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1、西北工業(yè)大學(xué)博士學(xué)位論文水下信號處理與航行器路徑規(guī)劃方法姓名：劉潮東申請學(xué)位級別：博士專業(yè)：系統(tǒng)工程指導(dǎo)教師：史忠科20061001西北工業(yè)人學(xué)博士學(xué)位論文Abstract’11lispapersystematicallyintroducestheunde刑aterVehiclelocationproblemsrelatingwithsignalprocessingandpathpla衄ing．Inordertoconn徹melocationofunderwatervelliclesandmoVingta唱ets，u
2、nderwaterinfomationacquis“ion，pre-processing，a11destimationareadoptedindealingwithproblems．Thispaperalsoresearchesthepathplallllingproblemsof啪denⅣatervehiclesbasedon3一Dmodels，underwatersi伊lallocationandimagef缸ionlocation．Themainwork鋤dcomributionof也ispaperarc嬲fo
3、llo、vs：(1)Thecalculatingmethodandsimulatingprogmmoflheraytmcingmodelwimtlleback釅0lnldofslopingseabedarepresented，andtheresultsofcalculationarei11IIstmtedbythemeans0factualsimulatingctH、，cs．Theacousticrayimageisadoptedtocalculatethepropagationlossbasedonraytheor
4、y(2)Anewmodulationmethod?一Multi·carrie∽ode鋤dMulti—phases“Rkeying(MC-MPSK)，whichcombinesnon-coheremdetectingandcohercntdetecting，isproposedinthispapeLWealsocomparcthismodulatingmethodwimthctraditionalmetllodsallds協(xié)tetlleaIlalysisresultsofsimulationandsystemperfo
5、徹ance．(3)Witl】thepuIposeofexacⅡyJocatingtbellllden^，atervehiclesandmoVjngta瑪ets，wepresemtheinfhredim鴝edetectionaIldfLlsionmethodofundenⅣaterta唱etsbasedonoptimalestimationmethod．(4)Consideringthedistllrbanceofm撕necurrem，、vcbringforwardtlleschemesofdetectingpathp
6、Ia衄inga11dnav遠(yuǎn)atiomIchanpathpIa衄ing，incIudingthecOntemsofglobalpathplanningandon-1inefiskavoiding．Wealsoaccomplishedthesoft、vareinsimulationcompmerbasedondigitalsimulatiOnplatfomaIldAUVglobalpalhplanningbasedOneIecn．onicchan．(5)Theobject劬ctionofon-linepro伊鋤ming
7、，wllichisrestrainedbylinearpitchingaIldlateralmovingequatiom，isestablishedtofindoutllleoptimallulder、vatertrack，usingminim啪ValuettleoryandwiththehelpofH鋤iltonfunction．nemethodsofgradientiteratedand1-Di11itia】sse8rchingareadoptcdtoworkoutmedi仃eremialequationswim
8、theex讎menessvalueofcl勰sicalvariation．11lcrestmintproblemsinVerticaldirectionaresolVedilIpre—processing，thereforehorizontaldyn鋤icprogmmmingalld仃eesearcllingarecombinedtomatch
