Acoustic Stimulation Test System (ASTS) for UUVs · 2012. 5. 3. · Block Diagram. •UWEF –...
Transcript of Acoustic Stimulation Test System (ASTS) for UUVs · 2012. 5. 3. · Block Diagram. •UWEF –...
Presented To: ITEA
Presented By: Mr. Steven J. Barnett – ARL Penn State
Date: April 26, 2012
Acoustic Stimulation Test System (ASTS)for UUVs
• What is it?• History and Evolution
• Derivative of UWEF• Description• Conclusion
• Cost vs Benefit
Introduction
• Real‐Time Hardware‐In‐The‐Loop (SUT)• Sonar, Signal, and Tactical • 6 ¾”, 12 ¾”, and 21” fixtures
• Stimulation – Analog/DSP Subsystems• Active & Passive Targets• Multiple Highlights/Echoes• Reverberation• Emissions• Flow Noise
• Acoustic Controller Console• Program Target Dynamics• Input Torpedo Dynamics• Acoustic parameters to DSP Subsystem• Recordings/Display
• Autopilot Interface• Initiation • UUV kinematics
Block Diagram
• UWEF – Undersea Weapon Evaluation Facility• Installation approximately 1992 time‐frame• Support in‐water tests• Water‐filled pressure vessel allows full power transmit• Completely assembled units – Allow operation of engine, propulsor, actuators, and acoustic subsystems
• ASTS – Acoustic Stimulation Test System• Derivative of the UWEF acoustic subsystem• Installation approximately 1994 time‐frame• Support developmental in‐water tests• Water‐filled array enclosure – Standard atmospheric pressure• No engine, propulsor or actuators – Only acoustic subsystems
History
• Array and Enclosure• Approximately 10’ x 10’ x 10’ • Anechoic internally • Reverberant Externally
Array and Enclosure
• Projector Sensor ‐ Power Amplifier• Four inputs – DSP Subsystem
• (1) in‐band channel• (2) external channels• Control Interface – Filters, gain, tuning
• Selectable band‐pass sampling reconstruction filters
• 18‐bit D/A plus 0, 24, 48, 72 dB• One of four tuning networks
• Receiver Sensor – Transmit Monitor• Isolated interface – Input and Output• Selectable band‐pass sampling filters• Programmable gain – (2) stages for noise optimization
Array Interface
• Acoustic Controller Console Interface• Target and SUT parameters from Acoustic Controller Console• Assign spatial, temporal, and spectral aspects of echoes and reverberation
• Executive Controller• Time‐base and associated signals• Data transfer between nodes• Analog subsystem control link
• Passive Generator• Generates passive target signals
• Audio• Provides audio sensory perception to target acoustic field
• Transmit Generator• Processes and stores SUT transmit signal• Provides echo and reverberation signals
• Target Projector (Summer)• Processes and outputs composite target signal• Compensation – Minimizes amplitude and delay variations between channels
DSP Subsystem Nodes
• Receive kinematic variables from the UUV autopilot• Linear and Angular• Position and Velocity Vectors• Other – LAUNCH, Time, etc.
• Target – Updates kinematic variables based on user‐supplied GUI parameters
• Update – Display graphics• Calculate – Acoustic parameters based on target and UUVpositions and orientations to DSP Subsystem
• Provides user interface• Modify target parameters• Record data; Test• Visualization
Acoustic Controller Console
• Derivative of UWEF implemented in early 1990s• UWEF successfully supported in‐water evaluation tests
• ASTS successfully supported many technology developmentprograms at ARL Penn State prior to in‐water tests
• Reliable – Minimal maintenance for ~ 20 years • DURIP and Director provided for DSP subsystem upgrade
• Acoustic OR Electrical interface a possibility
• Summary – Assume $100K per in‐water run/test• Less than (10) would provide complete upgrade plus ‐
• Huge amount of test data with varied parameters, i.e. what‐if scenarios, troubleshooting, AND
• Greatly improve UUV Guidance System performance andchances of success prior to even performing a range test
Conclusion
• Lynn A. Poole – Retired from ARL as Hardware/Systems Engr.• System Engineer, Architect, and Project Lead for Acoustic UWEF/ASTS
• Mentor & Teacher• Consultant – L.A. Poole Engineering
• Dr. Robert Marciniak – Program Manager at ARL Penn State• PM for the UWEF program
• Dr. Teresa McMullen – ONR Sponsor• Instrumental in supporting DURIP effort
• Dr. Russell Burkhardt – Office head of UWO at ARL Penn State• Supported DURIP effort at ARL
Acknowledgements
Questions
Backup Slides
+8°
Target Projector
Receiver Hydrophone+24°
- 8°
- 24°
+40°+24°+8°-8°-24°-40°
Topside Aerial View of the ASTS Array
Array
• Real‐Time Hardware In the Loop – System Under Test (SUT)• Sonar, Signal, & Tactical Processor• Autopilot – Internal or external• Non‐Intrusive ‐
• External Interface – Autopilot or Tactical Controller• Test Fixture – 6 ¾”, 12 ¾”, 21”
• Real‐Time Hardware In the Loop – ASTS• Provides realistic spatial, temporal, and spectral acoustic field• Active, passive, reverberation, and target emissions• Programmed target parameters from console
Overview
• User Inputs “Mode” from ACC• Adapt ‐
• NOT during tests• Performed independently on eachchannel ‐ 10‐seconds
• Weights stored in ACC workstation• Filter then uses weights as FIRin “Normal” mode
• Removes projector channel variations in amplitude and time‐delay
Target Projector Node – Adapt Mode
DSP Subsystem Components
• (1) per projector element •Receives Executive Controller Broadcasts
• Complex• Passive, Active, Reverb
• Doppler Shift• Active – Target & UUV velocity• Reverb ‐ UUV velocity
• Angle – Scalar multiplier based on• Target angle• Projector definition
• Level – Scalar multiplier based on• Target range• Power amp discrete gain
• Summation of signal components• Passive, Active, Reverb, Ext.
