier that power amplifier adopts state-run 6909 factories to produce; Analog to digital converter and digital to analog converter adopt the 4472 type AD plates and the 6733 type DA plates of American National Instrument Instruments company respectively; Spread-spectrum underwater sound communication module and adaptive-filtering module realize on 8186 type industrial computers of American National Instrument Instruments company.
The emission workflow of present embodiment is: the spread-spectrum underwater sound communication module is carried out coded modulation to the information of needs emission, then data are delivered to the DA plate, the DA plate is converted to analog signal with digital signal, amplify the rear drive transmitting transducer through power amplifier, produce voice signal and transmit under water.
The DA plate is delivered to data in modulation then, and the DA plate is converted to analog signal with digital signal, amplifies the rear drive transmitting transducer through power amplifier, produces voice signal and transmits under water.
The reception workflow of present embodiment is: receiving hydrophone is converted to the signal of telecommunication with the voice signal that receives, the AD plate is the reference edge that digital signal is delivered to the adaptive-filtering module with this electrical signal conversion, the input of adaptive-filtering module also receives the launching code modulating data that the spread-spectrum underwater sound communication module produces simultaneously, carry out after adaptive-filtering is handled error signal being input to the spread-spectrum underwater sound communication module, the spread-spectrum underwater sound communication module is carried out decoding processing, display communication information on computers then.
In the present embodiment, the spread-spectrum underwater sound communication module application spread spectrum technic, spread spectrum coding adopts 10 Gold sign indicating number, modulation system adopts QPSK, demodulation mode adopts coherent demodulation.Concrete principle can be referring to Proakis, J.G. (2001) .Digital Communications, and Fourth edition, McGraw-Hill, New York. the present invention is primarily aimed at the difference of underwater sound communication and radio communication and has done corresponding improvement.
Compare with radio communication, underwater sound communication exists many ways situation serious, the channel instability; Operable sound wave band limiting; The Doppler frequency shift situation seriously waits difficulty.
The present invention has mainly increased following specific aim measure on the basis of existing spread spectrum technic:
The one, the channel matched technology of the complicated time varying channel in introducing shallow sea is to adapt to the situation of shallow sea channel acute variation.
The 2nd, the method that adopts sample ratio changeable to add decision-feedback is eliminated the influence of Doppler frequency shift.
Spread-spectrum underwater sound communication module in the present embodiment comprises transmitter module and receiver module:
The workflow of transmitter module comprises coding and modulates two steps, its structural representation as shown in Figure 3, two feedback shift registers adopt the feedback tap structures of pairing mutually, generate the Gold sign indicating number to unite.One of them is a synchronous shift register, and it is 1 constant that its initial condition remains.Another is the information shift register, and its initial condition becomes according to the information content that will send, and specifically is exactly to be provided with according to the binary-coded value of the information of transmission.The output of two registers is modulated with the carrier frequency of quadrature respectively, delivers to the digital-to-analogue conversion part behind bandpass filtering.
The workflow of receiver module comprises: steps such as synchro measure, channel matched, demodulation, decoding.
The structure of receiver module as shown in Figure 5, the synchro measure of receiver module is to search for synchronizing signal by matched filter, after searching synchronizing signal, carry out channel matched according to the amplitude of peak value in the matched filter dateout and time delay information (these message reflections the many ways and the phase information thereof of ocean channel) and handle, deliver to subsequent demodulation, decoding then.It is exactly that the back addition is delayed time, amplified to received signal accordingly that described channel matched is handled, the loss that the compensate for channel influence causes.
In addition, be the influence of compensating for doppler frequency shifts, the employing of receiver module sample ratio changeable add the method for decision-feedback.Promptly, carry out demodulation, decoding processing respectively, select optimal result then earlier according to different sampling rate acquired signal.Implementation as shown in Figure 5.
In the present embodiment, the adaptive-filtering module has adopted least-mean-square error algorithm (LMS algorithm), and has made respective design at application requirements.
Compare with other adaptive-filterings application, in full-duplex underwater acoustic communication was used, main difficulty was that the intensity of interference signal is relatively very strong.For this reason, taked following measure:
The fan-in of filter transmits according to taking from this locality, and reference data is taken from receiving hydrophone.Weight coefficient by adaptive algorithm (used herein is the LMS algorithm) adjustment filter obtains not having local interference signals at output.
