CAJ | 학술논문

在复杂时变水声通信环境中非相干FH-FSK调制解调技术是一种较为稳健、可靠的通信方式，适合于低速、高可靠的水声设备遥控等应用场合，如水面船遥控高速运动的水下智能机器人（ autonomous underwater vehicle， AUV）。但也面临着以下困难：1）高速运动带来的多普勒会严重恶化通信系统性能；2）为节省能耗，AUV依据通信需求可对通信单元进行经常性的上电与断电操作，导致异步单工工作模式下水面与水下通信节点之间很难协调工作。针对以上问题，提出了采用脉冲对技术进行可靠多普勒估计，并采用线性插值技术进行高效多普勒补偿；结合通信节点板载高精度时钟以及设计的声链路同步机制有效地解决了AUV和水面控制船之间的双向链路建立与数据传输工作。基于OMAP-L138双核处理器平台设计与实现了FH-FSK的水声调制解调器的样机，湖上实验结果表明提出的传输控制协议可保证通信节点之间的通信链路随机建立和断开，结果证明所设计的样机稳定、可靠。
재복잡시변수성통신배경중비상간FH-FSK조제해조기술시일충교위은건、가고적통신방식，괄합우저속、고가고적수성설비요공등응용장합，여수면선요공고속운동적수하지능궤기인（ autonomous underwater vehicle， AUV）。단야면림착이하곤난：1）고속운동대래적다보륵회엄중악화통신계통성능；2）위절성능모，AUV의거통신수구가대통신단원진행경상성적상전여단전조작，도치이보단공공작모식하수면여수하통신절점지간흔난협조공작。침대이상문제，제출료채용맥충대기술진행가고다보륵고계，병채용선성삽치기술진행고효다보륵보상；결합통신절점판재고정도시종이급설계적성련로동보궤제유효지해결료AUV화수면공제선지간적쌍향련로건립여수거전수공작。기우OMAP-L138쌍핵처리기평태설계여실현료FH-FSK적수성조제해조기적양궤，호상실험결과표명제출적전수공제협의가보증통신절점지간적통신련로수궤건립화단개，결과증명소설계적양궤은정、가고。
In the complex time-varying underwater acoustic channel, non-coherent FH-FSK modulation is a robust and reliable communication mode, and it is suitable for remote control of low-speed, highly reliable underwater communication applications, such as, in communication with high-speed AUV ( autonomous underwater vehicle) remotely controlled by a ship.However, there are some difficulties with high-speed movement bringing serious dete-rioration of communication system performance.Therefore, to save the limited energy, AUV will carry out power-on and power-off operation based on communication requirements, leading to a difficult work for an asynchronous sim-plex operating mode between nodes of surface and underwater communication.This paper presents resolutions for the difficulties above.The methods used are dual-pulse technology for reliable Doppler estimation, linear interpola-tion method for high-efficiency Doppler compensation, and the use of combining high-precision clock onboard of communication nodes and the design of acoustic-link synchronization mechanism to effectively solve establishment of bidirectional communication link and data transmission between the AUV and surface control boat.Based on the OMAP-L138 dual-core processor platform, the FH-FSK prototype of underwater acoustic modem was designed and implemented.The lake-test results showed that the proposed transmission control protocol can guarantee random connection or disconnection of the communication link between the communication nodes, which proved that the prototype is stable and reliable.