CN106603117A - Method for measuring underwater propagation delay - Google Patents
Method for measuring underwater propagation delay Download PDFInfo
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- CN106603117A CN106603117A CN201611128980.9A CN201611128980A CN106603117A CN 106603117 A CN106603117 A CN 106603117A CN 201611128980 A CN201611128980 A CN 201611128980A CN 106603117 A CN106603117 A CN 106603117A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
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Abstract
The invention relates to a method for measuring underwater propagation delay, aiming at overcoming low reliability and high measurement errors of traditional methods for measuring the propagation delay of voice signals in a non-responsive manner. According to the invention, the method combines the advantages of wideband hyperbolic frequency modulation, namely anti-Doppler effects, high time resolution and excellent anti-noise properties of direct spread spectrum modulation of m sequence, can effectively counter the influence of channel Doppler effects and noise, and acquire reliable measuring properties with a low processing complexity. According to the invention, the method has high measuring precision, strong anti-underwater acoustic channel capability, low processing complexity and excellent reliability. Due to aforementioned reasons, according to the invention, the method can be applied to the field of underwater acoustic navigation, positioning and underwater acoustic communication.
Description
Technical field
The present invention relates to water acoustic navigation, positioning and field of underwater acoustic communication, especially with regard to a kind of subaqueous survey propagation delay
Method.
Background technology
With the needs of exploitation and the national defense construction of marine resources, AUV (Autonomous Underwater under water
Vehicle, Autonomous Underwater Vehicle)/UUV (Unmanned Underwater Vehicle, UAV navigation) navigation
Application scenarios are for broadcast type multi-user (similar GPS) underwater navigation and determine for navigation, underwater salvage positioning, underwater mating guiding etc.
The demand of position is increasingly urgent.Non- response formula measurement acoustic signal propagation time delay is to realize broadcast type multi-user underwater navigation, positioning work(
The basis of energy.Although the method for traditional non-response formula measurement acoustic signal propagation time delay also uses the broadband of big bandwidth time product
Signal (such as linear frequency modulation, Hyperbolic Frequency Modulation signal), but in the underwater acoustic channel bar for having strong Doppler effect and overall background noise jamming
Under part, there is that reliability is low, the high shortcoming of Time delay measurement error.
The content of the invention
The present invention in order to solve the deficiencies in the prior art, it is an object of the invention to provide a kind of non-response formula is under water
The method of measurement acoustic signal propagation time delay, the method resist how general effect, temporal resolution high broadband Hyperbolic Frequency Modulation signal and
The good advantage of m-sequence Direct-Spread modulation noise robustness combines, and using the method channel Doppler effect can be effective against
Should and effect of noise, reliable measurement performance is obtained with relatively low process complexity.
To reach above-mentioned purpose, present invention generally provides following technical scheme：A kind of method of subaqueous survey propagation delay,
It is comprised the following steps：First, in signal transmitting terminal：11) current local synchronous clock timestamp letter is obtained in signal transmitting terminal
Breath Ttx 0；12) according to Ttx 0With delay set time tdObtain transmission signal timing synchronization clock time stamp information Ttx=Ttx 0+
td, for TtxM-sequence Direct-Spread modulation is carried out, and combines compound Hyperbolic Frequency Modulation signal generation transmission signal TxSignal；13) believe
Number transmitting terminal reaches T using local synchronous clock pulse signaltxThe hopping edge triggering T at momentxSignalTransmitting；Secondly, in signal
Receiving terminal：21) time of arrival (toa) is carried out according to compound Hyperbolic Frequency Modulation signal characteristic and Doppler coefficient is estimated；22) to message
Data signal carries out the demodulation of m-sequence Direct-Spread data, obtains transmission signal timing synchronization clock time stamp information Ttx, and according to
Receive message data length computation transmission signal time span Tsignal；23) obtain signal receiving end and obtain the transmission signal moment
Synchronised clock timestamp information TtxWhen, local synchronization timestamp information Trx, local timer reading T'rxAnd transmit signals to
Up to initial time Tbuffer, and final propagation delay estimated value Δ t is calculated according to following formula：
Δ t=Trx+T'rx-(Tsignal+Tbuffer)-Ttx。
The step 12) in, before the synchronised clock timestamp information of m-sequence Direct-Spread modulation is by frame head data circulation
Sew, frame head data, message data and message data CRC check and composition.
