CN114679199A - Underwater sound positioning and communication integrated signal design method - Google Patents
Underwater sound positioning and communication integrated signal design method Download PDFInfo
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- CN114679199A CN114679199A CN202210584286.7A CN202210584286A CN114679199A CN 114679199 A CN114679199 A CN 114679199A CN 202210584286 A CN202210584286 A CN 202210584286A CN 114679199 A CN114679199 A CN 114679199A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7075—Synchronisation aspects with code phase acquisition
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a method for designing an underwater acoustic positioning and communication integrated signal, which is used for calculating the gain provided by signal design; determining the sequence and the number of bits of a spreading code according to the gain provided by signal design; determining communication information digit and a data updating period according to task requirements; determining a spreading code period contained in each communication data bit; determining the duty ratio of a signal transmitted by a transmitter; based on the spread spectrum communication technology, different signal transmitters are distinguished through different code sequences of the same code family, communication information is carried through the combination of the different code sequences, Doppler frequency shift and code phase can be estimated simultaneously after signal processing, the Doppler frequency shift is used for estimating the motion state of an underwater cluster intelligent body, the code phase is used for estimating the transmission time of signals, the distance between a beacon and the underwater cluster intelligent body is calculated, the positioning function is realized, the underwater acoustic positioning and underwater acoustic communication technologies are combined, and the underwater acoustic communication and navigation positioning support is provided for environment monitoring and protection, resource exploration and development, ocean operation and the like.
Description
Technical Field
The invention relates to the technical field of deep sea exploration, in particular to an underwater acoustic positioning and communication integrated signal design method.
Background
The deep sea underwater acoustic communication and navigation technology is a key core technology for supporting deep sea exploration and development, although the relationship between an underwater acoustic positioning system and an underwater acoustic communication system is long-flowing, the two acoustic systems are basically independent at the present stage, and when deep sea exploration is carried out, the problem that the underwater acoustic positioning signal and the underwater acoustic communication signal interfere with each other can exist, so that precious underwater energy is wasted, how to fuse the underwater acoustic positioning and underwater acoustic communication technology from a system layer, and the design of an underwater acoustic positioning and communication integrated signal becomes a direction which is hot in the fields of underwater acoustic positioning and underwater acoustic communication.
Disclosure of Invention
In view of the above, the invention provides an underwater acoustic positioning and communication integrated signal design method, which fuses the underwater acoustic positioning and the underwater acoustic communication together and avoids mutual interference and waste of underwater energy.
The technical scheme of the invention is realized as follows:
an underwater sound positioning and communication integrated signal design method comprises the following steps:
step S1, calculating the gain provided by signal design;
step S2, determining the sequence and the number of bits of the spread spectrum code according to the gain provided by the signal design;
step S3, determining the communication information digit and the data updating period according to the task requirement;
step S4, determining the spread spectrum code period contained in each communication data bit;
and step S5, determining the duty ratio of the signal transmitted by the transmitter.
Preferably, before the step S1, the method further includes a step S0 of determining a system range and an operating frequency.
Preferably, the gain calculation expression in step S1 is:
GA≥-(SL-TL-NL)；
where GA is the gain, SL is the transducer sound source level, TL is the propagation loss, and NL is the noise level.
Preferably, the spreading codes in step S2 adopt pseudo random codes, where the pseudo random codes include M-sequence codes, Gold code sequences and chaotic sequence codes, and the spreading code sequences satisfying the condition are not less than 2M, where M is the number of transmitters.
Preferably, when the pseudo random code is a Gold code sequence, the expression of the bit number r of the spreading code is:
r≥GA/10lg2；
where GA is the gain calculated in step S1.
Preferably, the communication information of step S3 includes information of signal transmission time, temperature, salinity and depth of the sea area, and the data update period is between 1S and 10S.
Preferably, the communication data in step S4 at least includes N complete spreading code periods, where N is a natural number.
Preferably, the transmission format of the signal transmitted by the transmitter in step S5 is:
wherein Si(t) is the transmission format of the signal transmitted by the ith transmitter, AiTo transmit the amplitude of the signal, Pi(t) is a spreading code corresponding to the ith signal, Di(t) a digital representation of the duty cycle for the ith signal, fiIs the carrier frequency corresponding to the ith signal,
the phase corresponding to the ith signal.
Preferably, the spreading code P corresponding to the ith signaliThe expression of (t) is:
wherein p isi1(t) and pi2(T) is different sequence codes of the same code family, T is a complete code sequence period, N =1, 2, …, N is a spreading code period.