The adaptive-filtering module adopts least-mean-square error algorithm (LMS algorithm) to realize that the operational formula that iterates of this algorithm is
[W]
k+1＝[W]
k+2με
k[X]
k
Y
k＝[W]
k[X]
k
ε
k＝D
k-Y
k
Wherein [W] is the different weight coefficients of filters constantly, and [X] is input end signal, and D is the reference edge signal, and ε is an output end signal, i.e. error signal, and μ is the control adaptive speed and the gain constant of stability, its span is 10
-9To 10
-14, μ in the present embodiment=10
-12
The fan-in of adaptive-filtering module is according to the coding modulation data that produces from the spread-spectrum underwater sound communication module in the present embodiment, and through data after A, fan-out is according to delivering to the spread-spectrum underwater sound communication module from receiving hydrophone for the reference edge data.As shown in Figure 4.
The adaptive-filtering module is only just started working when firing operation is carried out in this locality, and emission promptly quits work after finishing.Weight coefficient when the back reservation filter weight coefficient at that time that quits work begins as work next time, so circulation.
Experimental result shows, under the same test condition, this locality emission jam-to-signal of the full-duplex underwater acoustic communication machine of existing no adaptive-filtering module is far come the high approximately 40dB of signal, promptly Ci Shi signal to noise ratio is about-40dB, considerably beyond the anti-interference process ability of spread-spectrum underwater sound communication module-15dB, can't proper communication.Local emission interference adaptive offset type full-duplex underwater acoustic communication machine provided by the invention, after reinstating the adaptive-filtering module and handling, the signal to noise ratio that is input to the spread-spectrum underwater sound communication module has improved 35dB, reaches-5dB, and communication is normally carried out.
In the present embodiment, the spread-spectrum underwater sound communication module realizes that on the Blackfin533 type DSP of the U.S. Analog Devices company adaptive-filtering module has adopted RLS (RLS), and other parts are identical with embodiment 1.
Being initialized as of RLS algorithm
[W]
0＝0
[P]
0＝[I]
Iterating operational formula is
Y
k＝[W]
k[X]
k
ε
k＝D
k-Y
k
[W]
k+1＝[W]
k+C
k+1ε
k
Wherein [W] is the different weight coefficients of filters constantly, and [X] is input end signal, and D is the reference edge signal, and ε is an output end signal, i.e. error signal, and [I] is unit matrix.λ gets 0.1.
Claims (6)
1. one kind can be suppressed the full-duplex underwater acoustic communication machine that local emission is disturbed, comprise: the spread-spectrum underwater sound communication module of Xiang Lianing successively, digital to analog converter, power amplifier, transmitting transducer, the receiving hydrophone of Xiang Lianing successively, analog to digital converter, the adaptive-filtering module, it is characterized in that, described adaptive-filtering module is connected between analog to digital converter and the spread-spectrum underwater sound communication module, the fan-in of described adaptive-filtering module is according to the coding modulation data that produces from the spread-spectrum underwater sound communication module, through data after A, fan-out is according to delivering to the spread-spectrum underwater sound communication module from receiving hydrophone for the reference edge data; Described adaptive-filtering module adopts least-mean-square error algorithm to realize that the operational formula that iterates of this algorithm is:
[W]
k+1＝[W]
k+2με
k[X]
k
Y
k＝[W]
k[X]
k
ε
k＝D
k-Y
k
Wherein [W] is the different weight coefficients of filter constantly, and [X] is input end signal, and D is the reference edge signal, and ε is an output end signal; μ is control adaptive speed and stable gain constant, and the μ span is 10
-9To 10
-14Subscript k represents interative computation the k time, and subscript k+1 represents interative computation the k+1 time.
2. can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed by claim 1 is described, it is characterized in that described spread-spectrum underwater sound communication module realizes on industrial computer or DSP; Described adaptive-filtering module realizes on industrial computer or DSP.
3. can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed by claim 1 is described, it is characterized in that described spread-spectrum underwater sound communication module comprises transmitter module and receiver module.
