移动式水下观测网络试验节点研制

研制了一种低成本的试验节点作为移动式水下观测网络(MUSN)的有效技术验证平台。以一种现有的可在水面航行的小型运载器为基础,引入深度控制系统,得到了一种可以在浅水域完成可控运动的移动试验节点。针对MUSN节点间距较小的特点,提出了可抵偿偏差的移动定位算法,利用水声MODEM的测距信息实现节点在水下移动时较精确的定位。露天水域试验验证了该节点路径跟踪的性能,精度满足应用需要。该节点具备自主航行和节点间通信能力,可以用于MUSN协调控制技术的验证研究。

Development of test node for mobile underwater sensing network

Developed a low cost test node for Mobile underwater sensing network (MUSN) as an effective test-bed for this new means of underwater observation. On the basis of an existing small experimental vehicle moving on the water, a depth control system was introduced to obtain a mobile test node which can complete controlled motion in shallow water. Considering the small distances among the nodes of MUSN, a relatively accurate mobile positioning algorithm was proposed which can offset deviations using the ranging information of the acoustic MODEM. Experiments in open water validated its performance of path tracking with satisfied accuracy for applications. Thus this test node with autonomous motion and networked acoustic communication abilities can provide an effective test platform for the MUSN technology research.