The step 12) comprise the following steps：121) T to obtainingtx 0Delay set time tdObtain the transmission signal moment
Synchronised clock timestamp information Ttx=Ttx 0+td；122) to TtxInformation carries out m-sequence Direct-Spread modulation, forms synchronised clock
Timestamp information, wherein, the synchronised clock timestamp information of m-sequence Direct-Spread modulation is by frame head data Cyclic Prefix, frame head
Data, message data and message data CRC check and composition；123) synchronised clock timestamp information is combined into Composite Double tune
Frequency signal generation transmitting terminal transmission signal TxSignal。
The step 123) in compound Hyperbolic Frequency Modulation signal, it is folded by the Hyperbolic Frequency Modulation linearly of 2 different parameters
Plus form：
S (t)=S1(t)+S2(t)
Wherein, For the lower frequency limit of one of Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal,For wherein another
The lower frequency limit of individual Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal, T holds for single Hyperbolic Frequency Modulation signal
The continuous time.
The step 21) comprise the following steps：211) receiving terminal to the analogue signal for receiving according to certain sample rate
fsSampled, used S1(t) and S2T copy relevant treatment is done in () docking collection of letters number, its correlation function absolute value is tried to achieve respectively | C1
(τ) | and | C2(τ)|；212) incite somebody to action | C1(τ) | and | C2(τ) | maximum be compared with thresholding, if all be not more than the thresholding,
Return to step 211)；If above the thresholding, is judged to there may be signal to reach, step 213 is proceeded to)；213) according to sample rate
fsCalculate：When | C1(τ) | for maximum when in order caching corresponding moment t1With work as | C2(τ) | for maximum when receive
Corresponding moment t in caching2, relative Doppler coefficient D is calculated using below equation and channel reaches and estimate constantly τ：
214) basis is obtained
D and τ, the demodulation of m-sequence Direct-Spread data is carried out to frame head data, and whether inspection frame head data is expected frame head
Data, if it is not, then return to step 211), if so, then judge that signal reaches and confirm constantly, proceed to step 22).
The step 22) in, the demodulation of m-sequence Direct-Spread data is carried out for message data signal, obtain complete one
Frame message data, the message data include message data CRC check and, using message data CRC check and to receive message
Data carry out CRC check, if check errors, return to step 21) in 211)；If verification is correct, complete transmitting is obtained
End synchronised clock timestamp information Ttx, and according to reception message data length computation transmission signal time span Tsignal, proceed to step
It is rapid 23).
The step 23) in, obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information TtxWhen
Local synchronization timestamp information TrxWith local timer reading T'rx, and note down this reception signal be buffered in time instant τ it
The data length Len for noting down afterwards, according to sample rate fsCalculate the corresponding transmission signal of the length and reach initial time Tbuffer:And final propagation delay estimated value Δ t is calculated according to following formula：Δ t=Trx+T’rx-(Tsignal+
Tbuffer)-Ttx。
Due to taking above technical scheme, it has advantages below to the present invention：The present invention is using signal transmitting terminal according to one
Fixed rule and signal form transmission signal, signal receiving end then receives signal according to certain step process, so as to obtain sound letter
The estimation of number propagation delay, during signal transmitting terminal and signal receiving end all adopt global synchronization clock, receiving terminal additionally to adopt
It is the local timer below millisecond magnitude with accuracy of timekeeping, and causes the timer cycle of operation complete with global synchronization clock
It is synchronous.The present invention is because using above technology, it takes full advantage of broadband Hyperbolic Frequency Modulation signal anti-how general effect, temporal resolution
The good advantage of high and m-sequence Direct-Spread modulation noise robustness, can be effective against underwater acoustic channel Doppler effect and
Effect of noise, adapts to various complicated underwater acoustic channel conditions, realizes that reliable acoustic signal propagation time delay is estimated.The inventive method
Process complexity low high with reliability.In view of above reason, present invention can be directly applicable to broadcast type multi-user accurate under water
The field such as navigation and positioning and underwater sound communication.
