| Nowadays people detect and protect the ocean more actively than before,so the localization and navigation technology in the ocean is particularly important when working under water.The conduction current field theory has been used in many fields in the underwater environment and other conduction medium,such as in communication,telemetry and monitoring field.The conduction current field theory has the incomparable superiority on special occasions.The existing underwater positioning technology has some weaknesses such as large volume of hardware and complex using function.In the deep sea and some muddy underwater environment we can’t use vision for positioning.So the paper puts forward one kind of positioning technology based on the conduction current field theory,the bionic fish positioning technology.In this paper,the order is that firstly introducing the application background and theory research,secondly building the hardware and software system,moreover finishing the initial experiments and drawing the conclusion.The main research directions and contents of this paper are as followed:1.Study on the propagation characteristics(transmitting and receiving characteristics)and establish the mathematical model of the conduction current field theory.Simulate the main parameters of the mathematical model to reflect the receiving angle,the receiving distance and receiving voltage in the simulation diagram directly.2.Study on the perception characteristic of the electric field of weakly electric fish.Then the paper proposes the principle of the bionic fish underwater positioning.The paper regards the underwater current field as the static electric field or the constant flow field.The construction of the mathematics model for the bionic weakly electric fish underwater positioning system applies their duality principle.We can determine the relative position between the emission electrode and the receiving electrode.3.The software and hardware platform of the underwater positioning system mainly includes the digital processing part,power amplifying part,filter receiving part and system power supplying part.FPGA and DSP is the core of the digital processing part.The important work is about the configuration of the FPGA and peripheral circuit,the controlling of the data acquisition chip AD and the data emission chip DA,the serial communicating with PC and the asynchronous communicating with DSP.The paper also details the implementation of the remaining part.4.The paper has designed the special computer graphics display for the bionic weakly electric fish positioning system.The graphics display on the computer is using the LabVIEW software to compile.The LabVIEW software can make the measurement results rendered graphically on the computer and can make the data analysis more intuitive and convenient. |
