水下机器人集群通信系统设计及实验分析

续丹; 余雷; 胡桥; 冯兴龙; 陆涛

doi:10.7652/xjtuxb202206006

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水下机器人集群通信系统设计及实验分析

—————————————————————— | 更新时间：2025-04-27

- 水下机器人集群通信系统设计及实验分析
- The Design and Experimental Analysis of the Electric Field Communication System of Underwater Robot Cluster
- 西安交通大学学报 2022年56卷第6期页码：40-49
- 作者机构：
  
  1. 西安交通大学机械工程学院,西安,710049
  2. 西安交通大学机械制造系统工程国家重点实验室,西安,710049
  3. 西安交通大学陕西省智能机器人重点实验室,西安,710049
- 作者简介：
  
  : 2021-10-30。作者简介: 续丹(1964—),女,教授
  胡桥(通信作者),男,研究员。基金项目: 国防基础科研资助项目(JCKY2020110C074)
- 基金信息：
  
  : 2021-10-30。作者简介: 续丹(1964—),女,教授;胡桥(通信作者),男,研究员。基金项目: 国防基础科研资助项目(JCKY2020110C074);国防科技创新特区资助项目(193A1111040501);国防预研快速扶持基金资助项目(61404150405)
- DOI：10.7652/xjtuxb202206006
  中图分类号： TN929.52
- 网络首发：2022-06-10，
  
  纸质出版：2022
- 稿件说明：
移动端阅览
续丹, 余雷, 胡桥, 等. 水下机器人集群通信系统设计及实验分析[J]. 西安交通大学学报, 2022,56(6):40-49.

XU Dan, YU Lei, HU Qiao, et al. The Design and Experimental Analysis of the Electric Field Communication System of Underwater Robot Cluster[J]. 2022, 56(6): 40-49.
续丹, 余雷, 胡桥, 等. 水下机器人集群通信系统设计及实验分析[J]. 西安交通大学学报, 2022,56(6):40-49. DOI： 10.7652/xjtuxb202206006.

XU Dan, YU Lei, HU Qiao, et al. The Design and Experimental Analysis of the Electric Field Communication System of Underwater Robot Cluster[J]. 2022, 56(6): 40-49. DOI： 10.7652/xjtuxb202206006.

摘要

针对水下机器人集群通信平台在实际运用中存在多普勒效应、易受水质和障碍物等影响产生误码的问题

提出一种基于弱电鱼感知机理的水下仿生电场通信系统。该系统根据仿生电流场通信原理

通过两对发射接收电极传递信号

设计了一套基于幅移键控原理的现场可编程门阵列(FPGA)数模混合电路。首先

为实现平台低功耗及小型化

模拟电路通过合理选型并进行画板制版

具体的发射电路包含幅移键控调制电路以及半桥驱动放大电路

采用低零漂高精度仪表运放提取接受电极两端电势差; 其次

为了提高水下机器人集群通信距离实时变化时通信系统的稳定性

通过FPGA增益控制数字电路控制可编程放大器实现自适应倍数放大; 然后

采用FPGA模数转换数字驱动电路驱动模数转换芯片将模拟信号转换为数字信号; 最后

通过整流滤波数字电路整流后设计幅移键控非相干解调数字电路输出二进制数据流后由串口电路传输至树莓派中进行数据处理。仿真分析了不同尺寸不同形状障碍物对水下电场通信影响

并进行水下通信实验

结果表明:在淡水中电导率为4.87×10

-4

S/cm条件下

所提出的水下电场通信系统可实现通信距离为2.4 m时误码率为0

且水下电场通信收发电极平行时

通信性能最佳。

Abstract

For the practical application of the underwater robot cluster communication platform

there are the problems of the Doppler effect and bit errors generated due to susceptibility to water quality and obstacles. In this paper

an underwater bionic electric field communication system based on the perception mechanism of weak electric fish is proposed. According to the principle of bionic current field communication

the communication system transmits signals

through two pairs of transmitting and receiving electrodes. A set of digital-analog hybrid circuit using field programmable gate arrays(FPGA)based on the principle of amplitude shift keying is designed. At first

to achieve a miniaturized system with low power consumption

the analog circuit is reasonably selected by the component model. Circuits are placed

routed and patterned. The specific transmitting circuit includes an amplitude shift keying modulation circuit and a half-bridge drive amplifier circuit. The potential difference between the two ends of the receiving electrode is extracted by using a low-zero-drift high-precision instrumentation amplifier. Secondly

in order to improve the stability of the communication system when the communication distance of the underwater robot cluster changes in real time

the programmable amplifier is controlled by gain control digital circuit in the FPGA to realize the adaptive multiple amplification. Then this system uses analog-to-digital conversion digital drive circuit in FPGA to drive the analog-to-digital conversion chip to convert analog signals into digital signals. Finally

after the signal is rectified by the rectification filter digital circuit

the amplitude shift keying non-coherent demodulation digital circuit is designed to output the binary demodulation data. The signal is transmitted to the Raspberry Pi through the serial port circuit for processing. The influence of obstacles of different sizes and different shapes on underwater electric field communication is simulated and analyzed

and the underwater communication experiment is carried out. The results show that the underwater electric field communication system can transmit information with a bit error rate of 0 when the communication distance is 2.4 m under the condition of conductivity of 4.87×10

-4

S/cm in fresh water. When the transmitting and receiving electrodes of underwater electric field communication are parallel

the communication performance is the best.

关键词

Keywords

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