Description of the drawings
Fig. 1 is overall flow schematic diagram of the present invention；
Fig. 2 is the transmission signal form in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of method of subaqueous survey propagation delay of the invention, it is comprised the following steps：
First, in signal transmitting terminal：
11) current local synchronous clock timestamp information T is obtained in signal transmitting terminaltx 0；
12) according to Ttx 0With delay set time tdObtain transmission signal timing synchronization clock time stamp information Ttx=Ttx0+
td, for TtxM-sequence Direct-Spread modulation is carried out, and combines compound Hyperbolic Frequency Modulation signal generation transmission signal TxSignal；Above-mentioned td
Selection should ensure that emission system has enough time to complete transmission signal and transmitting equipment and the work such as prepares, it is according to actual system
Depending on system realization and experience；
Step 12) comprise the following steps：
121) T to obtainingtx 0Delay a set time tdObtain transmission signal timing synchronization clock time stamp information Ttx
=Ttx 0+td；
122) to TtxInformation carries out m-sequence Direct-Spread modulation, forms synchronised clock timestamp information, wherein, m-sequence is straight
The synchronised clock timestamp information of band spectrum modulation is connect by frame head data Cyclic Prefix, frame head data, message data and message number
According to CRC check and composition；
123) as shown in Fig. 2 synchronised clock timestamp information is combined into compound Hyperbolic Frequency Modulation signal generation transmitting terminal transmitting
Signal TxSignal；
Wherein, Hyperbolic Frequency Modulation signal is combined, (parameter sends and reception system according to concrete signal by 2 different parameters for it
Depending on available bandwidth, belong to constant as well known to those skilled in the art, therefore no longer describe in detail) the superposition of Hyperbolic Frequency Modulation linearly and
Into：
S (t)=S1(t)+S2(t)
Wherein, For the lower frequency limit of one of Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal,For wherein another
The lower frequency limit of individual Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal, T continues for single Hyperbolic Frequency Modulation signal
Time.
13) transmitting terminal reaches T using local synchronous clock pulse signaltxTouch the hopping edge (upper to jump edge or lower jump edge) at moment
Send out TxSignalTransmitting, to ensure TxSignalX time be accurate TtxMoment；
Secondly, in signal receiving end：
21) time of arrival (toa) is carried out according to compound Hyperbolic Frequency Modulation signal characteristic and Doppler coefficient is estimated, it include with
Lower step：
211) receiving terminal to the analogue signal for receiving according to certain sample rate fsSampled (selection of sample rate,
Depending on generally according to the experience of those skilled in the art, here is not detailed), use S1(t) and S2T () docking collection of letters number is copied
Relevant treatment (relevant treatment is the conventional means of those skilled in the art, therefore is no longer described in detail), tries to achieve respectively its correlation function exhausted
To value | C1(τ) | and | C2(τ)|；
212) incite somebody to action | C1(τ) | and | C2(τ) | maximum be compared with thresholding, if all be not more than the thresholding if return
211), if being above the thresholding, it is judged to there may be signal to reach, proceeds to 213), depending on above-mentioned thresholding is according to signal to noise ratio, generally
Depending on according to the experience of those skilled in the art, here is not detailed；
213) according to sample rate fsCalculate：When | C1(τ) | for maximum when in order caching corresponding moment t1With work as |
C2(τ) | for maximum when in order caching corresponding moment t2(according to sample rate fsCalculate | C1(τ) | and | C2(τ) | it is ability
The method that field technique personnel commonly use, therefore no longer describe in detail), when being reached using the relative Doppler coefficient D of below equation calculating and channel
Carve and estimate τ：
214) according to the D and τ for 213) obtaining, the demodulation of m-sequence Direct-Spread data is carried out to frame head data, checks frame head number
According to being whether expected frame head data (judging concrete condition concrete analysis according to frame head data value), if it is not, then return 211),
If so, then judge that signal reaches to confirm constantly, proceed to 22)；
22) demodulation of m-sequence Direct-Spread data is carried out to message data signal, when obtaining transmission signal timing synchronization clock
Between stab information Ttx；
The demodulation of m-sequence Direct-Spread data is carried out for message data signal, a complete frame message data, the report is obtained
Literary data include message data CRC check and, using message data CRC check and to receive message data carry out CRC check,
If check errors, return to step 21) in 211)；If verification is correct, complete transmitting terminal synchronised clock timestamp is obtained
Information Ttx, and according to reception message data length computation transmission signal time span Tsignal, proceed to step 23).
23) obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information TtxWhen, during local synchronization
Between stab information Trx, local timer reading T'rxAnd transmission signal reaches initial time Tbuffer, and be calculated according to following formula
Final propagation delay estimated value Δ t：Δ t=Trx+T'rx-(Tsignal+Tbuffer)-Ttx, its detailed process is as follows：
Obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information Ttx
When, local synchronization timestamp information Trx, local timer reading T'rx, and note down this reception signal and be buffered in
The data length Len noted down after time instant τ, according to sample rate fsCalculate the corresponding transmission signal of the length and reach initial time
Tbuffer:
Final propagation delay estimated value Δ t is calculated according to following formula：
Δ t=Trx+T'rx-(Tsignal+Tbuffer)-Ttx (4)
Embodiment 1
First, in signal transmitting terminal：
11) current local synchronous clock timestamp information T is obtained in signal transmitting terminaltx 0；
12) according to Ttx 0With delay set time tdObtain transmission signal timing synchronization clock time stamp information Ttx=Ttx 0+
td, for TtxM-sequence Direct-Spread modulation is carried out, and combines compound Hyperbolic Frequency Modulation signal generation transmission signal；Above-mentioned tdChoosing
Select and should ensure that emission system has enough time to complete the work such as transmission signal and the preparation of transmitting equipment, it is according to real system reality
Depending on existing and experience；
121) T to obtainingtx 0Delay a set time tdObtain transmission signal timing synchronization clock time stamp information Ttx
=Ttx 0+td；
In the present embodiment, tdBe set to 2 seconds, tdSelection should ensure that emission system has enough time to complete transmission signal
And launch the work such as equipment preparation, depending on it is according to real system realization and experience.
122) to TtxInformation carries out m-sequence Direct-Spread modulation, forms synchronised clock timestamp information, wherein, m-sequence is straight
The synchronised clock timestamp information of band spectrum modulation is connect by frame head data Cyclic Prefix, frame head data, message data and message number
According to CRC check and composition；
In the present embodiment, the modulation of m-sequence Direct-Spread, using 7 rank m-sequences, generator polynomial is：x7+x3+1；Modulation is carried
Ripple mid frequency 10kHz, single chip delay is 0.6ms, and chip forming filter is using square wave shaping cascade 8k-12kHz bands
Pass filter；
Frame head data Cyclic Prefix time span selects to be 50ms.Frame head data adopts 1 byte, and data content is
0xff；CRC check adopts 8 CRC checks, and generator polynomial is：x8+x5+x4+1；
If being less than 5400km in view of 2 points of distances of actual transmitting-receiving, transmitting terminal synchronised clock timestamp information only needs to bag
Containing " minute " and " second " information, therefore, synchronised clock timestamp information only includes 2 byte payload datas, a word
Save in " minute " information of expression, a byte is used to represent " second " information；
The synchronised clock timestamp information of whole m-sequence Direct-Spread modulation includes altogether 4 byte datas, and the persistent period is
354.8ms。
The whole transmission signal persistent period：
Tsignal=354.8+125=479.8ms
123) as shown in Fig. 2 synchronised clock timestamp information is combined into compound Hyperbolic Frequency Modulation signal generation transmitting terminal transmitting
Signal TxSignal；
Wherein, Hyperbolic Frequency Modulation signal is combined, (parameter sends and reception system according to concrete signal by 2 different parameters for it
Depending on available bandwidth, belong to constant as well known to those skilled in the art, therefore no longer describe in detail) the superposition of Hyperbolic Frequency Modulation linearly and
Into：
S (t)=S1(t)+S2(t)
Wherein,
For the lower frequency limit of one of Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal,For other in which
The lower frequency limit of Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal, when T is that single Hyperbolic Frequency Modulation signal continues
Between.
