CN104133217B - Method and device for three-dimensional velocity joint determination of underwater moving target and water flow - Google Patents

Abstract

The invention discloses a method for three-dimensional velocity joint determination of an underwater moving target and water flow. The method comprises the following steps: the ground is selected as a reference system, and the three-dimensional coordinate position of an underwater object is calculated by taking an ultrasonic transmission position as the origin of coordinates and the downward direction vertical to the horizontal plane as the Z direction; a single-frequency signal of which the frequency is fs is constructed as a speed measuring signal and transmitted out; an ultrasonic receiving module receives signals received by N receiving probes and transmits the signals to a processing module, wherein the position of the ith receiving probe is (xi, yi, zi), and i=1, 2, 3...N; frequency estimation is carried out respectively on the N received signals to obtain the frequencies fri of the received signals, wherein i=1, 2, 3...N; and the velocity of water flow and the motion velocity of the underwater object are calculated according to the three-dimensional position of the underwater object, wherein N>=6. The method and a device of the invention can avoid the adverse effects of the velocity of water flow to the measurement accuracy, and have the advantages of wide range of applications, good anti-noise capability, low cost, simple installation, and easy use.

Description

The three-dimensional velocity joint measurement method of a kind of underwater movement objective and current and device

Technical field

The present invention relates to tachometric survey field, combine survey particularly to a kind of underwater movement objective with the three-dimensional velocity of current Determine method and device.

Background technology

The method of measuring speed has a lot, for there being different measuring methods under different targets, varying environment.On land On, employing radar meter general to vehicle carrys out measuring speed.Radar meter mainly make use of Doppler effect principle.The most general It is a kind of when wave source and observer have relative motion for strangling effect, and observer receives frequency that the frequency of ripple and wave source send also Inconsistent phenomenon, is embodied in when observer does near motion relative to sound source, and the frequency that observer receives can compare sound The frequency of ripple itself is high；Otherwise, when observer does away from motion relative to sound source, the frequency that observer receives can than sound wave originally The frequency of body is low.Radar meter calculates the motion speed of mobile object according to the frequency offset of the reflection electromagnetic wave received Degree.

When immersed body is carried out movement velocity measurement, decay under water due to electromagnetic wave serious, so typically employing sound Ripple measures the speed of moving target.Currently mainly there are three kinds of methods: one, measured the speed of moving target by machinery Degree, typically utilizes the wheel shaft rotation information of moving object to measure, and this class speed-measuring method includes mechanical type tachometric survey, survey Speed generator type tachometric survey, Hall digital formula tachometric survey, magnetic induction type vehicle speed measurement, pulsed speed probe tachometric survey Deng；Two, the tachometric survey that image processing techniques is carried out is utilized, typically by moving target is repeatedly taken pictures, according to meter In the calculation unit interval, the distance of object of which movement measures the movement velocity of object；Three, the Doppler effect utilizing sound wave is carried out Tachometric survey, under water, is sent the sound wave of characteristic frequency, reflects when sound wave runs into moving object, examined by receptor Surveying and receive, the frequency receiving sound wave can change along with the change of moving object movement velocity, by detecting the change of frequency of sound wave Change and measure the speed of moving object.

Existing utilize machinery to measure the speed of moving target, measure and need in target measurement apparatus is installed, use Inconvenience；Utilize image technique to carry out measuring speed, in the environment of light is bad (as under water or night etc.) cisco unity malfunction.

The method that great majority utilize Doppler measurement immersed body movement velocity now, is not accounting for water velocity In the case of measure because the impact of current, sound wave also can be made to produce certain frequency displacement, therefore measure and have error.

Accordingly, it is desirable to a kind of new method measuring immersed body movement velocity meets demand.

Summary of the invention

It is an object of the invention to the shortcoming overcoming prior art with not enough, it is provided that a kind of underwater movement objective and current Three-dimensional velocity joint measurement method.

Another object of the present invention is to the three-dimensional velocity simultaneous determination device providing a kind of underwater movement objective with current.

