CN103926563A - Ultra-short basic line five-element receiving array and water sound locating method thereof - Google Patents

Abstract

The invention relates to an ultra-short basic line five-element receiving array and a water sound locating method thereof. According to the ultra-short basic line five-element receiving array and the water sound locating method thereof, five receiving elements are arranged on the bottom surface in a barrel-shaped array watertight shell and are evenly distributed with the center of the bottom surface as the circle center in the circumferential direction. By selecting all combinations of any three receiving elements in the array, a target orientation value is obtained through the three elements in each combination, the obtained target orientation values of all the combinations are averaged to obtain an average value serving as an initial orientation value of a measured target, and the initial orientation value meets set calculation accuracy and serves as a final orientation value of the measured target. By means of the ultra-short basic line five-element receiving array, redundant equal-precision measurement base lines are obtained through the minimum number of the elements, target locating is re-inspected and resolved by means of the geometrical relationship among the five redundant equal-precision measurement base lines, so that the problem of phase ambiguity is resolved, effectiveness of redundant data judging is guaranteed, and effectiveness and reliability of target orientation calculation are enhanced.

Description

A kind of ultra-short baseline five primitives receive basic matrix and hydrolocation method thereof

Technical field

The present invention relates to a kind of ultra-short baseline five primitives and receive basic matrix and hydrolocation method thereof.

Background technology

Ultra-short baseline is that a kind of method the simplest, that use most convenient is installed in acoustic positioning technique.Initial ultra short baseline locating system is based on the poor estimation of phase of received signal, for avoiding phase ambiguity, can only adopt aperture to be less than triangle formation or the quaternary right-angled intersection formation of half-wavelength, but that the defect of bringing is positioning precision is not high.Although 8 primitive right-angled intersection basic matrixs can improve precision by bulk redundancy primitive data, its effective equal precision measurement baseline and quaternary right-angled intersection there is no essential distinction, to the fluctuating of target Bearing Estimation, still cannot effectively pass judgment on.

Summary of the invention

The object of the invention is in order to solve current basic matrix to the stability of the measurement of target azimuth and the poor problem of validity, provide a kind of ultra-short baseline five primitives to receive basic matrix, the present invention also aims to provide a kind of hydrolocation method of utilizing this basic matrix.

The object of the present invention is achieved like this:

Ultra-short baseline five primitives receive basic matrix, comprise that 5 receive primitive and drum-shaped basic matrix watertight case, 5 receive primitives and are arranged on the bottom surface in drum-shaped basic matrix watertight case, and described 5 receive primitives and take described bottom center and be along the circumferential direction uniformly distributed as the center of circle; 5 receive 2 reception primitive lines any non-adjacent in primitive and form a measurement baseline.

5 diameters that receive the circumference of primitive formation are 30cm.

5 receive the reception primitive that primitive is the high-precision laser cutting technique of employing excision forming on entity metal, and described 5 reception primitives carry out embedding by insulating resin and are fixed on the bottom surface in drum-shaped basic matrix watertight case.

Ultra-short baseline five primitives receive basic matrix hydrolocation method:

Step 1: choose ultra-short baseline five primitives and receive primitive combination of any 3 reception primitives formation in basic matrix, each in combining according to this primitive receives the time delay estimated value of primitive measurement target, and equation is resolved in establishing target orientation, obtains target side place value;

Step 2: repeating step one, change the reception primitive of choosing, travel through all primitives and combine, the different target side place values that solve in the situation of primitives combination that receive of statistics, and average as the orientation initial value of measured target according to the target side place value of the difference reception primitive combination obtaining;

Step 3: whether the orientation initial value of the measured target that determining step two solves meets computational accuracy, if meet, the final orientation values using described orientation initial value as measured target, if do not meet, re-executes step 1, remeasures.

In step 1, establishing target orientation is resolved equation and is:

$\left\{\begin{array}{c}{R}_i-R_j=L_1\·\cos \mathrm{\Ω}\\ R_i-R_z=L_2\·\cos \mathrm{\Ω}\end{array}\right.$

Wherein, R _i, R _jand R _zbe respectively 3 distance values that receive primitive and measured target choosing, described distance value is converted to according to time delay estimated value, and i, j and z get respectively any different integer of [1,5]; L ₁=[l _i, l _j] and L ₂=[l _i, l _z] be and receive primitive location parameter vector, l _ibe i location parameter that receives primitive, l _jj location parameter that receives primitive, l _zz location parameter that receives primitive;

Ω=[α, β] ^tfor the target azimuth result solving, α is measured target and the angle that receives basic matrix x coordinate axis, β is measured target and the angle that receives the y coordinate axis of basic matrix, receive the center of circle of basic matrix as the initial point in xy axle rectangular coordinate system, x coordinate axis is any reception primitive and the straight line that receives the basic matrix center of circle.