In the present embodiment, parameter is chosen as follows：
13) transmitting terminal reaches T using local synchronous clock pulse signaltxTouch the hopping edge (upper to jump edge or lower jump edge) at moment
Send out TxSignalTransmitting, it is ensured that TxSignalX time be accurate TtxMoment；
Secondly, in signal receiving end：
21) time of arrival (toa) is carried out according to compound Hyperbolic Frequency Modulation signal characteristic and Doppler coefficient is estimated, it include with
Lower step：
211) receiving terminal to the analogue signal for receiving according to certain sample rate fsSampled (selection of sample rate,
Depending on generally according to the experience of those skilled in the art, here is not detailed), use S1(t) and S2T () docking collection of letters number is copied
Relevant treatment (relevant treatment is the conventional means of those skilled in the art, therefore is no longer described in detail), tries to achieve respectively its correlation function exhausted
To value | C1(τ) | and | C2(τ)|；
212) incite somebody to action | C1(τ) | and | C2(τ) | maximum be compared with thresholding, if all be not more than the thresholding if return
211), if being above the thresholding, it is judged to there may be signal to reach, proceeds to 213), depending on above-mentioned thresholding is according to signal to noise ratio, generally
Depending on according to the experience of those skilled in the art, here is not detailed；
213) according to sample rate fsCalculate：When | C1(τ) | for maximum when it is right in order caching
The moment t for answering1With work as | C2(τ) | for maximum when in order caching corresponding moment t2, (according to
Sample rate fsCalculate | C1(τ) | and | C2(τ) | it is method that those skilled in the art commonly use, therefore no longer
Describe in detail) reach and estimate constantly τ using the relative Doppler coefficient D of below equation calculating and channel.
Wherein,
214) according to the D and τ for 213) obtaining, the demodulation of Gold tamed spread spectrums data is carried out to frame head data, checks frame head data
Whether it is expected frame head data 0xff (concrete condition concrete analysis is judged according to data value), if it is not, then return 211), if
It is then to judge that signal reaches to confirm constantly, proceeds to 22)；
22) demodulation of m-sequence Direct-Spread data is carried out to message data signal, when obtaining transmission signal timing synchronization clock
Between stab information Ttx：
The demodulation of m-sequence Direct-Spread data is carried out for message data signal, a complete frame message data, the report is obtained
Literary data include message data CRC check and；
Using message data CRC check and to receive message data carry out CRC check, if verification and not be 0, return
Step 21) in 211)；
If verification and for 0, complete transmitting terminal synchronised clock timestamp information T is obtainedtx, and according to reception message data
Length computation transmission signal time span Tsignal, proceed to step 23).
23) obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information TtxWhen, during local synchronization
Between stab information Trx, local timer reading T'rx, and note down this reception signal be buffered in after time instant τ note down data it is long
Degree Len, according to sample rate fs
Calculate the corresponding transmission signal of the length and reach initial time Tbuffer:
Final propagation delay estimated value Δ t is calculated according to following formula：
Δ t=Trx+T'rx-(Tsignal+Tbuffer)-Ttx (4)
The specific embodiment of the present invention is these are only, but protection scope of the present invention is not limited thereto, it is any to be familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (7)
1. a kind of method of subaqueous survey propagation delay, it is comprised the following steps：
First, in signal transmitting terminal：
11) current local synchronous clock timestamp information T is obtained in signal transmitting terminaltx0；
12) according to Ttx0With delay set time tdObtain transmission signal timing synchronization clock time stamp information Ttx=Ttx0+td, pin
To TtxM-sequence Direct-Spread modulation is carried out, and combines compound Hyperbolic Frequency Modulation signal generation transmission signal TxSignal；
13) signal transmitting terminal reaches T using local synchronous clock pulse signaltxThe hopping edge triggering T at momentxSignalTransmitting；
Secondly, in signal receiving end：
21) time of arrival (toa) is carried out according to compound Hyperbolic Frequency Modulation signal characteristic and Doppler coefficient is estimated；
22) demodulation of m-sequence Direct-Spread data is carried out to message data signal, transmission signal timing synchronization clock time stamp is obtained
Information Ttx, and according to reception message data length computation transmission signal time span Tsignal；
23) obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information TtxWhen, local synchronization timestamp
Information Trx, local timer reading T 'rxAnd transmission signal reaches initial time Tbuffer, and be calculated finally according to following formula
Propagation delay estimated value Δ t：Δ t=Trx+T′rx-(Tsignal+Tbuffer)-Ttx。
2. the method for a kind of subaqueous survey propagation delay according to claim 1, it is characterised in that：The step 12) in,
M-sequence Direct-Spread modulation synchronised clock timestamp information by frame head data Cyclic Prefix, frame head data, message data and
Message data CRC check and composition.