The purpose of the present invention is realized by following technical scheme:

The three-dimensional velocity joint measurement method of a kind of underwater movement objective and current, comprises the step of following sequence:

S1. choosing ground is referential, with ultrasound emission position as zero, faces down as Z-direction with vertical-horizontal, Calculate immersed body three-dimensional coordinate position (x, y, z)；

S2. building frequency is f_sSimple signal as speed measurement signal and launch；

S3. ultrasonic reception module receives the signal that N number of receiving transducer receives, and transmits it to processing module, wherein The position of i-th receiving transducer is (x_i,y_i,z_i), wherein i=1,2,3......N；The N road signal received is carried out respectively Frequency Estimation, the frequency obtaining receiving signal isWherein i=1,2,3......N, and utilize the three-dimensional position of submarine target (x, y z) calculate water velocity and immersed body movement velocity, wherein N >=6.

Described underwater movement objective and the three-dimensional velocity joint measurement method of current, specifically comprise the steps of

A, from Doppler effect, when signal launch point is static, receive frequency f' and tranmitting frequency f that point receives it Between relation be:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v_wFor medium velocity, v_oReceiving some translational speed for signal, c is ultrasonic signal spread speed in water, And v_wWith by launch point to receiving some direction on the occasion of, v_oWith receive point to launch point direction on the occasion of；

B, measurement apparatus remain static relative to ground, if water velocity is:Wherein v_wx, v_wy, v_wzRepresent water velocity component on coordinate axes X, tri-directions of Y, Z respectively；Immersed body movement velocity is:Wherein v_ox, v_oy, v_ozRepresent immersed body movement velocity respectively on coordinate axes X, tri-directions of Y, Z Component；

C, first analyze sound wave from ultrasound emission probe to the process of immersed body, calculate when sound wave arrives immersed body Frequency:

If the coordinate of launch point S is (0,0,0), the coordinate of moving target point O is that (x, y, z), α, β, γ are respectively vectorWith the angle of coordinate axes X, Y, Z, then the unit vector on S → O direction is expressed as:

Make l_sox=cos (α), l_soy=cos (β), l_soz=cos (γ), then

Then the water velocity speed in S → O direction is:

Moving object speed on O → S direction is:

Because sound wave is during by launch point S to moving target point O, sound source is not moved, formula (1) can derive Going out the frequency that moving target point O receives is

$f_o=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)f_s;---\left(4\right)$

Wherein, f_oFor the reception frequency of moving target point O, f_sFor the original frequency of launch point, vectorForS → Component on O direction, v_{w_so}Mould for this vector；VectorForComponent on S → O direction, v_{o_os}For this vector The negative value of mould；C is ultrasonic signal spread speed in water；

D, the process that then analysis sound wave is popped one's head in from immersed body to ultrasonic reception, during calculating sound wave arrival receiving transducer Frequency:

Receive some R_i(x_i,y_i,z_i) it is that N number of reception puts one of them, α_i、β_i、γ_iIt is respectively vectorWith coordinate axes X, Y, The angle of Z, obtains O → R_iUnit vector on direction is:

Make respectivelyO → R can be obtained_iList on direction Bit vector is

Then water speed is at O → R_iSpeed on direction is

Moving object is at O → R_iSpeed on direction is

Sound wave is by moving target point O to a reception point R_iDuring, receiving terminal does not move, therefore R_iThe signal that point receives Frequency be

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；VectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；C is ultrasonic signal propagation speed in water Degree；

E, arranged can be obtained by formula (4) and formula (7), sound wave during being sent to receive, receive frequency and transmission Frequency relation is

$f_{r_i}=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}+v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) are substituted into formula (8), and arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}-v_{ox}{l}_{sox}-v_{oy}{l}_{soy}-v_{oz}{l}_{soz}}{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}}\right)\\ *\left(\frac{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}}{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}-v_{ox}{l}_{{\mathrm{or}}_{i}x}-v_{oy}{l}_{{\mathrm{or}}_{i}y}-v_{oz}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

Formula (9) has six unknown numbers, v_wx, v_wy, v_wz, v_ox, v_oy, v_oz, by utilizing six to receive point, respectively to public affairs I value in formula 9, i=1,2,3......N, N >=6, therefore the equation of more than six can be listed, can obtain above-mentioned six not Know number, thus try to achieve water velocity and immersed body movement velocity.

