Design And Realization For Display And Control Software Of Long Baseline Underwater Acoustic Positioning And Navigation System

The Long Baseline Underwater Acoustic Positioning and Navigation System makesuse of acoustic positioning technology to achieve underwater vehicle positioning andautonomous underwater vehicle navigation. The system is based on the geometricpositioning principle and the water unit measures the distance from the underwater vehicleto each element of the underwater responder array, solves the spatial coordinates of theunderwater vehicle and the water unit achieves the underwater vehicle positioning; theunderwater vehicle measures the distance from each element of the underwater responderarray to itself, solves the space coordinates of itself and the underwater vehicle achievesautonomous navigation.The main work of this dissertation is to analysis long baseline responder array designmethod and responder array coordinate measuring method, complete display and controlsoftware design and realization of the Long Baseline Underwater Positioning andNavigation System.Under the background of the Long Baseline Underwater Acoustic Positioning andNavigation System, the dissertation firstly studies the long baseline responder array designmethod: discusses the calculating method of system coverage, analyses system coverageand the distribution of positioning accuracy under different responder arrays; secondlystudies the responder array coordinate measuring method of the Long Baseline UnderwaterAcoustic Positioning and Navigation System, discusses the measuring theory of the relativeresponder array coordinate and the absolute responder array coordinate, analyses therelative responder array coordinate measuring method and the factors that impact on theabsolute responder array coordinate measuring.The display and control software of the Long Baseline Underwater AcousticPositioning and Navigation System is based on LabWindows/CVI software developmentplatform, which applys the modular software design idea. The main functions of the displayand control software are as followings: real-time control the system, harmonizecommunication between various devices of the system; real-time display associatedinformation and the trajectory of the underwater vehicle and the carrier of the watermeasurement and control system; calculate the system coverage and high precisionpositioning region of a certain responder array; compute the relative and absoluteunderwater responder array coordinate; predict sound field, analyse of the sound field of the work waters. This dissertation begins with the functional requirements of the display andcontrol software and narrated each software functional module realization in detail.The test certificates that the display and control software of the Long BaselineUnderwater Acoustic Positioning and Navigation System could meet the systemrequirements and could work stably for a long time, the software runs well and the resultsare consistent with the actual situation.