Step 3 is specially:

If will solve as the final orientation values of measured target, parameter ξ is reference thresholds, k chooses three numberings that receive the combination of primitive for receiving in basic matrix, and k gets the positive integer in [1,10], and n equals 10, α _kbe the measured target and the angle value that receives basic matrix x coordinate axis of k combination, measured target and the mean value that receives the angle of basic matrix x coordinate axis β _kbe the measured target and the angle that receives the y coordinate axis of basic matrix of k combination, measured target and reception basic matrix _ythe mean value of the angle of coordinate axis $\stackrel{\‾}{\mathrm{\β}}=\underset{k}{\mathrm{\Σ}}{\mathrm{\β}}_k/n.$

Beneficial effect of the present invention is: ultra-short baseline five primitives provided by the invention receive basic matrix, make minimum primitive obtain redundancy equal precision measurement baseline, utilize 5 geometric relationships between equal precision measurement baseline that target localization is reviewed and resolved when making system solve phase fuzzy problem, ensure again the validity of redundant data judgement, and improved the validity and reliability that target azimuth is calculated.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of structuring the formation that ultra-short baseline five primitives described in embodiment one receive basic matrix.

Fig. 2 is the principle schematic that ultra-short baseline five primitives described in embodiment one receive the basic matrix coordinate system of basic matrix.

Fig. 3 is that ultra-short baseline five primitives described in embodiment four receive the method flow schematic diagram that basic matrix carries out hydrolocation.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described further.

Embodiment mono-: in conjunction with Fig. 1 and Fig. 2, the present embodiment is described, ultra-short baseline five primitives described in the present embodiment receive basic matrixs, and it comprises that 5 receive primitives and drum-shaped basic matrix watertight case; 5 receive primitives and are arranged on the bottom surface in drum-shaped basic matrix watertight case, and described 5 receive primitives and take described bottom center and be along the circumferential direction uniformly distributed as the center of circle; 5 receive 2 reception primitive lines any non-adjacent in primitive and form a measurement baseline.

Ultra-short baseline five primitives receive the basic matrixs signal of structuring the formation: the primitive of reception basic matrix is positioned on the bottom end face of cylindrical basic matrix watertight case, have 5 and receive primitive formation planar array, 5 reception primitives are uniformly distributed on same circumference, and adjacent reception primitive is 72 ° with a battle array line of centres angle.

Embodiment bis-: the present embodiment is that ultra-short baseline five primitives that utilize described in embodiment mono-are received to the further restriction of basic matrix, and the diameter that described ultra-short baseline five primitives receive the circumference of basic matrix shape basic matrix formation is 30cm.

Embodiment tri-: the present embodiment is to the further restriction that utilizes ultra-short baseline five primitives reception basic matrixs described in embodiment mono-,

Described 5 receive the reception primitive that primitive is the high-precision laser cutting technique of employing excision forming on entity metal, and described 5 reception primitives carry out embedding by insulating resin and are fixed on the bottom surface in drum-shaped basic matrix watertight case.

The present embodiment has guaranteed five high precision assemblings that receive primitive.

To 5, receiving primitive is No. 1-5 according to clockwise direction number consecutively, the x change in coordinate axis direction of regulation basic matrix coordinate system is parallel with No. 2, No. 5 reception primitive line directions, but by the basic matrix center of circle, the y change in coordinate axis direction of basic matrix coordinate system is for passing through to receive for No. 1 the straight line in primitive and the basic matrix center of circle.The x coordinate axis of basic matrix, y coordinate axis form orthogonal coordinate system.2 reception primitive lines any non-adjacent in 5 reception primitives form a measurement baseline, and the design co-exists in 5 equal precision measurement baselines, and as shown in dotted line pentagram in accompanying drawing 2, formation redundancy is observed and being adjudicated.With ultra-short baseline five primitives receive 5 of basic matrixs receive primitives corresponding have 5 passages, each passage independently carries out signal waveform processing, detects judgement and calculating parameter time delay estimated value, and described time delay estimated value arrives for target being measured to the echo signal obtaining the propagation delay that respectively receives primitive.