• 256‐Tap Complex FIR – Translate• Compensation/Equalization FIR• Power Amplifier
External (In-Band)
Target Projector Node– Normal/Run Mode
DSP Subsystem Components
• (1) per receiver element• 16‐bit digitizer• 256‐Tap Complex FIR ‐ Decimate• Doppler Shift – UUV velocity at transmit• Transmit Generator ACC Interface
• Transmit detection• Target assignment – Based on spatiallocation of transmitted pulse (TransmitGenerator) AND target
• Reverberation assignment – Based onspatial location of transmitted pulse(Transmit Generator)
• Status• Active target model
• Up to (8) user‐defined• Amplitude and delay coefficientsoperate on received pulse
• Summation of results • Reverberation model
• Up to (8) user‐defined• Time‐varying weights based on realin‐water data
• Sparse FIR implementation – 16 taps • Random dither in level, angle, Doppler
Transmit Generator Node
DSP Subsystem Components
• Time‐base• Programmable base‐band, carrier, A/D, and D/A controlsignals
• Counter provides time‐slot information• Interfaces to, and responsible for, data transfer between allsubsystem nodes
• Reads data from nodes• Broadcast data to all nodes
• Process, format, and send control words over link to allanalog subsystem components
Executive Controller Node
DSP Subsystem Components
• Real‐Time Hardware In the Loop ‐ ASTS•Receiver senses, conditions, processes, and stores pulsetransmitted by SUT
• DSP Subsystem • Reverberation –
•User defined models• Spatial coverage determined by receiver sensors ensonified during transmit and subsequent heading
• Doppler• Randomness from dither applied to level, angle, doppler
• Target Echoes –• User defined models• Output at appropriate time based on target controller ofAcoustic Controller Console (ACC)
Overview (Cont.)
• Projector outputs reverberation as well as target echoes, emissions, and radiated noise
• SUT processes projected field and provides steering commandsto autopilot
• Autopilot provides UUV kinematic updates from DigitalBody Simulator to ACC.
• ACC updates UUV and target parameters • No timely and costly turnaround allows repeated “what‐if” tests• SUT open‐loop tests too
Overview (Cont.)
Projector Sensor - Power Amplifier
• One in‐band Channel ‐ Synchronous• 18‐bit D/A Converter• Selectable Band‐Pass Filter (4) each
• Two in‐band or out‐of‐band inputs • Asynchronous• 18‐bit D/A Converter each• Selectable Band‐Pass Filter – (2) each• Variable gain – 0 to 96 dB, .375 dBper step; Mute
• Summation• Variable gain – 0 dB, 24 dB, 48 dB, OR72 dB
• Power Amplifier• One of four tuning networks
(2)
Array Interface
Receiver Sensor – Transmit Monitor
• Isolated I/O with fixed gain plus ‐• Programmable Gain
• Nominal 46 dB per stage• Placement allows optimizationfor noise
• Selectable Frequency Bands• (4) boards in motherboard• (2) LC filters per board 8• (1) Active filter per board 4• Combined LC and Active
Array Interface (Cont.)
Flow-Noise Generator
• Selectable base frequency – 8 bits• 48‐tap PRN w/FIR• Programmable gain • (8) independent channels
• (4) channels per board• (2) boards
Array Interface (Cont.)
