基于水下连续波体制的捕获跟踪技术研究

针对水下高速潜器回收导引过程中实现实时测量位置与传输指控信息的问题，该文提出基于水下连续波体制的捕获跟踪技术。利用连续波体制实现测距与通信的同步解析，通过并行处理结构压缩数据捕获时长，并基于锁相环原理设计出适应水声环境与高速背景的最佳环路跟踪策略。从理论仿真与松花湖试验结果来看，算法的捕获时间从传统匹配算法的83.87 s缩短至0.66 s，计算量缩小为时域算法的2.36%。信号跟踪技术在匀速模型和加速度模型下都具有良好的性能，从通信角度讲跟踪算法能够准确无误地传输数据，从参数估计角度讲，基于跟踪结果输出的参数估计精度高且随速度变化缓慢，但传统检测精度随速度增大而变差。该方法实现了对多普勒频偏的精确估计与动态调整，保证了声学测量与指控信息传输的连续性与稳定性，对水下高速潜器的实时回收导引具有重要意义。

Research on Acquisition and Tracking Technology Based on Underwater Continuous Signal

Considering the problem of real-time measurement of position and transmission of charge information in the recovery and guidance process of underwater high speed submersible, the acquisition and tracking technology based on the underwater continuous wave system is proposed. Continuous wave system is used to realize synchronous resolution of ranging and communication. The data acquisition time is compressed by parallel processing structure, and the optimal loop tracking strategy suitable for underwater acoustic environment and high dynamic background is designed based on the principle of phase-locked loop. From the theoretical simulation and Songhua Lake test results, the capture time of the algorithm is shortened from 83.87 s of the traditional matching algorithm to 0.66 s, and the calculation amount is reduced to 2.36 % of the time domain algorithm. Signal tracking technology has good performance under both high speed constant speed model and acceleration model. From the perspective of communication, the tracking algorithm can transmit data accurately. From the perspective of parameter estimation, the parameter accuracy based on tracking results changes slowly with the speed, but the traditional detection accuracy decreases with the increase of speed.This method achieves accurate Doppler estimation, and ensures the continuity and stability of ranging and communication. It is of great significance to the real-time recovery guidance of underwater high speed submersible.