Described launch point is ultrasonic transmitter position, receives point for ultrasonic receiver position.

Another object of the present invention is realized by following technical scheme:

A kind of underwater movement objective and the three-dimensional velocity simultaneous determination device of current, including control module, transmitter module, connect Receive module, processing module, display module, wherein

Control module, is connected with transmitter module, receiver module, processing module, display module respectively, for modules It is controlled；

Transmitter module, is connected with control module, processing module, according to the instruction of control module, the tune from processing module Device processed obtains measurement signal and carries out ultrasound emission；

Receiver module, is connected with control module, processing module, according to the instruction of control module, receives surveyed target reflection The echo-signal returned also sends processing module to；

Processing module, is connected with control module, receiver module, display module, carries out data according to the instruction of control module Processing, it is analyzed by the docking collection of letters number, and utilizes the positional information of immersed body, transports water velocity and immersed body Dynamic speed carries out calculating velocity measurement；

Display module, is connected with control module, processing module, according to the instruction of control module, by the current of processing module Speed and immersed body movement velocity show.

Described transmitter module includes a ultrasound emission probe, and receiver module includes that N number of ultrasonic reception is popped one's head in, wherein N ≥6。

The present invention compared with prior art, has the advantage that and beneficial effect:

1, the present invention with tradition speed-measuring method different, it is not necessary in the target surveyed install sensor, it is only necessary to Target sends acoustic signals and can realize measuring.In order to easy to use, it is also possible to install emitter in target, as long as at other Place has reception point to receive data, and so calculating can be simpler.

2, the present invention is that tradition tests the speed the improvement of mode, under the influence of considering water velocity Doppler, its substitution side Journey solves, and can only measure, relative to traditional approach, the velocity to moving target that precision is the highest, and the present invention can be simultaneously water flow velocity Spend with immersed body movement velocity solves out.

3, the present invention uses acoustic measurement, and the underwater decay of sound wave is less, is therefore suitable for speed under water and surveys Amount.In addition, the present invention can also be widely used in various environment, in the medium that the most various SATTs are less.

4, apparatus of the present invention feasibility is strong, with low cost, it is simple to install.Utilize the application that Doppler effect tests the speed the most very Extensively, the present invention is the improvement of traditional approach, and the technology that tradition Doppler effect tests the speed is the most ripe, therefore cost can be made The lowest.Additionally, modern processors calculates improving constantly of disposal ability, the calculating of the present invention will not be a difficult problem, it is ensured that this Bright feasibility.

Accompanying drawing explanation

Fig. 1 is the structural representation of underwater movement objective of the present invention and the three-dimensional velocity simultaneous determination device of current Figure；

Fig. 2 is the hardware block diagram of device described in Fig. 1；

Fig. 3 is the placement location figure of the transmitting of the transmitting probe of device described in Fig. 1 and receiving transducer；

Fig. 4 is the flow chart of underwater movement objective of the present invention and the three-dimensional velocity joint measurement method of current；

Fig. 5 is the flow chart of the water velocity of method described in Fig. 4 and immersed body movement velocity algorithm；

Fig. 6 is the measuring principle structural representation of method described in Fig. 4；

Fig. 7 is that the Doppler effect frequency of method described in Fig. 4 changes each speed schematic diagram in formula；

Fig. 8 is that water velocity and immersed body speed are popped one's head in water in ultrasound emission in the two dimensional surface of method described in Fig. 4 Decomposing schematic representation on lower object direction；

Fig. 9 is that water velocity and immersed body speed are popped one's head in water at ultrasonic reception in the two dimensional surface of method described in Fig. 4 Decomposing schematic representation on lower object direction；

Figure 10 is that launch point solves signal to unit vector on submarine target direction in the three-dimensional planar of method described in Fig. 4 Figure；

Figure 11 is that submarine target solves signal to receiving unit vector on some direction in the three-dimensional planar of method described in Fig. 4 Figure.

