Software Design Of Underwater Positioning And Communication Remote Control System Of Scale Model

With the development of detection technology,it is very important to reduce the vibration and noise for underwater vehicle.The research of underwater vehicle noise performance is usually realized by using underwater vehicle scale model.The underwater positioning and communication remote control system of scale model in this paper is designed to ensure the safety of the underwater experiment of the large scale model.It mainly involves underwater positioning technology,underwater target attitude measurement technology and underwater acoustic communication technology.Underwater positioning technology is a kind of acoustic measurement technology,which is widely used in the field of seabed survey,resource development,military confrontation,etc.This technology can be used to detect the direction and trajectory of unknown or known targets in the water.High-precision underwater positioning system is an important means to control the operation and navigation of underwater vehicles.The underwater target attitude measurement technology is designed to measure the attitude of the target in the process of moving when the target is working in a certain range of water area,when the experimenter on the surface operating platform needs to measure the attitude of the target.Underwater acoustic communication technology is a technology which transmit and receive information in water by sound.This article firstly analyzed the system’s working environment,performance indicators,platform,etc.,and clarifies the system hardware requirements based on the analysis results,determines the model of the device selected by the system,and designs the interface type of the system based on the selected hardware devices,layout plan and power supply plan.Then,this paper analyzes the functional requirements and performance requirements of the system software based on the selected hardware equipment,and divides the software into different modules based on the functions.After that,this paper designed the overall processing flow and operation interface of the system software according to the data processing relationship of each module.Next,this paper studies the relevant theories and algorithms used in the system software.One is to obtain the position of each point in the water model by using ultra-short baseline underwater positioning technology to calculate the model pose at that moment;the other is multi-threading technology for processing data concurrently of multiple devices.The third is a two-layer transmission protocol design,which is designed to ensure the reliability of simultaneous transmission of large picture-type data and small commands and parameter-type data in the case of small-bandwidth underwater acoustic communication.Finally,this article introduces the implementation process and part of the code of each module of the system software,such as controlling underwater cameras through OpenCV,implements 3D display of scale models by OpenGL,etc.,and introduces the software test,system test and the results of external field experiments.