Design Of Obstacle Avoidance Sonar Based On DSP

The obstacle avoidance sonar is used to measure the distance of the carrier from the obstacle in seawater.It is widely used in deep-tow acoustics and submersible vehicles like Human Occupied Vehicle(HOV),Remotely Operated Vehicle(ROV)and Autonomous Underwater Vehicle(AUV),providing ranging data for the officers or operators to avoid obstacles to ensure the safety of the submersible vehicle.And it also provides altitude data for navigation control system.First of all,according to the underwater sound-ranging principle,the active sonar is designed and the geology and environmental noise of different waters are analyzed.According to the performance index of the submersible vehicle,the reasonable acoustic parameters are selected so that the received echo signal has a higher signal to noise ratio to detect threshold requirements.Then the power supply filter,data acquisition,signal processing,IO interface,communication interface and other functional boards are designed to complete the analog signal amplification and filtering,AD data acquisition and DA data conversion.Using DSP to achieve the digital signal processing,automatic gain adjustment,communication and other functions.The high performance of DSP can improve the processing power of weak signals,so as to improve the operating distance of obstacle avoidance sonar.A set of obstacle avoidance sonar equipment has been developed.The lake experiments show that the prototype has good performance and meets the design requirements,At present,it has been equipped with a lot of deep-sea equipments,such as the 4500 meter manned submersible vehicle and the No.3 deep-tow acoustics exploration equipment.