Detailed description of the invention

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit In this.

Such as Fig. 1,2,3, the three-dimensional velocity simultaneous determination device of a kind of underwater movement objective and current, including control module 101, transmitter module 102, receiver module 103, processing module 104, display module 105, wherein

Control module 101, respectively with transmitter module 102, receiver module 103, processing module 104, display module 105 phase Even, for modules is controlled；

Transmitter module 102, is connected with control module 101, processing module 104, according to the instruction of control module 101, from from Manipulator in reason module 104 obtains measurement signal and carries out ultrasound emission；

Receiver module 103, is connected with control module 101, processing module 104, according to the instruction of control module 101, receives Echo-signal that surveyed target reflection is returned also sends processing module 104 to；

Processing module 104, is connected with control module 101, receiver module 103, display module 105, according to control module 101 Instruction carry out data process, it is collected mail by docking and number is analyzed, and utilizes the positional information of immersed body, to water flow velocity Degree and immersed body movement velocity carry out calculating velocity measurement；

Display module 105, is connected with control module 101, processing module 104, according to the instruction of control module, will process mould Water velocity and the immersed body movement velocity of block show；

Described transmitter module includes a ultrasound emission probe, and receiver module includes that N number of ultrasonic reception is popped one's head in, wherein N ≥6。

The hardware structure of above-mentioned measurement apparatus is as in figure 2 it is shown, including processor, power supply, USB interface, display screen, A/ D transducer, D/A converter, ultrasonic emitting module and ultrasound wave receiver module.Wherein processor can use dsp chip to realize, Display screen can use LCD display.Processor includes that signal generation module, memory module, signal frequency solve module and determine Position algorithm computing module.Signal generation module measures signal, i.e. simple signal for formation speed, pops one's head in for ultrasonic emitting Launch；Each road echo-signal that memory module receives for storage；Signal frequency solves module and is responsible for the signal received Carry out frequency analysis, solve the frequency of each road signal；Location algorithm computing module utilizes each road signal of primary signal, reception Frequency and the positional information of current immersed body, carry out water velocity and the calculating of immersed body movement velocity.

As Fig. 3,4, the three-dimensional velocity joint measurement method of a kind of underwater movement objective and current, comprise the steps of

Step 1: control module controls ultrasound emission probe and launches single-frequency ultrasonic signal S (t), and the frequency of signal is f_s= 34kHz, pulse length 5ms；

Step 2: meanwhile, control module controls ultrasonic reception probe and receives ultrasonic signal；Be used herein as whole six ultrasonic Receiving transducer, receives the signal obtained and is respectively R₁(t), R₂(t), R₃(t), R₄(t), R₅(t), R₆(t)；The letter that will receive Number pass to calculation process module；

Step 3: the signal that each probe is received by calculation process module carries out frequency analysis respectively, calculates each road signal Frequency, be respectively

Step 4: according to frequency f launching signal S (t) in step 1_s, the positional information of immersed body, step 3 is obtained Each frequency receiving signal and the position of each ultrasonic reception known probe, calculate liquid velocity and immersed body motion speed Degree；Concrete detection method refers to Fig. 5.

Step 5: sending flow rate of liquid and immersed body movement velocity to display module, result is shown by display module.

Such as Fig. 6, a kind of underwater movement objective and the three-dimensional velocity joint measurement method of current, specifically comprise the steps of

A, such as Fig. 7, from Doppler effect, when signal launch point is static, receive frequency f' and a transmitting that point receives Between frequency f, relation is:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v_wFor medium velocity, v_oReceiving some translational speed for signal, c is ultrasonic signal spread speed in water, And v_wWith by launch point to receiving some direction on the occasion of, v_oWith receive point to launch point direction on the occasion of；

B, measurement apparatus remain static relative to ground, if water velocity is:Wherein v_wx, v_wy, v_wzRepresent water velocity component on coordinate axes X, tri-directions of Y, Z respectively；Immersed body movement velocity is:Wherein v_ox, v_oy, v_ozRepresent immersed body movement velocity respectively on coordinate axes X, tri-directions of Y, Z Component；

