海洋工程自主机器人AUV声呐传感器设计

摘要:海洋是个巨型的能源宝库，矿产资源和能源丰富，有很大的开发潜力，也具有非常重要的军事地位，所以海洋的开发也逐渐被人们所重视。全球人口增多，随之而来的便是能源日渐紧张，开发新的能源和空间十分必要。作为目前海底目标侦察的常用方法之一，侧扫声呐是水下机器人进行海底检测的必不可少的设备，在扫雷、反潜、海战环境建设、重要军事训练领域扫海测量等方面具有重要的价值。

本文针对海洋工程自主机器人 AUV 需要的声呐传感器，从硬件和软件结构等多方面着手，使用了 Altium designer 和 SolidWorks 等软件，设计出了一种侧扫声呐。论文主要包括侧扫声呐的发展历程及现状，侧扫声呐的系统组成及相关技术，同时介绍了设计过程中的各种硬件电路及软件设计流程图。硬件部分主要有侧扫声呐显控系统的整体架构以及声呐设备控制，电路图主要有发射电路设计、接收电路设计以及供电及传输设计等。

软件部分主要包括两大方面，即系统总体框架和计算机数据处理流程。介绍了系统各部分的职能。而测量过程中，计算机需判断有无用户命令，响应 DSP 的中断请求，读取时间信息及 GPS 数据，与 GPS 定位系统提供的位置信息合成，存储后根据用户的需求实时显示测量画面。结构外形设计参考广海智能科技的 YellowFin 侧扫声呐外形，使用 SolidWorks 绘制了三维外形图。

关键词：AUV，侧扫声呐，设计，海底地形

Abstract:Ocean is rich in mineral resources and energy, but also has a very important military status, so the development of the oceans has been gradually valued by people. Global energy is becoming more and more intense, so it is necessary to develop new energy and space. As one of the most common methods for submarine target detection, Side scan sonar is the essential equipment for underwater robot to detect the seabed. It also has important value in the construction of mine sweeping, antisubmarine warfare, naval battle environment construction, important military training field, sea sweeping measurement and so on.

In this paper, sonar sensors for marine autonomous robot AUV are introduced. From the aspects of hardware, software, structure and so on, a side scan sonar is designed using Altium, designer and SolidWorks software. The paper mainly includes the development course and present situation of side scan sonar, the system composition and related technology of side scan sonar, and introduces the hardware circuit and software design flow chart in the design process. The hardware part mainly has the overall structure of the side scan sonar display and control system and the sonar equipment control. The circuit diagram mainly includes the design of transmitting circuit, the design of receiving circuit and the design of power supply and transmission.

The software part mainly includes two major aspects, that is, the overall framework of the system and the data processing flow of the computer. The functions of each part of the system are introduced. But in the process of measurement, the computer needs to determine whether the user command, in response to the DSP interrupt request, read time information and GPS data, location information synthesis and GPS positioning system, after storage according to the needs of users to display the real-time measuring screen. The structure and shape design refers to the YellowFin scanning sonar profile of Guanghai intelligent technology, and the 3D contour map is drawn by using SolidWorks.

Key words: multibeam sonar, side scan, design, seafloor topography

第一章绪论 1

1.1 课题背景 1

1.2 AUV 声呐技术发展历史及现状海洋工程自主机器人AUV声呐传感器设计:http://www.youerw.com/tongxin/lunwen_204044.html