A Research On Underwater Maneuvering Platform Positioning System Based On GPS Buoys

At present,the marine rights and interests are receiving unprecedented attention from all countries.Underwater maneuvering platform plays an increasingly important role in military application and ocean development.The acquisition of accurate position information is the urgent problem to be solved when the underwater maneuvering platform carries out the work,especially precision works.Considering the concealment and flexibility,underwater maneuvering platform usually cannot rose to the surface for positioning.At the same time,to minimize dependence on surface ships,it is best to rely on the platform itself to positioning.This leads to the basic question of this thesis: how underwater maneuvering platform obtain its high-precision position information in the work area.To solve this issue,this thesis focuses on the following key problems:(1)Positioning system design.It is required that the underwater maneuvering platform can obtain the position information with concealment,autonomy and high accuracy,thus the first problem is how to design the underwater positioning system under the above constraints,which includes the system structure,positioning principle and signal system and other elements.(2)Measurement technique of underwater pseudo-range of the positioning system.By measuring the range between the underwater maneuvering platform and each element of the array and using the surface or ball intersection method to acquire the platform position is the basic principle of the positioning system.Therefore,the ranging is the basis of positioning.Similar to the GPS positioning,clocks of the receiver and the transmitter are not synchronized,so the range is called pseudo-range.Thus,pseudo-range measurement is the key problem in the paper.(3)Signal Parameter and Positioning Message Design.After the positioning signal system is designed,the signal parameters and positioning effects are closely related.At the same time,it is necessary to consider what information is needed to solve the positioning equation and how to send the information to the underwater maneuvering platform.Therefore,the signal parameters and positioning message design are the key issues in the paper.To solve the above key technical problems,a positioning scheme of underwater maneuvering platform based on GPS buoys is proposed.The system structure is designed.Based on the spread spectrum system,the pseudo-range between the buoy and the underwater maneuvering platform is completed by measuring the position signal transmission and receiving time.The positioning signal parameter and message structure,content are designed.At last,the theory and technology of spread spectrum ranging and information transmission are verified by experiments.