3. the method for a kind of subaqueous survey propagation delay according to claim 2, it is characterised in that：The step 12) bag
Include following steps：
121) T to obtainingtx0Delay set time tdObtain transmission signal timing synchronization clock time stamp information Ttx=Ttx0+td；
122) to TtxInformation carries out m-sequence Direct-Spread modulation, forms synchronised clock timestamp information, wherein, m-sequence directly expands
The synchronised clock timestamp information of frequency modulation is by frame head data Cyclic Prefix, frame head data, message data and message data CRC
Verification and composition；
123) synchronised clock timestamp information is combined into compound Hyperbolic Frequency Modulation signal generation transmitting terminal transmission signal TxSignal。
4. the method for a kind of subaqueous survey propagation delay according to claim 3, it is characterised in that：The step 123) in
Compound Hyperbolic Frequency Modulation signal, it is formed by stacking by the Hyperbolic Frequency Modulation linearly of 2 different parameters：
S (t)=S1(t)+S2(t)
Wherein, For the lower frequency limit of one of Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal,For wherein another
The lower frequency limit of individual Hyperbolic Frequency Modulation signal,For the upper limiting frequency of the Hyperbolic Frequency Modulation signal, T continues for single Hyperbolic Frequency Modulation signal
Time.
5. the method for a kind of subaqueous survey propagation delay according to claim 4, it is characterised in that：The step 21) bag
Include following steps：
211) receiving terminal to the analogue signal for receiving according to certain sample rate fsSampled, used S1(t) and S2T () docks
Copy relevant treatment is done in the collection of letters number, and its correlation function absolute value is tried to achieve respectively | C1(τ) | and | C2(τ)|；
212) incite somebody to action | C1(τ) | and | C2(τ) | maximum be compared with thresholding, if all be not more than the thresholding, return to step
211)；If above the thresholding, is judged to there may be signal to reach, step 213 is proceeded to)；
213) according to sample rate fsCalculate：When | C1(τ) | for maximum when in order caching corresponding moment t1With work as | C2(τ)|
For maximum when in order caching corresponding moment t2, relative Doppler coefficient D is calculated using below equation and channel reaches
Moment estimates τ：
214) according to the D that obtains and τ, the demodulation of m-sequence Direct-Spread data is carried out to frame head data, whether inspection frame head data is
Expected frame head data, if it is not, then return to step 211), if so, then judge that signal reaches and confirm constantly, proceed to step 22).
6. the method for a kind of subaqueous survey propagation delay according to claim 5, it is characterised in that：The step 22) in,
The demodulation of m-sequence Direct-Spread data is carried out for message data signal, a complete frame message data, the message data bag is obtained
Include message data CRC check and CRC check is carried out using message data CRC check and the message data to receiving, if verification is wrong
By mistake, then return to step 21) in 211)；If verification is correct, complete transmitting terminal synchronised clock timestamp information T is obtainedtx, and
According to reception message data length computation transmission signal time span Tsignal, proceed to step 23).
7. the method for a kind of subaqueous survey propagation delay according to claim 6, it is characterised in that：The step 23) in,
Obtain signal receiving end and obtain transmission signal timing synchronization clock time stamp information TtxWhen local synchronization timestamp information Trx
With local timer reading T 'rx, and the data length Len that this reception signal is buffered in record after time instant τ is noted down, according to
Sample rate fsCalculate the corresponding transmission signal of the length and reach initial time Tbuffer:And calculated according to following formula
To final propagation delay estimated value Δ t：Δ t=Trx+T′rx-(Tsignal+Tbuffer)-Ttx。
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106992820A (en) * | 2017-04-28 | 2017-07-28 | 厦门大学 | The underwater sound signal design and detection method of a kind of oceanographic instrumentation safety beacon |
| CN110247867A (en) * | 2019-05-16 | 2019-09-17 | 中国科学院声学研究所 | Underwater sound Doppler estimation and device, underwater acoustic communication method and system |
| CN111478720A (en) * | 2020-06-09 | 2020-07-31 | 华南理工大学 | Multi-band hyperbolic frequency modulation spread spectrum communication method based on cross sub-band division |
| CN114095321A (en) * | 2021-10-27 | 2022-02-25 | 华南理工大学 | Hyperbolic frequency modulation-based communication perception integrated design method for capsule endoscope |
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| CN114095321A (en) * | 2021-10-27 | 2022-02-25 | 华南理工大学 | Hyperbolic frequency modulation-based communication perception integrated design method for capsule endoscope |
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