Preferably, the ith signal adopts a digital expression D of a duty ratioiThe expression of (t) is:
where T is a complete code sequence period, N =1, 2, …, N is a spreading code period, and k is a duty cycle.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method for designing an underwater acoustic positioning and communication integrated signal, which is based on a spread spectrum communication technology, distinguishes different signal transmitters through different code sequences of the same code family, carries communication information through the combination of the different code sequences to realize a communication function, can simultaneously estimate Doppler frequency shift and code phase after signal processing, wherein the Doppler frequency shift is used for estimating the motion state of an underwater cluster intelligent body, the code phase is used for estimating the transmission time of a signal, and the distance between a beacon and the underwater cluster intelligent body is calculated to further realize a positioning function.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only preferred embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart of an integrated underwater acoustic positioning communication signal design method according to the present invention;
FIG. 2 is a simulation diagram of carrier data modulated after computation of communication information and Gold code sequences;
FIG. 3 is a simulation of the transmitted signal at a 15% duty cycle of the simulated communication and contaminated by white Gaussian noise with a signal-to-noise ratio of 0 dB;
FIG. 4 is a simulation of the transmitted signal at 15% duty cycle of the analog communication and contaminated by white Gaussian noise with a signal-to-noise ratio of 10 dB;
FIG. 5 is a simulation diagram of the received signal processing result of the present invention under the conditions of signal-to-noise ratio of 10dB and communication data of 101;
fig. 6 is a simulation diagram of the processing result of the received signal in the state of 0dB snr and 011 communication data according to the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, a specific embodiment is provided below, and the present invention is further described with reference to the accompanying drawings.
Referring to fig. 1, the underwater acoustic positioning and communication integrated signal design method provided by the invention comprises the following steps:
step S0, determining the system action distance and the working frequency;
step S1, calculating the gain provided by signal design;
the gain GA is obtained according to a sonar equation, and the calculation expression is GA ≧ SL-TL-NL;
where GA is the gain, SL is the transducer sound source level, TL is the propagation loss, and NL is the noise level.
Step S2, determining the sequence and the number of bits of the spread spectrum code according to the gain provided by the signal design;
the spreading codes in step S2 adopt pseudo random codes, where the pseudo random codes include M-sequence codes, Gold code sequences, and chaotic sequence codes, and if the number of transmitters required by the system is M, the spreading code sequences that need to satisfy the condition are not less than 2M, where M is the number of transmitters, the gain provided by the spreading codes in step S2 needs to be not less than the gain GA provided by the signal design calculated in step S1, and if the spreading codes select Gold code sequences, the expression of the number r of bits is: r is more than or equal to GA/10lg 2; where GA is the gain calculated in step S1.
Step S3, determining the communication information digit and the data updating period according to the task requirement;
the communication information comprises signal emission time information, and temperature, salinity and depth information of the sea area, wherein the signal emission time information is necessary, the temperature, salinity and depth information of the sea area are other communication information customized according to user requirements, and the data updating period is mainly determined according to the communication data code rate required by a task and is generally selected from 1-10 s.
Step S4, determining the spread spectrum code period contained in each communication data bit;
the communication data at least comprises N complete spreading code periods, wherein N is a natural number.
And step S5, determining the duty ratio of the signal transmitted by the transmitter.
Preferably, the transmission format of the signal transmitted by the transmitter in step S5 is:
wherein Si(t) is the transmission format of the signal transmitted by the ith transmitter, AiTo transmit the amplitude of the signal, Pi(t) is the spreading code corresponding to the ith signal, Di(t) a digital representation of the duty cycle for the ith signal, fiIs the carrier frequency corresponding to the ith signal,
the phase corresponding to the ith signal.
Preferably, the spreading code P corresponding to the ith signaliThe expression of (t) is:
wherein p isi1(t) and pi2(T) is different sequence codes of the same code family, T is a complete code sequence period, N =1, 2, …, N is a spreading code period.
Preferably, the ith signal adopts a digital expression D of duty ratioiThe expression of (t) is:
where T is a complete code sequence period, N =1, 2, …, N is a spreading code period, and k is a duty cycle.
In actual engineering, the duty ratio of a transmitted signal needs to be comprehensively considered according to energy and the overall performance of a transmitter, and the code rate of a spreading code is judged according to the duty ratio.
The invention relates to a design method of an underwater acoustic positioning communication integrated signal, which is based on a spread spectrum communication technology, wherein a signal transmitted by each signal transmitter is a sinusoidal signal modulated by a spread spectrum code, and different signal transmitters are distinguished by adopting different code sequences. The spreading code of each signal selects two different complete code sequences from the same code family to be combined as '0' and '1' of communication information, thereby realizing the communication function. The spread spectrum code signal can be processed to simultaneously estimate Doppler frequency shift and code phase, the Doppler frequency shift is used for estimating the motion state of a signal receiver, the code phase is used for estimating the transmission time of the signal, the distance between a beacon and an underwater cluster intelligent body is calculated, and the distance is resolved through a nonlinear equation, so that the positioning function is realized; the underwater cluster intelligent body is provided with a signal receiver, receives and processes signals, and resolves position information and communication information.
The underwater communication and underwater positioning are combined together, so that the problems of precious underwater energy waste and mutual interference of signals of two systems are avoided, powerful support can be provided for marine environment monitoring and protection and marine resource exploration and development, and underwater acoustic communication and navigation positioning support can be provided for various marine operators and equipment (such as underwater rescue/exploration/engineering operators, underwater gliders, floating/submerged buoy and other small-sized deep sea operation equipment, marine oil and gas, mineral exploration and development equipment, underwater cluster intelligent unmanned equipment and the like).
