The Design And Implementation Of The Software Of Long Baseline Positioning System's Ranger

Long baseline positioning system using acoustic technology of underwater target positioning and navigation, underwater acoustic ranging is the core of the system. In this paper, the ranger system application under the condition of the deep sea, for the AUV provides a wide range of real-time positioning information. The paper's main work is the software design and implementation of long baseline positioning system's ranger based on OMAPL138 platform.Paper studies the main contents are: according to the actual work and index of long baseline positioning system ranger analysis system's demand functions and technical parameters; Implementation scheme for system design; Complete system software programming. Focuses on the key technology of software implementation, such as dual-core communication, Linux driver and multithreaded programming. Finally the lake test results were analyzed, and the existing problems and improving direction system is given.System core processor is OMAPL138 dual-core processor. DSP core mainly complete the four goals of signal detection and time delay estimation algorithm, the signal system is 10 to 16 KHZ costas frequency hopping signal, to copy the related time delay estimation. ARM core is mainly completed long baseline positioning algorithm, program flow control and external communications, and other functions, under the application of embedded Linux driver programming and multithreaded programming technology, to ensure that the program to perform real-time system requirements.Test in Songhua lake results show that the long baseline positioning system's ranger designed software to perform efficient and stable four acoustic beacon signal detection and time delay estimation, can carry on the long baseline positioning accurately, and realized the communication with the upper machine, save the original data, and other functions,completed the expected design goal.