Embodiment tetra-: utilize ultra-short baseline five primitives described in embodiment mono-to receive the method that basic matrixs carry out hydrolocation, it comprises the steps:

Step 1: choose described ultra-short baseline five primitives and receive primitive combination of any 3 reception primitives formation in basic matrix, time delay estimated value when each in combining according to this primitive receives primitive measurement target, equation is resolved in establishing target orientation, solves target side place value;

Step 2: repeating step one, change the reception primitive of choosing, travel through all primitives and combine, the different target side place values that solve in the situation of primitives combination that receive of statistics, and average as the orientation initial value of measured target according to the target side place value of the difference reception primitive combination obtaining;

Step 3: whether the orientation initial value of the measured target that determining step two solves meets the computational accuracy of setting, if meet, the final orientation values using described orientation initial value as measured target, if not, returns to step 1, remeasures.

The present embodiment receives battle array by five primitives, make minimum reception primitive obtain redundancy equal precision measurement baseline, utilize 5 geometric relationships between equal precision measurement baseline that target localization is reviewed and resolved when making system solve phase fuzzy problem, ensured again the validity of redundant data judgement.Effectively improved the validity and reliability that target azimuth is calculated.Solved the problem of traditional triangle formation or quaternary, eight yuan of right-angled intersection battle arrays.

Embodiment five: the present embodiment is that the ultra-short baseline five primitives reception basic matrixs that utilize described in embodiment tetra-are carried out to the further restriction of the method for hydrolocation, and in described step 1, establishing target orientation is resolved equation and is:

$\left\{\begin{array}{c}{R}_i-R_j=L_1\·\cos \mathrm{\Ω}\\ R_i-R_z=L_2\·\cos \mathrm{\Ω}\end{array}\right.$

Wherein, R _i, R _jand R _zbe respectively 3 distance values that receive primitive and measured target choosing, described distance value is converted to according to time delay estimated value, and i, j and z get respectively any different integer of [1,5];

L ₁=[li, l _j] and L ₂=[l _i, l _z] being reception primitive location parameter vector, li is i location parameter that receives primitive, l _jj location parameter that receives primitive, l _zz location parameter that receives primitive;

Ω=[α, β] ^tfor the target azimuth result solving, α is measured target and the angle that receives basic matrix x coordinate axis, β is measured target and the angle that receives the y coordinate axis of basic matrix, receive the center of circle of basic matrix as the initial point in xy axle rectangular coordinate system, x coordinate axis is any reception primitive and the straight line that receives the basic matrix center of circle.

Be numbered the reception primitive of i and the distance value R of measured target _i=τ _i* c, τ _ifor measured target is to the time delay estimated value of numbering the reception primitive of i, c is acoustic velocity value.Acoustic velocity value can obtain by acoustic velocity measutement equipment such as SVP or CTD.Equation $\left\{\begin{array}{c}{R}_i-R_j=L_1\·\cos \mathrm{\Ω}\\ R_i-R_z=L_2\·\cos \mathrm{\Ω}\end{array}\right.$ For nonlinear equation, while solving, can utilize Solving Nonlinear Equation method iterative computation to obtain unknown numerical value.

Change and choose reception primitive, travel through all primitive combinations, calculate respectively the orientation of target.Basic matrix in present embodiment has 5 and receives primitive, and calculating one group of target azimuth needs three values to receive primitive information, thereby has array mode in 10.In enforcement, need these 10 kinds of array modes to calculate respectively, the different primitives that receive of statistics combine the target azimuth result of calculation of resolving.

Embodiment six: the present embodiment is that the ultra-short baseline five primitives reception basic matrixs that utilize described in embodiment five are carried out to the further restriction of the method for hydrolocation, in step 3, whether the orientation initial value of the measured target that determining step two solves meets the computational accuracy of setting, if meet, the method using described orientation initial value as the final orientation values of measured target is:

If will solve as the final orientation values of measured target, parameter ξ is reference thresholds, k chooses three numberings that receive the combination of primitive for receiving in basic matrix, and k gets the positive integer in [1,10], and n equals 10, α _kbe the measured target and the angle value that receives basic matrix x coordinate axis of k combination, measured target and the mean value that receives the angle of basic matrix x coordinate axis β _kbe the measured target and the angle that receives the y coordinate axis of basic matrix of k combination, measured target and reception basic matrix _ythe mean value of the angle of coordinate axis $\stackrel{\‾}{\mathrm{\β}}=\underset{k}{\mathrm{\Σ}}{\mathrm{\β}}_k/n.$

If certain combination result of calculation departs from other group results in this enforcement, need after rejecting, this result solve average as the final orientation of target, according to statistics rule result of calculation, surpass 2 times of standard deviation scopes for departing from other group results.

