CN208589137U - A kind of remote control underwater sound communication system and UAV navigation - Google Patents

Abstract

A kind of remote control underwater sound communication system and UAV navigation, including the Underwater Sound Transmitter for issuing control signal and the underwater acoustic receiver for receiving the control signal, the Underwater Sound Transmitter is communicatively coupled with the underwater acoustic receiver by sound wave；The aircraft is equipped with the underwater acoustic receiver, is equipped with the Underwater Sound Transmitter for controlling the console that the aircraft is navigated by water in water.The beneficial effect of the application is: can be replaced using the sound wave of special frequency channel or realize the control moved under water at a distance to UAV navigation as backup.

Description

A kind of remote control underwater sound communication system and UAV navigation

Technical field

The application belongs to UAV navigation technical field, specifically, be related to a kind of remote control underwater sound communication system and UAV navigation.

Background technique

With the fast development that the dynamics of China's development and utilization marine resources is stepped up and naval equipment is built, under water It is the following essential technological means that the UAV navigation for executing certain task, which can mutually form work compound network, It is for promoting China in the detecting of near-shore underwater target, marine resources detection, the exploitation of seabed fuel, the perception of seabed form, submarine The related applications fields such as formation, underwater unmanned battle cooperate with great economy, society and military significance.

Currently, traditional Autonomous Underwater Vehicle (AUV) and wired remote control unmanned submersible (ROV) has developed The unmanned water such as comparative maturity, such as Zhong Chuan heavy industry group, China 710 " sea God " the series A UV, " hunter " series ROV that are developed Lower aircraft, but the both of which is difficult to realize the function of remote control and networking.Wherein, traditional AUV is according to predetermined planning Underwater path carry out autonomous type cruise, and traditional ROV then uses pull-type cable control unmanned submersible to move under water.The former According to pre-set route work therefore task dexterity it is not high, the latter due to cable dragging and zone of action have It has certain limitations.If can be realized it is artificial to UAV navigation carry out Wireless remote control, help to cooperate with The building and management of job network.

Underwater acoustic communication equipment has much, such as the UWM series underwater acoustic communication equipment of LinkQuest company, U.S. research and development, but Be these underwater acoustic communication equipments be all it is "large and all inclusive", structure is complicated, expensive, and does not have function of wireless remote control.And it is existing The radio data-transmission equipment assembled on labour submarine, scientific research submersible takes the sound wave of special frequency channel as carrier, but in this way Equipment design it is complicated, at high cost.In order to realize underwater function of wireless remote control, the common frequency range such as microwave communication, satellite navigation The underwater rapid decay of electromagnetic wave and be not available；Very low frequency rate radio since antenna size is big, data transmission rate is low, Therefore application is limited, is not suitable for the building of small underwater robot cooperative communication network；Wireless laser communication, transmission rate can be with Reach mbit (Mb/s) magnitude, but optic communication is higher for directivity requirement, and even if the best indigo plant of underwater penetrability Transmission range of the green light in limpid water body can only also reach tens of rice, and for even more being difficult to transmit in turbid water body, therefore nothing Method meets the function of remote control.In order to realize underwater sound communication, the communication equipment of UAV navigation equipment allow for The acoustic resistive wave various harsh conditions that condition is met under water, especially serious multipath transmi.

Summary of the invention

In view of this, the technical problem to be solved by the application is to provide a kind of remote control underwater sound communication system and unmanned water Lower aircraft can be replaced using the sound wave of special frequency channel or be realized as backup to the remote of UAV navigation The control moved under water.

In order to solve the above-mentioned technical problem, this application discloses a kind of remote control underwater sound communication system and unmanned underwater navigations Device, and realized using following technical scheme.

A kind of remote control underwater sound communication system, including the Underwater Sound Transmitter for issuing control signal and for receiving the control The underwater acoustic receiver of signal processed, the Underwater Sound Transmitter are communicatively coupled with the underwater acoustic receiver by sound wave.

Further, the frequency of the sound wave is more than or equal to 5kHz and is less than or equal to 900kHz.