4. can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed by claim 3 is described, it is characterized in that, described transmitter module is the data processing module that signal to be transmitted is encoded and modulated, and the dateout of this transmitter module offers the input of digital to analog converter and adaptive-filtering module respectively.
5. can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed by claim 3 is described, it is characterized in that, described receiver module is: the signal that is received from the output of adaptive filtering module, search for synchronizing signal in the received signal by matched filter, carry out channel matched processing, the data processing module that carries out demodulation, decoding more at last according to the amplitude and the time delay information of peak value in the matched filter dateout then.
6. can suppress the full-duplex underwater acoustic communication machine that local emission is disturbed by claim 5 is described, it is characterized in that, it is that the back addition is delayed time, amplified to received signal accordingly that described channel matched is handled, thus the processing procedure of the loss that the compensate for channel influence causes.
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| CN101848027A (en) * | 2010-06-19 | 2010-09-29 | 哈尔滨工程大学 | Radio-hydroacoustic remote control system and remote control method |
| CN103023582B (en) * | 2012-08-09 | 2014-12-10 | 江苏科技大学 | Underwater acoustic spread-spectrum communication countermeasure method and system |
| CN103023583B (en) * | 2012-11-28 | 2015-04-08 | 厦门大学 | Frame synchronization device capable of suppressing and measuring Doppler in underwater acoustic communication |
| CN103888168B (en) * | 2012-12-21 | 2016-08-24 | 中国科学院声学研究所 | A kind of Doppler Compensation Method for synthetic aperture underwater sound communication and system |
| US9831898B2 (en) | 2013-03-13 | 2017-11-28 | Analog Devices Global | Radio frequency transmitter noise cancellation |
| CN103431875B (en) * | 2013-09-13 | 2014-12-31 | 于一 | Method and device for increasing linearity of hydrophone |
| CN103595489B (en) * | 2013-11-08 | 2015-08-26 | 苏州桑泰海洋仪器研发有限责任公司 | A kind of intercom system under water based on optical fiber sensing technology |
| WO2015077987A1 (en) * | 2013-11-29 | 2015-06-04 | 华为技术有限公司 | Method, base station and user equipment for selecting and configuring transmission mode |
| EP2903171B1 (en) * | 2014-01-30 | 2019-08-28 | Analog Devices Global Unlimited Company | Transmitter noise cancellation in a multi transmitter-receiver system |
| WO2016106470A1 (en) * | 2014-12-29 | 2016-07-07 | 哈尔滨工程大学 | Intelligent directional full-duplex underwater acoustic communication apparatus and communication method therefor |
| US9912358B2 (en) | 2015-03-20 | 2018-03-06 | Analog Devices Global | Method of and apparatus for transmit noise reduction at a receiver |
| EP3308472A1 (en) | 2015-06-15 | 2018-04-18 | Optimal Systems Laboratory, Inc. | Cancellation systems, methods, apparatuses, and software for acoustic or electromagnetic measurement or communications |
| CN106712781A (en) * | 2016-12-08 | 2017-05-24 | 浙江大学 | In-band full duplex underwater acoustic communication apparatus capable of suppressing interference from digital domain and analog domain |
| CN109450486B (en) * | 2018-12-17 | 2020-12-22 | 哈尔滨工程大学 | Digital self-interference cancellation method for asynchronous simultaneous same-frequency full-duplex underwater acoustic communication system |
| CN110518935B (en) * | 2019-09-18 | 2020-10-02 | 中国海洋大学 | MC-CDMA-based underwater acoustic communication system and PAPR (Peak to average Power ratio) suppression method |
| CN113078975A (en) * | 2021-03-30 | 2021-07-06 | 哈尔滨工程大学 | Full-duplex underwater acoustic communication self-interference signal channel modeling method |
| CN113067646A (en) * | 2021-03-30 | 2021-07-02 | 哈尔滨工程大学 | Full duplex underwater acoustic communication machine for single carrier communication |
| CN115333713B (en) * | 2022-10-14 | 2023-02-07 | 海南浙江大学研究院 | Full-duplex underwater acoustic communication medium access control method based on mutual interference avoidance |
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