Claims (6)

1. ultra-short baseline five primitives receive basic matrix, comprise that 5 receive primitive and drum-shaped basic matrix watertight case, it is characterized in that: 5 receive primitives and are arranged on the bottom surface in drum-shaped basic matrix watertight case, described 5 receive primitives and take described bottom center and be along the circumferential direction uniformly distributed as the center of circle; 5 receive 2 reception primitive lines any non-adjacent in primitive and form a measurement baseline.

2. a kind of ultra-short baseline five primitives according to claim 1 receive basic matrix, it is characterized in that: described 5 diameters that receive the circumference of primitive formation are 30cm.

3. a kind of ultra-short baseline five primitives according to claim 1 receive basic matrix, it is characterized in that: described 5 receive the reception primitive that primitive is the high-precision laser cutting technique of employing excision forming on entity metal, described 5 reception primitives carry out embedding by insulating resin and are fixed on the bottom surface in drum-shaped basic matrix watertight case.

4. ultra-short baseline five primitives receive a basic matrix hydrolocation method, it is characterized in that:

Step 1: choose ultra-short baseline five primitives and receive primitive combination of any 3 reception primitives formation in basic matrix, each in combining according to this primitive receives the time delay estimated value of primitive measurement target, and equation is resolved in establishing target orientation, obtains target side place value;

Step 2: repeating step one, change the reception primitive of choosing, travel through all primitives and combine, the different target side place values that solve in the situation of primitives combination that receive of statistics, and average as the orientation initial value of measured target according to the target side place value of the difference reception primitive combination obtaining;

Step 3: whether the orientation initial value of the measured target that determining step two solves meets computational accuracy, if meet, the final orientation values using described orientation initial value as measured target, if do not meet, re-executes step 1, remeasures.

5. a kind of ultra-short baseline five primitives according to claim 4 receive basic matrix hydrolocation method, it is characterized in that: in described step 1, establishing target orientation is resolved equation and is:

$\left\{\begin{array}{c}{R}_i-R_j=L_1\·\cos \mathrm{\Ω}\\ R_i-R_z=L_2\·\cos \mathrm{\Ω}\end{array}\right.$

Wherein, R _i, R _jand R _zbe respectively 3 distance values that receive primitive and measured target choosing, described distance value is converted to according to time delay estimated value, and i, j and z get respectively any different integer of [1,5]; L ₁=[l _i, l _j] and L ₂=[l _i, l _z] be and receive primitive location parameter vector, l _ibe i location parameter that receives primitive, l _jj location parameter that receives primitive, l _zz location parameter that receives primitive;

Ω=[α, β] ^tfor the target azimuth result solving, α is measured target and the angle that receives basic matrix x coordinate axis, β is measured target and the angle that receives the y coordinate axis of basic matrix, receive the center of circle of basic matrix as the initial point in xy axle rectangular coordinate system, x coordinate axis is any reception primitive and the straight line that receives the basic matrix center of circle.

6. ultra-short baseline five primitives according to claim 5 receive the method that basic matrix carries out hydrolocation, it is characterized in that: described step 3 is specially:

If will solve as the final orientation values of measured target, parameter ξ is reference thresholds, k chooses three numberings that receive the combination of primitive for receiving in basic matrix, and k gets the positive integer in [1,10], and n equals 10, α _kbe the measured target and the angle value that receives basic matrix x coordinate axis of k combination, measured target and the mean value that receives the angle of basic matrix x coordinate axis β _kbe the measured target and the angle that receives the y coordinate axis of basic matrix of k combination, measured target and reception basic matrix _ythe mean value of the angle of coordinate axis $\stackrel{\‾}{\mathrm{\β}}=\underset{k}{\mathrm{\Σ}}{\mathrm{\β}}_k/n.$