Further, the Underwater Sound Transmitter includes for issuing the digital command generator of digital controlled signal, being used for Convert digital signals into the analog waveform generator of analog signal, the transducer driving circuit for driving acoustic-electrical transducer and For converting electrical signals to the acoustic-electrical transducer of acoustic signals, the digital command generator, the analog waveform generator, The transducer driving circuit and the acoustic-electrical transducer are sequentially connected electrically.

Further, the analog waveform generator includes upper switch circuit, lower switch circuit and storage capacitor resistance Network, the upper switch circuit are driven by buffer, and the lower switch circuit is by inverter drive；The upper switch circuit and institute The input terminal for stating lower switch circuit is electrically connected with the order output terminal of the digital command generator；The upper switch circuit and The output end of the lower switch circuit is electrically connected with two input terminals of the transformer of three input terminals respectively；The energy storage resistance electricity It is electrically connected after one end concatenation power resistor of content network with positive pole, another input terminal electricity of the other end and the transformer Connection.

Further, the transducer driving circuit includes clutter filter circuit, and the clutter filter circuit is capacitance-resistance Parallel network, the both ends of the capacitance-resistance parallel network are electrically connected with two output ends of the transformer respectively；The capacitance-resistance is simultaneously The both ends of networking network are also electrically connected with two pins of acoustic-electrical transducer respectively.

Further, the underwater acoustic receiver includes the acoustic-electric transducing for acoustic signals to be converted to analog electrical signal Device, the sonicated circuit that analog electrical signal is handled, the analog-to-digital conversion electricity that analog electrical signal is converted to digital signal Road and the digital signal processing circuit that digital signal is handled, it is the acoustic-electrical transducer, the sonicated circuit, described Analog to digital conversion circuit and the digital signal processing circuit are sequentially connected electrically.

Further, the sonicated circuit includes amplifying circuit, filter network, logafier and in-phase proportion Computing circuit, the amplifying circuit, the filter network, the logafier and the in-phase proportion computing circuit are successively electric Connection, and capacitance or filter capacitor are concatenated between two neighboring circuit or network.

Further, the filter network includes first order active bandpass filiter network and second level active bandpass filiter net Network；The first order active bandpass filiter network and the second level active bandpass filiter network are sequentially connected electrically, and the two it Between concatenate capacitance.

A kind of UAV navigation, the aircraft be equipped with for drive aircraft flight driving circuit and as above The underwater acoustic receiver, the output end of the underwater acoustic receiver are electrically connected with the middle control circuit；For controlling the navigation The console that device navigates by water in water is equipped with Underwater Sound Transmitter as described above；The Underwater Sound Transmitter and the underwater acoustic receiver It is connected by acoustic communication.

Further, the UAV navigation further includes cavity, propeller is set on a left side, propeller is set on the right side, sink-float spiral Paddle and left-hand airscrew motor, right-hand screw paddle motor, drift along propeller motor；Propeller is set on the left side and spiral is set on the right side Paddle is separately positioned on the left and right sides of the cavity bottom, and the propeller that drifts along is arranged in the one side wall of the cavity；Institute The left motor axis connection for setting propeller Yu left-hand airscrew motor is stated, propeller is set on the right side and the motor shaft of right-hand screw paddle motor connects It connects, the motor axis connection of the drift along propeller and the propeller motor that drifts along；The left-hand airscrew motor, right-hand screw paddle electricity Machine and the propeller motor that drifts along are electrically connected with the control module respectively.

Compared with prior art, the application can be obtained including following technical effect: realize underwater ring by acoustic communication The wireless transmission of border control instruction；The influence of underwater existing strong multipath transmi can be resisted；Communication system architecture Simply, low in cost；The UAV navigation of the application realizes that artificial to carry out radio remote to UAV navigation program-controlled System, flexibility are high.

Certainly, implement any product of the application it is not absolutely required to and meanwhile reach all the above technical effect.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:

Fig. 1 is the remote control underwater sound communication system structure diagram of the application one embodiment.

Fig. 2 is the Underwater Sound Transmitter structural block diagram of the application one embodiment.

Fig. 3 is the composition figure of buffer in the Underwater Sound Transmitter of the application one embodiment.

Fig. 4 is the underwater acoustic receiver structural block diagram of the application one embodiment.

Fig. 5 is the single-stage active bandpass filiter network diagram of the application one embodiment.

