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超短基线定位系统显控及算法实现技术研究的中期报告.docx

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超短基线定位系统显控及算法实现技术研究的中期报告 Abstract Inthismid-termreport,weintroduceourresearchprogressandachievementsonthedisplayandalgorithmimplementationoftheUltra-ShortBaselinePositioningSystem(USBL).First,webrieflysummarizetheUSBLsystem'sprinciples,advantages,andapplications.Then,wedescribethedesignandimplementationoftheUSBLdisplaysoftware,includingthesoftwareframework,interfacedesign,anddatavisualization.Next,wediscussthealgorithmoptimizationandsimulationresultsoftheUSBLsystem,includingtheLeast-Squares(LS)andExtendedKalmanFilter(EKF)algorithms.Finally,weconcludethereportwithadiscussionofthefutureresearchdirectionsandchallenges. Introduction TheUltra-ShortBaselinePositioningSystem(USBL)isawidelyusedtechnologyforunderwaterpositioningandtracking.Itisbasedontheprinciplesofacousticdistancemeasurementandtriangulation,utilizingoneormoreacoustictransducersinstalledonasurfacevesselorunderwatervehicletoobtaintherangesandanglesofunderwatertargets.USBLhasdistinctadvantagesoverotherunderwaterpositioningsystems,suchashighaccuracy,highupdaterate,andlong-rangecapability,whichmakeitavaluabletoolforvariousapplications,suchasunderwaternavigation,surveying,andexploration. TheaimofourresearchistodevelopaUSBLsystemwithenhanceddisplayandalgorithmimplementationcapabilities.Specifically,wefocusondesigningauser-friendlyandintuitivedisplaysoftwarefortheUSBLsystemandimprovingthepositioningaccuracyandrobustnessbyapplyingadvancedalgorithms,suchastheLSandEKFalgorithms. DisplaySoftwareDesignandImplementation TheUSBLdisplaysoftwareisimplementedusingtheQtframework,apopularcross-platformGUIdevelopmenttool.Thesoftwareconsistsofthreemainmodules:dataacquisition,dataprocessing,anddatavisualization.Thedataacquisitionmodulereceivesanddecodestheacousticsignalsfromthetransducersandextractstherangesandanglesofthetargets.ThedataprocessingmodulethencalculatestheprecisepositionofthetargetsbasedonthegeometryandkinematicsoftheUSBLsystem.Finally,thedatavisualizationmodulepresentstheresultsinauser-friendlyandinformativeway,incl