Resumen
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.