C, first analyze sound wave from ultrasound emission probe to the process of immersed body, calculate when sound wave arrives immersed body Frequency:

Such as Figure 10, if the coordinate of launch point S is (0,0,0), the coordinate of moving target point O is that (x, y, z), α, β, γ are respectively For vectorWith the angle of coordinate axes X, Y, Z, then the unit vector on S → O direction is expressed as:

Make l_sox=cos (α), l_soy=cos (β), l_soz=cos (γ), then

Then the water velocity speed in S → O direction is:

Moving object speed on O → S direction is:

Such as Fig. 8, because sound wave is during by launch point S to moving target point O, sound source is not moved, can by formula (1) The frequency received to derive moving target point O is

$f_o=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)f_s;---\left(4\right)$

Wherein, f_oFor the reception frequency of moving target point O, f_sFor the original frequency of launch point, vectorForS → Component on O direction, v_{w_so}Mould for this vector；VectorForComponent on S → O direction, v_{o_os}For this vector The negative value of mould；C is ultrasonic signal spread speed in water；

D, the process that then analysis sound wave is popped one's head in from immersed body to ultrasonic reception, during calculating sound wave arrival receiving transducer Frequency:

Such as Figure 11, receive some R_i(x_i,y_i,z_i) it is that N number of reception puts one of them, α_i、β_i、γ_iIt is respectively vectorWith seat The angle of parameter X, Y, Z, obtains O → R_iUnit vector on direction is:

Make respectivelyO → R can be obtained_iList on direction Bit vector is

Then water speed is at O → R_iSpeed on direction is

Moving object is at O → R_iSpeed on direction is

Such as Fig. 9, sound wave is by moving target point O to a reception point R_iDuring, receiving terminal does not move, therefore R_iPoint receives The frequency of signal be

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；VectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；C is ultrasonic signal propagation speed in water Degree；

E, arranged can be obtained by formula (4) and formula (7), sound wave during being sent to receive, receive frequency and transmission Frequency relation is

$f_{r_i}=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}+v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) are substituted into formula (8), and arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}-v_{ox}{l}_{sox}-v_{oy}{l}_{soy}-v_{oz}{l}_{soz}}{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}}\right)\\ *\left(\frac{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}}{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}-v_{ox}{l}_{{\mathrm{or}}_{i}x}-v_{oy}{l}_{{\mathrm{or}}_{i}y}-v_{oz}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

Formula (9) has six unknown numbers, v_wx, v_wy, v_wz, v_ox, v_oy, v_oz, by utilizing six to receive point, respectively to public affairs I value in formula 9, i=1,2,3......N, N=6, therefore the equation of more than six can be listed, can obtain above-mentioned six not Know number, thus try to achieve water velocity and immersed body movement velocity.

Described launch point is ultrasonic transmitter position, receives point for ultrasonic receiver position.

Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify, All should be the substitute mode of equivalence, within being included in protection scope of the present invention.

Claims (3)

1. a underwater movement objective and the three-dimensional velocity joint measurement method of current, it is characterised in that comprise the steps of

A, from Doppler effect, when signal launch point is static, receive point receive frequency f' and tranmitting frequency f between close System is:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v_wFor medium velocity, v_oReceiving some translational speed for signal, c is ultrasonic signal spread speed in water, and v_w With by launch point to receiving some direction on the occasion of, v_oWith receive point to launch point direction on the occasion of；

B, measurement apparatus remain static relative to ground, if water velocity is:Wherein v_wx, v_wy, v_wzRepresent water velocity component on coordinate axes X, tri-directions of Y, Z respectively；Immersed body movement velocity is:Wherein v_ox, v_oy, v_ozRepresent immersed body movement velocity respectively on coordinate axes X, tri-directions of Y, Z Component；

C, first analysis sound wave, from the process of ultrasound emission probe to immersed body, calculate frequency during sound wave arrival immersed body Rate:

If the coordinate of launch point S is (0,0,0), the coordinate of moving target point O is that (x, y, z), α, β, γ are respectively vectorWith The angle of coordinate axes X, Y, Z, then the unit vector on S → O direction is expressed as:

