机器人2026，Vol.48Issue(3)：452-460,9.DOI:10.13973/j.cnki.robot.250151
基于正交时频空间调制的移动无人平台水声通信算法
Underwater Acoustic Communication Algorithm for Mobile Unmanned Platform Based on Orthogonal Time Frequency Space Modulation
摘要
Abstract
Traditional communication systems and conventional channel estimation methods are often inadequate for ef-fectively mitigating the severe Doppler frequency shifts caused by the rapid movement of underwater platforms in acoustic communication scenarios.Starting from the characteristics of underwater acoustic channels in mobile environments,this paper investigates OTFS(orthogonal time frequency space)modulation for underwater acoustic communication through the-oretical analysis and simulation studies.A simulated underwater acoustic channel and communication framework is devel-oped to compare the performance of OFDM(orthogonal frequency division multiplexing)and OTFS in dynamic underwater conditions,thereby demonstrating the necessity and feasibility of deploying OTFS in communication systems for high-speed AUVs(autonomous underwater vehicles).To further enhance the system performance,a channel estimation method based on variational inference and sparse Bayesian learning is evaluated against conventional approaches,highlighting its advantages within the OTFS framework.Moreover,the proposed OVSB(optimized variational sparse Bayesian)estimation method is integrated into a practical OTFS-based underwater acoustic communication system,and experimental results confirm the accuracy of simulation predictions.关键词
OTFS(正交时频空间)调制/移动水声通信/变分推断/稀疏贝叶斯/水下无人平台Key words
OTFS(orthogonal time frequency space)modulation/mobile underwater acoustic communication/variational inference/sparse Bayesian/AUV(autonomous underwater vehicle)引用本文复制引用
吕志超,王刚,于菲,李虎明,王相宇..基于正交时频空间调制的移动无人平台水声通信算法[J].机器人,2026,48(3):452-460,9.基金项目
国家重点研发计划(2023YFB390720202) （2023YFB390720202）
水声通信与海洋信息技术教育部重点实验室基金(UAC202305) （UAC202305）
青岛市自然科学基金(23-2-1-100-zyyd-jch). （23-2-1-100-zyyd-jch）
