水下信号处理与航行器路径规划方法

《水下信号处理与航行器路径规划方法》由会员上传分享，免费在线阅读，更多相关内容在行业资料-天天文库。

1、西北工业大学博士学位论文水下信号处理与航行器路径规划方法姓名：刘潮东申请学位级别：博士专业：系统工程指导教师：史忠科20061001西北工业人学博士学位论文Abstract’11lispapersystematicallyintroducestheunde刑aterVehiclelocationproblemsrelatingwithsignalprocessingandpathpla衄ing．Inordertoconn彻melocationofunderwatervelliclesandmoVingta唱ets，u

2、nderwaterinfomationacquis“ion，pre-processing，a11destimationareadoptedindealingwithproblems．Thispaperalsoresearchesthepathplallllingproblemsof啪denⅣatervehiclesbasedon3一Dmodels，underwatersi伊lallocationandimagef缸ionlocation．Themainwork锄dcomributionof也ispaperarc嬲fo

3、llo、vs：(1)Thecalculatingmethodandsimulatingprogmmoflheraytmcingmodelwimtlleback酽0lnldofslopingseabedarepresented，andtheresultsofcalculationarei11IIstmtedbythemeans0factualsimulatingctH、，cs．Theacousticrayimageisadoptedtocalculatethepropagationlossbasedonraytheor

4、y(2)Anewmodulationmethod⋯一Multi·carrie∽ode锄dMulti—phases“Rkeying(MC-MPSK)，whichcombinesnon-coheremdetectingandcohercntdetecting，isproposedinthispapeLWealsocomparcthismodulatingmethodwimthctraditionalmetllodsallds协tetlleaIlalysisresultsofsimulationandsystemperfo

5、彻ance．(3)Witl】thepuIposeofexacⅡyJocatingtbellllden^，atervehiclesandmoVjngta玛ets，wepresemtheinfhredim鸲edetectionaIldfLlsionmethodofundenⅣaterta唱etsbasedonoptimalestimationmethod．(4)Consideringthedistllrbanceofm撕necurrem，、vcbringforwardtlleschemesofdetectingpathp

6、Ia衄inga11dnav远atiomIchanpathpIa衄ing，incIudingthecOntemsofglobalpathplanningandon-1inefiskavoiding．Wealsoaccomplishedthesoft、vareinsimulationcompmerbasedondigitalsimulatiOnplatfomaIldAUVglobalpalhplanningbasedOneIecn．onicchan．(5)Theobject劬ctionofon-linepro伊锄ming

7、，wllichisrestrainedbylinearpitchingaIldlateralmovingequatiom，isestablishedtofindoutllleoptimallulder、vatertrack，usingminim啪ValuettleoryandwiththehelpofH锄iltonfunction．nemethodsofgradientiteratedand1-Di11itia】sse8rchingareadoptcdtoworkoutmedi仃eremialequationswim

8、theex雠menessvalueofcl勰sicalvariation．11lcrestmintproblemsinVerticaldirectionaresolVedilIpre—processing，thereforehorizontaldyn锄icprogmmmingalld仃eesearcllingarecombinedtomatch