• Processor Engine• Commercial board from LSI• Single Motorola DSP56001 @ 20Mhz• 32K x 24 Each Program RAM; X‐Data RAM; Y‐Data RAM• (2) A/Ds and (2) D/As• Synchronous Serial Interface (SSI) – Independent transmitand receive SPI ports
• Daughter Board• Custom‐designed by ARL• (3) Motorola DSP56200 FIR ICs• 2K x 24 Ping‐Pong RAM
DSP Subsystem Overview
• Daughter Board mated to Processor Engine• Fundamental building block of subsystem ‐Modularity• Used for ‐
• Sensor Processing – Projector and Receiver• Internal Subsystem Data Transfer between nodes• External Subsystem Data Transfer to Acoustic ControllerConsole and Analog Subsystem
• Passive • Auxiliary – Recording/Display
• Code Implementation – Assembler for real‐time operation• Three primary rates – Base‐band (fb); Carrier (fc); Time‐slot (ft)
DSP Subsystem Overview
Node
• Standard rack mount• (2) AT Backplanes for Node communication
• Processor Engine• Daughterboard
• Expandable – Requires (2) expansion adapters
DSP Subsystem Overview (Cont.)
Chassis
• Interface with Acoustic Controller Console (ACC)• SUT parameters
• Position • Attitude or Orientation• Linear velocity• Angular rates
• Target parameters• Active, passive, and emission levels – Based on loss modelsin ACC
• Horizontal and Vertical Target Angles• Doppler
Acoustic Controller Console Interface (ACCI) Node
DSP Subsystem Components
• Original system implemented in early 1990s• Obsolescence; Aging• Limited funds for maintenance and upgrades sincethat time
• Technology enhancements – Bandwidth, Console• Awarded DURIP 2008
• Scope limited to DSP Subsystem and Console• DURIPs primarily limited to material – NOT labor• DSP boards – PCI/PCI‐X with PMC interface fromBittware
• A/D boards – General Standards w/PMC interface
Upgrade
Overview
• Processor Engine• (4) Analog Devices TigerSHARC processors @ 600Mhz• 64M x 64 Cluster bus; ¾ M x 32 Internal• Virtex‐II FPGA provides flexible off‐board routing• (4) link‐ports per processor ‐ (2) per processor routed toRocket I/O board connectors; (2) internal communications
• Local PCI communications• Daughter Board
• A/D – General Standards OR• Custom ‐ FPGA with I/O drivers to support SPI peripherals;FIR
DSP Subsystem
Upgrade
• Original interfaces kept in‐tact to the extent possible• Analog subsystem interfaces• Allows use of available custom test fixtures
• DSP Subsystem architecture• Similar to original – (1) processor per node
• ACCI, Executive Controller, passive, audio, and sensor(s)• (4) nodes per board• Local PCI facilitates communications between boards
• Uses DMA Controllers
Upgrade
DSP Subsystem (Cont.)
• Level‐of‐Effort• (2) Custom boards – Low‐to‐Medium• FPGA development – Medium‐to‐High
• Two unique developments of Spartan III• Modifications of Virtex‐II Pro
• Software development – Largest task• Generate requirements based on existing assemblercode
• Implementation of C‐code for 28 processors• Integration and Test
• (8) months – Ready for integration pending preliminarymaintenance work at ASTS facility
Upgrade
DSP Subsystem (Cont.)
• Dell PC Workstation w/WinXP• CAN Interface for UUV autopilot communications• Custom PCI board for interface to DSP subsystem• Code development environment
• C/C++• Qt – Graphical User Interface (GUI)
• Level‐of‐Effort• Software development in C++ – Large
• Generate requirements for acoustic parameterprocessing, formatting, interface to DSPsubsystem, and GUI
• Implementation• (8) months – Integrated to DSP subsystem
Upgrade
Acoustic Controller Console
Receivers Power Amplifiers DSP Subsystem
Conditioned AC Power
ASTS/UWEF Pictures
• 21” Test Fixture Collar• Heavyweight• Tubing w/Experiment
Cables• Noise Ring Assembly
Side View
ASTS/UWEF Pictures
• 21” Test Fixture Collar• Heavyweight• Tubing w/Experiment
Cables• Noise Ring Assembly
Bottom View
ASTS/UWEF Pictures
GUI Input – Circular Geometry
ASTS Upgrade
Acoustic Controller Console
ASTS UpgradeAcoustic Controller Console
GUI Display -Circular Geometry
GUI Input – Straight-Line Geometry
Acoustic Controller Console
ASTS Upgrade
ASTS Upgrade
Acoustic Controller Console
GUI Display –Straight-Line Geometry
GUI Input – Wake Follow Geometry
ASTS Upgrade
Acoustic Controller Console
ASTS Upgrade
Acoustic Controller Console
GUI Display –Wake Follow Geometry