微型水下机器人在有限水下空间中的水声通信实验研究

陶秋阳; 周跃海; 童峰; 宋爱军; 张福民

doi:10.1631/FITEE.1700841

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微型水下机器人在有限水下空间中的水声通信实验研究

海洋信息技术专辑 | Updated：2022-05-19

- 微型水下机器人在有限水下空间中的水声通信实验研究
- Evaluating acoustic communication performance of micro autonomous underwater vehicles in confined spaces
- 信息与电子工程前沿（英文） 2018年19卷第8期页码：1013-1023
- Affiliations：
  
  School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
  College of Ocean and Earth Sciences, Xiamen University, Xiamen 361005, China
  Department of Electrical and Computer Engineering, The University of Alabama, Tuscaloosa, AL 35487, USA
- Author bio：
  
  Fumin ZHANG, E-mail: fumin@gatech.edu
- Funds：
  
  Project supported by the Office of Naval Research (No. N00014-16-1-2667) and the National Natural Science Foundation of China (Nos. 61673370 and 11574258)
- DOI：10.1631/FITEE.1700841
  中图分类号： TB567
- 收稿：2017-12-14，
  
  修回：2018-;8-15，
  
  纸质出版：2018-08
- Accepted：
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陶秋阳, 周跃海, 童峰, 等. 微型水下机器人在有限水下空间中的水声通信实验研究[J]. 信息与电子工程前沿（英文）, 2018,19(8):1013-1023.

Qiu-yang TAO, Yue-hai ZHOU, Feng TONG, et al. Evaluating acoustic communication performance of micro autonomous underwater vehicles in confined spaces[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1013-1023.
陶秋阳, 周跃海, 童峰, 等. 微型水下机器人在有限水下空间中的水声通信实验研究[J]. 信息与电子工程前沿（英文）, 2018,19(8):1013-1023. DOI： 10.1631/FITEE.1700841.

Qiu-yang TAO, Yue-hai ZHOU, Feng TONG, et al. Evaluating acoustic communication performance of micro autonomous underwater vehicles in confined spaces[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1013-1023. DOI： 10.1631/FITEE.1700841.

摘要

在有限水下空间中，微型水下机器人正获得越来越广泛的应用。微型水下机器人与水声通信相结合，可实现数据与指令的水下无线传输，而无需上浮至水面。本文首先将微型水下机器人与紧凑型水声通信系统进行集成，并在此基础上开展了水声通信实验研究。针对微型水下机器人移动和静止两种情况，重点对水声通信收包率与误码率进行了测试。实验结果表明，有限水下空间中多径效应显著，会对水声通信同步信号产生严重干扰；微型水下机器人移动时，水声通信换能器之间的相对运动会进一步降低通信质量。本研究对提高有限水下空间中的移动水声通信性能具有借鉴意义。

Abstract

Micro-sized autonomous underwater vehicles (µAUVs) are well suited to various applications in confined underwater spaces. Acoustic communication is required for many application scenarios of µAUVs to enable data transmission without surfacing. This paper presents the integration of a compact acoustic communication device with a µAUV prototype. Packet reception rate (PRR) and bit error rate (BER) of the acoustic communication link are evaluated in a confined pool environment through experiments while the µAUV is either stationary or moving. We pinpoint several major factors that impact the communication performance. Experimental results show that the multi-path effect significantly affects the synchronization signals of the communication device. The relative motion between the vehicle and the base station also degrades the communication performance. These results suggest future methods towards improvements.

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references

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