Design and Evaluation of an Acoustic Modem for a Small Autonomous Unmanned Vehicle

Zheng, Siyuan; Tong, Feng; Li, Bin; Tao, Qiuyang; Song, Aijun; Zhang, Fumin

doi:10.3390/s19132923

Cited by 8 publications

(5 citation statements)

References 10 publications

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“…where ε d is the desired Doppler factor. From (24) we can notice that the Doppler estimation resolution depends on the length of preamble signal. In this paper, let n LFM = 10 and L s = 2048, the Doppler estimation resolution is ∆σ ≈ 1.36 Hz with respect to η ≤ 0.68 Hz.…”

Section: Discussionmentioning

confidence: 99%

“…Thus, the agility of Doppler compensation poses a challenge for the design of the UWA OFDM system for AUV with agile moving capability or under rapidly time-varying UWA channels. With the purpose of enabling agile Doppler compensation, a hardware resampling scheme was designed to enable resampling via an adjustable sampling rate analog-to-digital Converter (ADC), which is driven by a precision-limited processor clock [24].…”

Section: Of 11mentioning

confidence: 99%

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R&D of an Innovative OFDM Communication Payload for Small-Size AUV

Tong

Gao

et al. 2023

JMSE

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With its superiorities of low cost, high flexibility and deployment convenience, small-size autonomous underwater vehicles (AUVs) have been extensively applied to perform a variety of undersea missions. While underwater acoustic (UWA) communication provides a practical way to establish a wireless link, it still poses a significant challenge due to the strict limitations of a small-size AUV platform in terms of load capacity, energy supply and cost. Orthogonal frequency division multiplexing (OFDM) has drawn extensive attention due to its high data rate capability and relative robustness to multipath, the performance of which is unfortunately sensitive to the widespread Doppler effect. While efficient Doppler compensation is significantly crucial for UWA OFDM mobile communication, most of the conventional approaches are conducted using software resampling, thus rendering a huge burden on memory and calculation capability as well as a considerable processing delay. In this paper, from the perspective of hardware completion an UWA OFDM communication payload based on STM32F407 processor is designed and implemented to facilitate agile Doppler compensation with low computational overhead. In particular, after estimating Doppler by calculating the time compression or extension of the preamble signal, Doppler compensation is performed by directly adjusting the direct digital frequency synthesizer (DDS)-driven sampling rate of the analog-to-digital converter (ADC). As the Doppler is compensated parallel to the ADC acquisition, processing delay and memory requirement can be avoided. Finally, hardware-in-loop (HIP) simulation is performed to demonstrate the effectiveness and superiority of the proposed system. The results show that the designed system has the potential to achieve an effective communication rate of 3.19 kbps with the admissible implementation overhead. Future work will entail the integration and performance evaluation of the proposed UWA OFDM communication payload on a practical small-size AUV platform.

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Section: Discussionmentioning

confidence: 99%

Section: Of 11mentioning

confidence: 99%

R&D of an Innovative OFDM Communication Payload for Small-Size AUV

Tong

Gao

et al. 2023

JMSE

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“…This method has been widely used in UWA communication because of its efficiency and simplicity. Moreover, several improved methods have been proposed [6][7][8][9][10][11][12]. For example, an adaptive dual-stage Doppler estimation method was proposed in [12].…”

Section: Introductionmentioning

confidence: 99%

Doppler and Channel Estimation Using Superimposed Linear Frequency Modulation Preamble Signal for Underwater Acoustic Communication

Lv,

Sun,

Chen

et al. 2024

JMSE

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Due to the relative motion between transmitters and receivers and the multipath characteristic of wideband underwater acoustic channels, Doppler and channel estimations are of great significance for an underwater acoustic (UWA) communication system. In this paper, a preamble signal based on superimposed linear frequency modulation (LFM) signals is first designed. Based on the designed preamble signal, a real-time Doppler factor estimation algorithm is proposed. The relative correlation peak shift of two LFM signals in the designed preamble signal is utilized to estimate the Doppler factor. Moreover, an enhanced channel estimation algorithm, the correlation-peak-search-based improved orthogonal matching pursuit (CPS-IOMP) algorithm, is also proposed. In the CPS-IOMP algorithm, the excellent autocorrelation characteristic of the designed preamble signal is used to estimate the channel sparsity and multipath delays, which are utilized to construct the simplified dictionary matrix. The simulation and sea trial data analysis results validated the designed preamble, the proposed Doppler estimation algorithm, and the channel estimation algorithm. The performance of the proposed Doppler factor estimation is better than that of the block estimation algorithm. Compared with the original OMP algorithm with known channel sparsity, the proposed CPS-IOMP algorithm achieves a similar estimation accuracy with a smaller computational complexity, as well as requiring no prior knowledge about the channel sparsity.

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“…confined water area [6,7]. Thus, with small size, high flexibility, and low cost characteristics, Micro-AUV is drawing more and more attention from diverse fields [8][9][10].…”

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confidence: 99%

“…In addition, the system needs to ensure the real-time communication. These are the main challenges of the UWA communication system for Micro-AUV [8,10,18].…”

mentioning

confidence: 99%

R&D of a low-complexity OFDM acoustic communication payload for Micro-AUV in confined space

Jiang

Tao

Yao

et al. 2022

EURASIP J. Adv. Signal Process.

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With small size, high flexibility, low cost, and deployment convenience, Micro-sized autonomous underwater vehicle (Micro-AUV) is capable of performing diverse underwater missions efficiently in confined underwater space, for the extensive purpose of rescue, sightseeing, pipeline engineering and so on. The underwater acoustic (UWA) communication technique provides an effective way to support this types of underwater mission for telemetry and remote control of Micro-AUV. However, while the adverse multipath caused by confined space poses significant challenge to the classic coherent acoustic communication schemes that need channel estimation and equalization processing, the employment of non-coherent communication scheme is generally limited by low data rate. By utilizing time-domain and frequency-domain differential modulation to suppress the influence of multipath, a low-complexity UWA communication payload is designed to provide an effective solution to make a tradeoff between data rate and implementation complexity. Based on a STM32 series processor, this paper introduced the software and hardware implementation of a time-frequency differential OFDM UWA communication payload for Micro-AUV and presented the performance evaluation of the system in confined underwater space. The experimental results achieved in a confined lake show that the proposed system has the potential of being used for Micro-AUV to achieve a data rate of 1.96 kbps at a distance of 200m with acceptable implementation overhead.

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Design and Evaluation of an Acoustic Modem for a Small Autonomous Unmanned Vehicle

Cited by 8 publications

References 10 publications

R&D of an Innovative OFDM Communication Payload for Small-Size AUV

R&D of an Innovative OFDM Communication Payload for Small-Size AUV

Doppler and Channel Estimation Using Superimposed Linear Frequency Modulation Preamble Signal for Underwater Acoustic Communication

R&D of a low-complexity OFDM acoustic communication payload for Micro-AUV in confined space

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