Fig. 6 is the log amp circuit structure chart of the application one embodiment.

Fig. 7 is the in-phase proportion computing circuit of the application one embodiment.

Fig. 8 is the D/A converting circuit figure of the application one embodiment.

Fig. 9 is the digital signal waveform schematic diagram of the application one embodiment.

Figure 10 is the envelope schematic diagram of the digital signal waveform of the application one embodiment.

Figure 11 is the corresponding waveform envelope schematic diagram of a segment information of the application one embodiment.

Figure 12 is the frame structure schematic diagram of the digital signal of the application one embodiment.

Figure 13 is the leading structural schematic diagram of the application one embodiment.

Figure 14 is the receiver signal process flow block diagram of the application one embodiment.

Figure 15 is the performance test figure based on Matlab of the application one embodiment.

Specific embodiment

Presently filed embodiment is described in detail below in conjunction with accompanying drawings and embodiments, how the application is applied whereby Technological means solves technical problem and reaches the realization process of technical effect to fully understand and implement.

The characteristics of capable of being exported at a distance under water according to the sound wave of particular frequency range, simplifies equipment design side Formula replaces using sound wave or carries out as backup the control of moving under water to UAV navigation, i.e., in conjunction with AUV's and ROV Dual characteristics design a kind of remote control underwater sound communication system for UAV navigation.

Sound wave of the frequency range between several kHz to hundreds of kHz can be transmitted far under water up to more than ten kilometers, public affairs even up to a hundred In distance, do not influenced by water body clarity generally, meet the function of UAV navigation remote control.Preferably frequency Sound wave of the section between 5kHz~900kHz, including 5kHz and 900kHz, can also be 10kHz, 50kHz, 100kHz, 200kHz, 300kHz, 400kHz, 500kHz, 600kHz, 700kHz, 800kHz and 150kHz, 250kHz, 350kHz, 450kHz, 550kHz, 650kHz, 750kHz and 850kHz etc..

There are many kinds of design method, the utility model emphasis, and stable water is realized using simple structure for underwater sound communication circuit Sound communication link, to realize the transmitting of remote signal；The structure for not only realizing underwater sound communication circuit simplifies, while providing again Enough signal handling capacities resist the various influences of underwater acoustic channel.

Remote control underwater sound communication system framework is as shown in Figure 1, include that the Underwater Sound Transmitter of control centre is arranged in and is mounted on Underwater acoustic receiver on submarine navigation device.Underwater Sound Transmitter is converted to sound wave for signal is controlled, and is propagated out by underwater acoustic channel It goes, underwater acoustic channel is commonly referred to as water body.Underwater acoustic receiver receives the control signal of sound wave form, and converts acoustic waves into telecommunications Number.The control signal of electrical signal form is sent to the middle control circuit for being used to control submarine navigation device movement by underwater acoustic receiver, from And control the movement for driving entire submarine navigation device.Underwater Sound Transmitter mainly includes digital command generator, analog waveform generation Device, transducer driving circuit and acoustic-electrical transducer, these parts are sequentially connected electrically, and realize that the electroacoustic conversion of control command is concurrent It is shot out.Underwater acoustic receiver mainly includes acoustic-electrical transducer, sonicated circuit, analog to digital conversion circuit and Digital Signal Processing electricity Road, this several part are sequentially connected electrically, and realize that sound wave is converted into electric signal.The driving of digital signal processing circuit and submarine navigation device Circuit electrical connection.

Fig. 2 is the Underwater Sound Transmitter structural block diagram of the application one embodiment.As shown in Fig. 2, Underwater Sound Transmitter includes number Word command generator, analog waveform generator, transducer driving circuit and acoustic-electrical transducer.For the low transmission speed of control signal Rate feature, the digital signal for carrying command information uses the modulation system of binary system amplitude-shift keying (2ASK), by acoustic communication plate Middle digital signal processing chip is directly generated according to the content of remote control command.