Make l_sox=cos (α), l_soy=cos (β), l_soz=cos (γ), then

Then the water velocity speed in S → O direction is:

Moving object speed on O → S direction is:

Because sound wave is during by launch point S to moving target point O, sound source is not moved, formula (1) can derive fortune The frequency that moving-target point O receives is

$f_o=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)f_s;---\left(4\right)$

Wherein, f_oFor the reception frequency of moving target point O, f_sFor the original frequency of launch point, vectorForIn S → O direction On component, v_{w_so}Mould for this vector；VectorForComponent on S → O direction, v_{o_os}Mould negative for this vector Value；C is ultrasonic signal spread speed in water；

D, the process that then analysis sound wave is popped one's head in from immersed body to ultrasonic reception, calculate frequency during sound wave arrival receiving transducer Rate:

Receive some R_i(x_i,y_i,z_i) it is that N number of reception puts one of them, α_i、β_i、γ_iIt is respectively vectorWith coordinate axes X, Y, Z Angle, obtains O → R_iUnit vector on direction is:

Make respectivelyO → R can be obtained_iUnit on direction to Amount is

Then water speed is at O → R_iSpeed on direction is

Moving object is at O → R_iSpeed on direction is

Sound wave is by moving target point O to a reception point R_iDuring, receiving terminal does not move, therefore R_iThe frequency of the signal that point receives Rate is

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；VectorForAt R_iComponent on → O direction,Negative value for the mould of this vector；C is ultrasonic signal spread speed in water；

E, arranged can be obtained by formula (4) and formula (7), sound wave during being sent to receive, receive frequency and transmission frequency Relation is

$f_{r_i}=\left(\frac{c+v_{w\_so}+v_{o\_os}}{c+v_{w\_so}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) are substituted into formula (8), and arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}-v_{ox}{l}_{sox}-v_{oy}{l}_{soy}-v_{oz}{l}_{soz}}{c+v_{wx}{l}_{sox}+v_{wy}{l}_{soy}+v_{wz}{l}_{soz}}\right)\\ *\left(\frac{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}}{c+v_{wx}{l}_{{\mathrm{or}}_{i}x}+v_{wy}{l}_{{\mathrm{or}}_{i}y}+v_{wz}{l}_{{\mathrm{or}}_{i}z}-v_{ox}{l}_{{\mathrm{or}}_{i}x}-v_{oy}{l}_{{\mathrm{or}}_{i}y}-v_{oz}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

Formula (9) has six unknown numbers, v_wx, v_wy, v_wz, v_ox, v_oy, v_oz, by utilizing six to receive point, respectively to formula (9) the i value in, i=1,2,3......N, N >=6, therefore the equation of more than six can be listed, can obtain above-mentioned six not Know number, thus try to achieve water velocity and immersed body movement velocity.

2. one kind is used for realizing the three-dimensional velocity joint measurement method of underwater movement objective described in claim 1 and current under water Moving target and the three-dimensional velocity simultaneous determination device of current, it is characterised in that: include control module, transmitter module, reception mould Block, processing module, display module, wherein

Control module, is connected with transmitter module, receiver module, processing module, display module respectively, for carrying out modules Control；

Transmitter module, is connected with control module, processing module, according to the instruction of control module, the manipulator from processing module The middle measurement signal that obtains carries out ultrasound emission；

Receiver module, is connected with control module, processing module, according to the instruction of control module, receives surveyed target reflection and returns Echo-signal and send processing module to；

Processing module, is connected with control module, receiver module, display module, carries out data process according to the instruction of control module, It is analyzed by the docking collection of letters number, and utilizes the positional information of immersed body, speed of moving water velocity and immersed body Degree carries out calculating velocity measurement；

Display module, is connected with control module, processing module, according to the instruction of control module, by the water velocity of processing module Show with immersed body movement velocity.

Underwater movement objective the most according to claim 2 and the three-dimensional velocity simultaneous determination device of current, it is characterised in that: Described transmitter module includes a ultrasound emission probe, and receiver module includes that N number of ultrasonic reception is popped one's head in, wherein N >=6.