Array Calibration And System Integration Of Long Baseline Underwater Acoustic Navigation Positioning System

Long baseline positioning system calculates the azimuth and distance of the target through measuring the time-delay or time-delay difference of distance pulse from the target to the receiving elements. The projecting advantage of this system includes far operating distance, high positioning precision, real-time working. Its main task is to precisely track and locate several underwater targets equipped with cooperative acoustic beacon, such as underwater robot, to offer precise navigation positioning.According to the arrangement of content, there are two parts in this paper: the software of array, mounted on ship, calibration and correction; the design of the interface circuit of the integrated signal processing board.The work of array calibration contains three sides, the analysis of positioning theory, the establishment of positioning model, and the simulation of two ship courses for array calibration. Three kinds of error, timing error, GPS navigation error, the sound velocity measuring error, are discussed this paper. Based on the comparison of the analysis of these errors and the design of optimized ship course design for array calibration, we derive a set of effective measuring method.This article aims at hardware design of this system. According to the function and norm desired, the whole framework of the system is firstly designed as a guide. Secondly, this article discusses the interface design between parts. Every interface is based on Digital Signal Processor (DSP), so all subsystems have similar designs. The logic design of every interface, where Field Programmable Gate Array (FPGA) bears a key role, is described in detail.