The input digital signal passes to the identical switching circuit of upper and lower two-way.Digital command generator is by digital signal The control signal of form is sent out, and digital command generator can be the interior CPU containing instruction.Digital command generator Output end is electrically connected with the input terminal of analog waveform generator.Analog waveform generator includes upper switch circuit, lower switch circuit With energy storage resistance-capacitance network.Energy storage resistance-capacitance network is used to charging energy-storing.One end of energy storage resistance-capacitance network concatenates function It is electrically connected after rate resistance with positive pole.Upper switch circuit is known as positive, it comes driving switch circuit, switch electricity by buffer The working principle on road is the unlatching when driving voltage is high level, otherwise is closed.Lower switch circuit is known as reverse phase, it passes through reverse phase Device driving switch circuit.Just reverse phase each other in the signal theory of this two-way of upper switch circuit and lower switch circuit, but due to electricity The little deviation of sub- component all additional in double switch circuit increased it is possible that extremely short phrase overlap time Voltage regulator circuit is protected.According to the circuit of the application one embodiment, voltage regulator circuit selects concatenated two voltage-stabiliser tubes.

The output end of upper switch circuit and lower switch circuit two input terminal electricity with a three input terminal transformers respectively Connection.The input terminal of the centre of three input terminal transformer inputs is electrically connected with storage capacitor resistor network.Storage capacitor resistance Network includes power supply, power resistor and energy storage resistance-capacitance network.Two output ends of transformer are electric with transducer drive respectively The input terminal on road is electrically connected.Transducer driving circuit includes anti-parallel diodes and matching resistance-capacitance network.Transducer drive electricity The output end of the input terminal connection transformer on road, output end are electrically connected acoustic-electrical transducer.Wherein anti-parallel diodes are used for Prevent moment big voltage and high current to protect acoustic-electrical transducer.Matching resistance-capacitance network is for matching acoustic-electrical transducer and filter Except the clutter including moment high-frequency impulse etc..Acoustic-electrical transducer effect is that driving voltage is converted to acoustic signals, generally With bandpass characteristics.

One embodiment according to the present utility model, in transducer driving circuit, acoustic-electrical transducer select 33KHz intermediate frequency, The band logical property acoustic-electrical transducer of 2KHz bandwidth, crest voltage are up to 800 volts, about 900 Ω of minimum impedance；Clutter filtering For capacitor in circuit using capacitance 2200pF, the ceramic disc capacitor of 2k volts of pressure resistance, resistance uses 100K Ω conventional, electric-resistance；Reversely Current Limiting Diodes use two 1N4007 diodes；Transformer takes the transformer of turn ratio 16:270, working frequency 1MHz.

One embodiment according to the present utility model, the power supply of energy storage resistance-capacitance network part are 24 volt DC power supplys (being provided by built-in lithium battery), power resistor is using 20 watts, 50 ohm of power resistor；And the electricity of storage capacitor resistor network Appearance is the electrolytic capacitor of 1000uF, pressure resistance 35V, and resistance is 100K Ω conventional, electric-resistance.

One embodiment according to the present utility model, in upper switch circuit and lower switch circuit, voltage-stabilizing device is used BZX84C47 zener diode, switching circuit use NTP18N06 field-effect tube, and buffer and phase inverter all use MM74C04 core The logic gate that piece provides, wherein buffer includes two phase inverters, as shown in figure 3, two phase inverter parallel connections.

Fig. 4 is underwater acoustic receiver circuit block diagram.The characteristics of for transmitting signal, underwater acoustic receiver circuit makes corresponding letter Change processing.As shown in figure 4, underwater acoustic receiver includes acoustic-electrical transducer, sonicated circuit, analog to digital conversion circuit and digital signal Processing circuit, this several part are sequentially connected electrically, and realize that sound wave is converted into electric signal.Sonicated circuit includes amplifying circuit, Level-one filter network, second level filter network, logafier and in-phase proportion computing circuit, amplifying circuit, first order filtering Network, second level filter network, logafier and in-phase proportion computing circuit are sequentially connected electrically, and adjacent two circuits or Filter capacitor is serially connected between network.It is wherein electrically connected after acoustic-electrical transducer concatenation capacitance with the input terminal of amplifying circuit, together The output end of Phase Proportion computing circuit is directly electrically connected with the input terminal of analog to digital conversion circuit.A reality according to the present utility model Example is applied, first order filter network and second level filter network select active bandpass filiter network.

