D Robust Underwater Acoustic Remote Control Method

An integrated applicative communication method designed to enhance underwater acoustic remote control on small unmanned underwater vehicles (UUVs) is presented. The frame structure and detection method are intended to improve the rate and reliability of communication under complex conditions of multipath, high velocity motion and strong jamming. The scheme consists of four fields, including synchronization field, Doppler measurement field, instruction or data field and check bit. A combination of time and frequency coding was used. The channel impulse response and frequency shift were measured to determine the characteristics of decoding. The application of correlator with non-Gaussian noise was researched in this paper. A new constant false alarm rate (CFAR) detector was realized to improve the correlator. By estimating the strength of incoming signal, the hypothesis testing adaptive threshold was achieved for CFAR detection. The performance of the remote control method is presented. The results were supported by lake trial.