The beneficial effects of the present invention are discussed below by one embodiment:
wherein the parameters of the 6 steps are initialized:
carrier center frequency f in step S0iIs 10.16 kHz.
The gain GA in step S1 is 21 dB;
selecting a Gold code sequence for the spread spectrum code in the step S2, wherein the bit number of the Gold code sequence is not less than 7 bits;
the communication data bit number in step S3 is 3 bits, and the data update cycle is 1S;
each communication data bit in step S4 contains 1 complete spreading code period;
the duty ratio of the transmitter transmission signal in step S5 is 15%, and the code rate of the resulting spreading code is 2.54 kHz.
As shown in fig. 2, the carrier signal is a 127-bit Gold code modulated carrier signal, fig. 3 and fig. 4 are simulation graphs of a transmitted signal considering gaussian white noise, the signal-to-noise ratio of fig. 3 is 0dB, and the signal-to-noise ratio of fig. 4 is 10 dB. Fig. 5 and fig. 6 are simulation diagrams of the received signal processing result of the present invention, in which the signal-to-noise ratio of fig. 5 is 10dB, the communication data is 101, the signal-to-noise ratio of fig. 6 is 0dB, and the communication data is 011. Comparing fig. 5 and fig. 6, the highest peak of the signal is 1 defined by the communication information, and it is obvious that the communication data in fig. 5 is 101, and the communication data in fig. 6 is 011, so that it can be obtained that the design method provided by the present invention can complete the carrying of the communication information. In addition, fig. 5 and fig. 6 can also obtain the doppler frequency shift and the code phase value at the same time, and then finish the accurate guarantee of the signal emission time and the extraction of the positioning information, and finally realize the integrated signal design based on the underwater acoustic positioning communication.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An underwater sound positioning and communication integrated signal design method is characterized by comprising the following steps:
step S1, calculating the gain provided by signal design;
step S2, determining the sequence and the number of bits of the spread spectrum code according to the gain provided by the signal design;
step S3, determining the communication information digit and the data updating period according to the task requirement;
step S4, determining the spread spectrum code period contained in each communication data bit;
step S5, determining the duty ratio of the signal transmitted by the transmitter;
the spreading codes in the step S2 adopt pseudo-random codes, where the pseudo-random codes include M-sequence codes, Gold code sequences and chaotic sequence codes, and the spreading code sequences satisfying the condition are not less than 2M, where M is the number of transmitters; when the pseudo-random code is a Gold code sequence, the expression of the bit number r of the spreading code is as follows: r is more than or equal to GA/10lg 2; where GA is the gain calculated in step S1.
2. The design method of integrated underwater acoustic positioning and communication signals as claimed in claim 1, further comprising step S0 of determining a system operating distance and an operating frequency before step S1.
3. The design method of integrated underwater acoustic positioning communication signal as claimed in claim 1, wherein the gain calculation expression in step S1 is:
GA≥-(SL-TL-NL)；
where GA is the gain, SL is the transducer sound source level, TL is the propagation loss, and NL is the noise level.
4. The design method of integrated underwater acoustic positioning communication signals according to claim 1, wherein the communication information of step S3 includes information of signal emission time, temperature, salinity and depth of the sea area, and the data update period is between 1S and 10S.
5. The method as claimed in claim 1, wherein the communication data in step S4 at least includes N complete spreading code periods, where N is a natural number.
6. The design method of integrated underwater acoustic positioning and communication signals as claimed in claim 1, wherein the transmission format of the signals transmitted by the transmitter of step S5 is:
wherein Si(t) is the transmission format of the signal transmitted by the ith transmitter, AiTo transmit the amplitude of the signal, Pi(t) is a spreading code corresponding to the ith signal, Di(t) a digital representation of the duty cycle for the ith signal, fiIs the carrier frequency corresponding to the ith signal,
the phase corresponding to the ith signal.
7. The design method of integrated underwater acoustic positioning and communication signal as claimed in claim 6, wherein the spreading code P corresponding to the ith signaliThe expression of (t) is:
wherein p isi1(t) and pi2(T) is different sequence codes of the same code family, T is a complete code sequence period, N =1, 2, …, N is a spreading code period.
8. The design method of the integrated underwater acoustic positioning and communication signal as claimed in claim 6, wherein the ith signal is represented by a digital expression D of duty ratioiThe expression of (t) is:
where T is a complete code sequence period, N =1, 2, …, N is a spreading code period, and k is a duty cycle.
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Cited By (2)
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| CN115236595A (en) * | 2022-07-19 | 2022-10-25 | 深圳市智慧海洋科技有限公司 | Signal transmission method and system based on underwater acoustic communication and underwater acoustic positioning |
| CN115378821A (en) * | 2022-07-26 | 2022-11-22 | 三亚深海科学与工程研究所 | Underwater sound positioning and communication integrated signal simulator |
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Inventor after: Lv Chengcai Inventor after: Shen Binjian Inventor after: Xu Dazhen Inventor after: Zhang Shengzong Inventor after: Yu Liang Inventor after: Liu Guoshun Inventor after: Meng Xiangjian Inventor after: Song Yuanjie Inventor before: Lv Chengcai |