The acoustic signals that acoustic-electrical transducer receives amplify after capacitor separates direct current through amplifying circuit, so It removes by the filter of two-stage bandpass filtering network composition with outer clutter, signal envelope is carried out afterwards using logafier Then detection is adjusted signal amplitude using in-phase proportion computing circuit, recently enter analog to digital conversion circuit and sampled After be transferred to digital signal processing circuit to resolve signal of communication and restore transmitting data.Digital signal processing circuit selects signal Chip is handled to realize.Digital signal processing chip selects commercially available processing chip.

Amplifying circuit does not require particularly, and signal amplification circuit commonly used in the art can be achieved, no longer superfluous herein It states.

One embodiment according to the present utility model, each capacitance are all the common common electricity that capacity is 0.01uF Hold；Amplifying circuit is constructed using 9013 triodes.

One embodiment according to the present utility model, two-stage active bandpass filiter network structure is identical, if Fig. 5 is single-stage The structural schematic diagram of active bandpass filiter network, as shown in figure 5, including amplifier chip, the signal of input concatenates second resistance R2 It is electrically connected with after the second capacitor C2 with the negative input of amplifier chip.It is connected between amplifier chip negative input and output end 3rd resistor R3, the output end of second resistance R2 are divided to two branches, are grounded after a branch connection first resistor R1, another branch It is electrically connected after the concatenation first capacitor C1 of road with the output end of amplifier chip.Between the electrode input end and power supply VCC of amplifier chip The 5th resistance R5 is concatenated, a resistance-capacitance network is connected between ground, which is specially the 4th resistance R4 and third capacitor The parallel network of C3.Amplifier chip therein uses MC33078 operational amplifier, and first resistor R1 and second resistance R2 are selected The resistance of 12K Ω, 3rd resistor R3 select the resistance of 82K Ω, and first capacitor C1 and the second capacitor C2 select the capacitor of 200pF, Third capacitor C3 selects the capacitor of 1uF, and the 4th resistance R4 and the 5th resistance R5 select the resistance of 10K Ω, in this way this bandpass filtering The frequency characteristic of network and the frequency characteristic of acoustic-electrical transducer are mutually matched, and more preferably can more preferably complete signal transformation.

One embodiment according to the present utility model, logafier are selected using circuit structure as shown in FIG. 6 The exemplary circuit configuration of AD8310 chip and AD8310 chip.The first pin of AD8310 is grounded after concatenating the 5th capacitor C5.Before The output signal of terminal circuit, that is, the logafier input signal concatenate the 4th capacitor C4 after with AD8310 the 8th Pin electrical connection.The 6th resistance R6 is connected between the input terminal of 4th capacitor C4 and the output end of the 5th capacitor C5.AD8310's 2nd pin ground connection, the 3rd pin are grounded after concatenating the 8th capacitor C8.The 5th pin of AD8310 and the 7th pin is divided to two after merging Branch, a branch concatenate the 7th resistance R7 and are followed by power supply VCC, another branch is grounded after concatenating the 7th capacitor C7.AD8310 The 6th pin concatenate the 6th capacitor C6 after be grounded.The 4th pin of AD8310 is used as signal output end after concatenating the 9th capacitor C9 It is electrically connected with subsequent conditioning circuit.Wherein, the capacitor of the 4th capacitor C4, the 5th capacitor C5 and the 8th capacitor C8 selection 2700pF, the 6th Capacitor C6 selects 0.01uF capacitor, and the 7th capacitor C7 selects the capacitor of 0.1uF, and the 9th capacitor C9 selects the capacitor of 1uF；6th Resistance R6 selects 100 Ohmic resistances, the 7th resistance R7 to select 10 Ohmic resistances.

Fig. 7 is the circuit structure diagram of the in-phase proportion computing circuit of the utility model one embodiment.As shown in fig. 7, same The typical circuit of Phase Proportion computing circuit selection MC33078 operational amplifier.Including amplifier MC33078, input signal concatenation the It is electrically connected after nine resistance R9 with the electrode input end of amplifier MC33078, the electrode input end of amplifier MC33078 concatenates the tenth resistance It is grounded after R10.The negative input of amplifier MC33078 is grounded after concatenating the 8th resistance R8.The cathode of amplifier MC33078 inputs A resistance-capacitance network is concatenated between end and output end, which is the parallel-connection network of eleventh resistor R11 and the tenth capacitor C10 Network.The power supply termination power Vdd of amplifier MC33078, ground terminal ground connection.The output end of amplifier MC33078 concatenates twelfth resistor As the signal output end output signal of in-phase proportion computing circuit after R12, and it is electrically connected with subsequent conditioning circuit.

