Design And Implementation Of Image Sonar Hardware System Upgrading Based On IMX6Q

With the development of underwater work in lakes,rivers and offshore shallow ocean areas in China,the underwater environment is becoming more and more complex,Therefore,underwater operations have put forward higher requirements for sonar equipment.In some circumstances that water quality is muddy and darkened underwater,the frogman is in the situation where the fingers are out of sight.And when the water is in the flow process,the frogman's own position is constantly changing,and it becomes very difficult to get close to the observation target.In view of the problems encountered in the actual underwater work,the author's laboratory has developed a helmet color sonar TKIS-I for the diver.The sonar has been approved by the original Chinese naval command flight guarantee department.It has been equipped with more than twenty units for the underwater rescue,salvage and survey of the naval forces,providing favorable protection and service.TKIS-I image sonar hardware platform of STM32 microcontroller,based on this,the author based on the future of the sonar hardware system upgrade needs,explore to replace STM32 with IMX6 Q hardware platform,expected to obtain higher data rate and better imaging effect.As part of the above comprehensive upgrading work,the author has completed the following work:1.It is summarized that with the further development of underwater work in China,more new requirements for sonar equipment are put forward.At the same time,the current research status and development trend of sonar equipment at home and abroad are introduced.2.Introduce the main components of the existing TKIS-I image sonar system,focuses on the demand analysis of TKIS-I image sonar digital system,and discuss the necessity of upgrading TKIS-I image sonar digital system.On the basis of the above analysis,extensive research and comprehensive factors are carried out,and IMX6 Q is chosen as the hardware platform of the upgrade system finally.3.To build the software development environment needed for the design of IMX6 Q hardware system.Accomplish the configuration of between Windows and Linux operating system file sharing Samba server and synchronization between different machines NFS server,installed cross compiler tool chain needed for cross platform development,and then configure the Linux system kernel according to the required function,an overview of ARM IMX6 Q device tree files and Linux device drivers.4.Design and implementation of launch module of IMX6 Q digital system.First of all,the general planning of the radiation module is designed,then complete the specific implementation process is to generate two specific frequency PWM signals using IMX6 Q,control the pulse length by kernel short delay function,transplant PWM mix device driver,and finally carry out the system joint experimental test of PWM signal availability.5.Design and implementation of signal processing module of IMX6 Q digital system.Firstly,the overall plan of the signal module is designed,and then complete the specific implementation process is implemented: the IMX6 Q processor uses SPI bus to exchange data with TLC5618 and AD7266,the DA module completes the function of output analog compensation signal,and the AD module completes the sampling function of input analog signal,finally,it completes the usability test of each module by drawing IMX6 Q digital system circuit board.6.Summarizes the results and shortcomings of the IMX6 Q digital system designed in this paper,and puts forward some aspects to be perfected.