| With the increasing marine environment pollution caused by oil and gas leakage at home and abroad,the use of rapid developing unmanned submersibles in recent years equipped with sonar devices has become a hot spot for the development of various countries.Based on the project of " Research on AUV equipped with sonar detection for submarine gas pipeline leakage technology ",this paper studied the design indicators of multi-beam receiving system,developed the multi-beam receiving system hardware platform and completed the writing of logic code.The paper analyzed the requirements of the AUV platform,and developed the overall architecture of the multi-beam system.Then,detailed analysis and design of each part of the receiving system was carried out:1.According to the performance index,the paper completed the circuit design and simulation of signal conditioning,A/D acquisition and gain control module.The signal conditioning module completes the variable gain amplification,bandpass filtering and fixed gain amplification of the signal.According to the structural idea,the hardware structure of the multi-channel receiver is designed,and the PCB design of the multi-channel receiver is completed and the design is given.2.According to the requirements of digital signal processing,the signal processing platform is designed.The paper completes the logic development and simulation verification of channel acquisition,digital signal processing and system control in FPGA,analyzes the main points of digital circuit design,completes the drawing of the PCB and gives the design pattern.On the basis of the hardware platform,the paper completes the joint debugging of the system and tests the functions of each function.Subsequently,the pool,lake and sea experiments are completed successively.The system works stably and the indicators meet the design requirements.Finally,the multi-beam sonar is combined with the AUV,completes the debugging and has the ability to work in the field. |
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