The level of power supply Vdd is determined according to the voltage of subsequent digital analog converter, according to the utility model one embodiment The level of power supply Vdd is 3.3 volts.It is the resistance of 10K Ω, the tenth resistance that 8th resistance R8 and the 9th resistance R9, which selects resistance value, It is the resistance of 100K Ω that R10, which selects resistance value, and it is the resistance of 30K Ω, twelfth resistor R12 choosing that eleventh resistor R11, which selects resistance value, The resistance for being 3.9K Ω with resistance value.It is the capacitor of 100pF that tenth capacitor C10, which selects capacitance,.

Fig. 8 is the circuit structure diagram of the analog to digital conversion circuit of the utility model one embodiment.As shown in figure 8, selecting The typical circuit of AD7273 chip.The vdd terminal of AD7273 chip connects power supply VCC, the end DGND ground connection, the 5th pin concatenation the tenth It is grounded after two capacitor C12, the 8th pin is directly grounded.The 11st capacitor C11 is connected between power supply VCC and ground.AD7273 chip 6th pin and the 7th pin is that control terminal is electrically connected with control signal.4th pin of AD7273 chip and input to be converted Signal electrical connection, the 2nd pin SDATA of AD7273 chip export the complete signal of analog-to-digital conversion as output end, and with subsequent electricity Road electrical connection.

One embodiment according to the present utility model, digital signal processing circuit is using Altera The typical circuit of EP3C25F256I7N Cyclone III fpga chip.User of the typical circuit of the fpga chip in chip There is record in handbook, to those skilled in the art and the prior art, may be implemented, therefore which is not described herein again.

In order to better understand the utility model, the underwater images implementation method in remote-controlled water sound communication system is made below A explanation.

In underwater sound signal, the characteristics of for command signal, using binary system on off keying (OOK:On-Off Keying) also known as binary system amplitude-shift keying (2ASK), it is the amplitude of carrier wave with digital baseband signal (digital baseband signal For binary system) and the digital modulation of variation.The waveform for the digital signal that digital command generator generates is as shown in figure 9, wherein generation The waveform of table bit 1 is believed by the square wave carrier frequency of center carrier frequencies (being in this example 33KHz according to signal processor characteristic) It number constitutes, envelope waveform is shown in Figure 10, and wherein duty ratio is defaulted as 40% and configurable, and symbol lengths are symbol transmission speed The inverse of rate (is in this example 1/1KHz).The corresponding signal waveform envelope of bit stream " 101 " is as shown in figure 11 as a result,.

Digital signal uses frame structure as shown in figure 12.I.e. each frame is leading and a data segment forms one by one Frame.It is the frame structure of very brief periodic, and purpose is also the changeable complex situations of better adaptation underwater acoustic channel.Data herein Section is unknown for remote receiver, is transmitting data, if data segment is more than N number of byte (this N is macrodefinition constant), that Multiple N byte data segments should be split；Note that the data segment exclusive use channel coding of each N byte, default use (2, 1,3) convolutional code；It using ": (" character string as data frame head, with ")；" character be data postamble.Leading edge is in transmitter and to connect The known symbol stream that receipts machine is pre-set jointly, for synchronizing and channel estimation.Simple in order to realize, it is by one 1 bit is constituted with several 0 bits, its structure is as shown in figure 13, what the number of bit here was determined such that, that is, is assumed Channel maximum delay divergence is tau_max, and the number of symbol period length T_symbol, 0 bit here should be greater than tau_ max/T_symbol。

The generation process of underwater sound signal is that binary system amplitude-shift keying signal is the digital command generator in transmitter first The digital signal that (namely CPU) is generated, then this binary system amplitude-shift keying signal controls analog waveform generator (namely The analog circuit that metal-oxide-semiconductor is built) corresponding analog signal is generated, this last analog signal enters driving circuit (also It is the transducer driving circuit of the compositions such as transformer) to drive acoustic-electrical transducer to issue sound wave.

According to underwater sound signal frame structure shown in Figure 12, underwater acoustic receiver hardware is by the envelope to the underwater sound signal received It is detected.

The verifying of receiver signal Processing Algorithm is carried out using Matlab software, it is assumed that baseband bandwidth 1KHz, each data Segment length N=64, leading is that 1 bit follows three 0 bits, i.e. hypothesis channel time postpones spuious (reaching the time difference) 3 milliseconds are not exceeded；In addition, multi-path transmission paths are 30, ambient noise is assumed to be additive white noise.Figure 14 is illustrated entirely The analogous diagram of system, wherein abscissa is signal-to-noise ratio (SNR), and ordinate is the bit error rate (BER).It can from analogous diagram Out, system performance is good.

As shown in figure 15, the utility model additionally provides a kind of UAV navigation, including a remote control underwater sound communication System, cavity, propeller is set on a left side, propeller is set on the right side, sink-float propeller, and be arranged in cavity middle control circuit, bottom control Making sheet, lithium battery, motor-drive circuit and three propeller motors.Control module includes middle control circuit, bottom control plate, lithium electricity Pond, motor-drive circuit, middle control circuit are electrically connected with bottom control plate, and motor-drive circuit is embedded in bottom control plate, lithium Battery is used to module for power supply such as middle control circuit, bottom control plates.Underwater acoustic receiver is electrically connected with middle control circuit.Middle control circuit is used In control instruction of the receiving from remote control underwater sound communication system, and control instruction is passed into bottom control plate and is used to drive spiral Paddle motor, and then drive the movement of UAV navigation.Middle control circuit, bottom control plate are circuit knot in the prior art Structure has use in the UAV navigation of existing AUV and ROV.It is provided in acoustic-electrical transducer, that is, figure in embodiment External hydrophone.The effect of bottom control plate is for equipment such as three propellers of concrete operations: when sink-float propeller up time It to float when needle rotates, and is counterclockwise sinking；When propeller is set and propeller is set with identical steering and same rotational speed rotation in the right side in a left side When turning, being all is to advance, and be all is to retreat counterclockwise when rotating clockwise；Propeller and the right side, which are set, when a left side sets propeller difference turn To or different rotating speeds rotate when, generate aircraft rotary head movement.

The beneficial effect of the application is: the wireless transmission of underwater environment control instruction is realized by acoustic communication；It can support The influence of existing strong multipath transmi under water resistant；Communication system architecture is simple, low in cost；The unmanned water of the application Lower aircraft realize it is artificial Wireless remote control is carried out to UAV navigation, flexibility is high.

Above to a kind of remote control underwater sound communication system and UAV navigation provided by the embodiment of the present application, carry out It is discussed in detail.The description of the example is only used to help understand the method for the present application and its core ideas；Meanwhile for this The those skilled in the art in field, according to the thought of the application, there will be changes in the specific implementation manner and application range, In conclusion the contents of this specification should not be construed as limiting the present application.

Some vocabulary has such as been used to censure specific components in specification and claims.Those skilled in the art , it is to be appreciated that hardware manufacturer may call the same component with different nouns.Present specification and claims are not In such a way that the difference of title is as component is distinguished, but with the difference of component functionally as the criterion of differentiation.Such as Be an open language in "comprising" of the specification and claims in the whole text mentioned in, thus should be construed to " include but not It is defined in "." substantially " refer within the acceptable error range, those skilled in the art can solve within a certain error range The technical problem basically reaches the technical effect.Specification subsequent descriptions are to implement the better embodiment of the application, so The description is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.The protection of the application Range is subject to view the appended claims institute defender.

It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability Include, so that commodity or system including a series of elements not only include those elements, but also including not clear The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also There are other identical elements.

Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen It please be in the protection scope of the appended claims.

Claims (9)

1. a kind of remote control underwater sound communication system, it is characterised in that: including the Underwater Sound Transmitter for issuing control signal and be used for The underwater acoustic receiver of the control signal is received, the Underwater Sound Transmitter carries out communication link by sound wave with the underwater acoustic receiver It connects, the frequency of the sound wave is more than or equal to 5kHz and is less than or equal to 900kHz.

2. being remotely controlled underwater sound communication system according to claim 1, it is characterised in that: the Underwater Sound Transmitter includes for issuing The digital command generator of digital controlled signal, is used the analog waveform generator for converting digital signals into analog signal Transducer driving circuit in driving acoustic-electrical transducer and acoustic-electrical transducer for converting electrical signals to acoustic signals, it is described Digital command generator, the analog waveform generator, the transducer driving circuit and the acoustic-electrical transducer are successively electrically connected It connects.

3. being remotely controlled underwater sound communication system according to claim 2, it is characterised in that: the analog waveform generator includes above opening Powered-down road, lower switch circuit and energy storage resistance-capacitance network, the upper switch circuit are driven by buffer, the lower switch circuit By inverter drive；Life of the input terminal of the upper switch circuit and the lower switch circuit with the digital command generator Output end is enabled to be electrically connected；The output end of the upper switch circuit and the lower switch circuit respectively with the transformer of three input terminals Two input terminal electrical connections；It is electrically connected after one end concatenation power resistor of the energy storage resistance-capacitance network with positive pole, separately One end is electrically connected with another input terminal of the transformer.

4. being remotely controlled underwater sound communication system according to claim 3, it is characterised in that: the transducer driving circuit includes clutter Filter circuit, the clutter filter circuit be capacitance-resistance parallel network, the both ends of the capacitance-resistance parallel network respectively with the transformation Two output ends of device are electrically connected；The both ends of the capacitance-resistance parallel network are also electrically connected with two pins of acoustic-electrical transducer respectively It connects.

5. remote control underwater sound communication system according to claim 1 or claim 2, it is characterised in that: the underwater acoustic receiver includes being used for By acoustic signals be converted to the acoustic-electrical transducer of analog electrical signal, the sonicated circuit that analog electrical signal is handled, will The digital signal processing circuit that analog electrical signal is converted to the analog to digital conversion circuit of digital signal and is handled digital signal, The acoustic-electrical transducer, the sonicated circuit, analog-digital conversion circuit as described and the digital signal processing circuit are successively electric Connection.

6. being remotely controlled underwater sound communication system according to claim 5, it is characterised in that: the sonicated circuit includes amplification electricity Road, filter network, logafier and in-phase proportion computing circuit, the amplifying circuit, the filter network, the logarithm are put Big device and the in-phase proportion computing circuit are sequentially connected electrically, and capacitance or filter are concatenated between two neighboring circuit or network Wave capacitor.

7. being remotely controlled underwater sound communication system according to claim 6, it is characterised in that: the filter network includes that the first order is active Bandpass filtering network and second level active bandpass filiter network；The first order active bandpass filiter network and the second level have Source bandpass filtering network is sequentially connected electrically, and concatenates capacitance therebetween.

8. a kind of UAV navigation, it is characterised in that: the aircraft is equipped with the driving for driving aircraft flight Circuit and power 1-8 it is described in any item remote control underwater sound communication systems underwater acoustic receivers, the output end of the underwater acoustic receiver with Control module electrical connection；The input terminal of the underwater acoustic receiver and the water that underwater sound communication system is remotely controlled as described in any one of power 1-8 Acoustic transmitter is connected by acoustic communication, and the control navigated by water in water for controlling the aircraft is arranged in the Underwater Sound Transmitter On platform processed.

9. UAV navigation according to claim 8, it is characterised in that: further include cavity, propeller is set on a left side, spiral shell is set on the right side Rotation paddle, sink-float propeller and left-hand airscrew motor, right-hand screw paddle motor, drift along propeller motor；The left side set propeller and The left and right sides that propeller is separately positioned on the cavity bottom is set on the right side, and the cavity is arranged in the propeller that drifts along In one side wall；The motor axis connection of propeller Yu left-hand airscrew motor is set on the left side, and propeller and right-hand screw paddle electricity are set in the right side The motor axis connection of machine, the motor axis connection of the drift along propeller and the propeller motor that drifts along；The left-hand airscrew motor, institute It states right-hand screw paddle motor and the propeller motor that drifts along is electrically connected with the control module respectively.