CN104502915A - Ultra-short baseline underwater positioning method and system based on active target detection principle - Google Patents
Ultra-short baseline underwater positioning method and system based on active target detection principle Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical group [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims abstract description 37
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- 238000002592 echocardiography Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 230000005906 menstruation Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 239000013535 sea water Substances 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 6
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an ultra-short baseline underwater positioning method based on an active target detection principle. The method comprises the following steps of adopting a microcontroller to generate a GOLD sequence; adopting a modulator to modulate a sinusoidal signal and form a modulating signal according to the GOLD sequence; adopting a matching amplifier to matching and amplifying the modulating signal; adopting an energy converter to emit an ultrasonic incident wave according to the matched and amplified modulating signal; adopting a receiving array to receive a reflected ultrasonic echo wave as the ultrasonic incident wave is contact with an object to be positioned; adopting a filter amplifier to filter and amplify the ultrasonic echo wave; adopting the microcontroller to collect and demodulate the filtered and amplified ultrasonic echo wave to obtain an echo wave sequence signal; utilizing an FFT (Fast Fourier Transform Algorithm) to calculate the period and the phase position of the echo wave sequence signal; adopting a relationship between a physical law and a solid geometry to obtain a three-dimensional coordinate of the object to be positioned according to the period and the phase position. The invention also discloses an ultra-short baseline underwater positioning system based on the active target detection principle. The method and the system can realize multisystem and multitarget detection.
Description
Technical field
The present invention relates to location technology, particularly relate to a kind of ultra-short baseline Underwater Navigation method and system based on active target detection principle.
Background technology
Along with the development of science and technology, the mankind are not only confined to land resources to the exploitation of resource and cognition, and progressively start to ocean to expand.Therefore location under water and detection technique are more and more subject to people's attention.Early stage Long baselines location, Short baseline location technology are widely used, but two kinds of methods all also exist very greatly drawback, after this measuring method of ultra-short baseline is arisen at the historic moment.But traditional ultra-short baseline measuring method all needs to place transponder in water, like this significant limitation is added to measurement, and traditional ultrasonic signal is just adopted in signal source, add very large interference and difficulty to the multiobject measurement of multisystem.
Summary of the invention
Technical matters to be solved by this invention is, provides a kind of ultra-short baseline Underwater Navigation method and system based on active target detection principle, can realize multisystem multi-target detection.
In order to solve the problems of the technologies described above, the invention provides a kind of ultra-short baseline Underwater Navigation method based on active target detection principle, comprising:
Microcontroller is adopted to produce GOLD sequence;
Adopt modulator offset of sinusoidal signal madulation according to described GOLD sequence, form modulation signal;
Adapter amplifier is adopted described modulation signal coupling to be amplified;
Modulation signal after amplifying according to coupling adopts transducer to send ultrasonic incident wave;
Adopt and receive the ultrasonic echo that the described ultrasonic incident wave of basic matrix reception touches object back reflection to be positioned;
Adopt filter amplifier that described ultrasonic echo is carried out filter and amplification;
Adopt described microcontroller collection to conciliate the ultrasonic echo of menstruation regulating filter and amplification, obtain echo sequence signal;
Fft algorithm is utilized to calculate cycle and the phase place of described echo sequence signal;
The relation between physical law and solid geometry is adopted to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.
Wherein, described employing receives the ultrasonic echo that the described ultrasonic incident wave of basic matrix reception touches object back reflection to be positioned, specifically comprises:
Four nautical receiving sets receiving basic matrix are adopted to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned respectively, wherein, described reception basic matrix is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, and described 4 perpendicular nautical receiving sets form plane orthogonal matrix.
Wherein, the described three-dimensional coordinate obtaining described object to be positioned according to described cycle and the relation between phase place employing physical law and solid geometry, specifically comprises:
The vertical reflection bee-line of described object to be positioned is drawn according to described cycle and phase place,
Wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
The position angle of described object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals;
The three-dimensional coordinate of described object to be positioned is calculated according to the vertical reflection bee-line of described object to be positioned and described position angle.
Wherein, described ultrasonic echo is carried out filter and amplification by described employing filter amplifier, specifically comprises:
Employing model is that the chip of CX20106A carries out elementary amplification to described ultrasonic echo, adopts bandwidth-limited circuit to carry out filtering afterwards.
Wherein, described microcontroller is the model that TI company produces is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence; The chip of described modulator to be model be AD9854; The chip of described adapter amplifier to be model be MJE2955.
Present invention also offers a kind of ultra-short baseline underwater positioning system based on active target detection principle, comprising:
Microcontroller, for generation of GOLD sequence;
Modulator, for according to described GOLD sequence pair sinusoidal signal modulation, forms modulation signal;
Adapter amplifier, amplifies described modulation signal for mating;
Transducer, sends ultrasonic incident wave for the modulation signal after amplifying according to coupling;
Receiving basic matrix, touching the ultrasonic echo of object back reflection to be positioned for receiving described ultrasonic incident wave;
Filter amplifier, for carrying out filter and amplification by described ultrasonic echo;
Described microcontroller also for gathering the ultrasonic echo of conciliating menstruation regulating filter and amplification, obtains echo sequence signal;
Signal processor, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal, and adopts the relation between physical law and solid geometry to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.Concrete, described signal processor is DSP signal processor.
Wherein, described reception basic matrix is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, described 4 perpendicular nautical receiving sets form plane orthogonal matrix, are respectively used to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned.
Wherein, described signal transacting implement body comprises:
FFT unit, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal;
Metrics calculation unit, for drawing the vertical reflection bee-line of described object to be positioned according to described cycle and phase place, wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
Position angle computing unit, for obtaining the position angle of described object to be positioned according to the phase angle difference of four groups of echo sequence signals;
Coordinate calculating unit, for calculating the three-dimensional coordinate of described object to be positioned according to the vertical reflection bee-line of described object to be positioned and described position angle.
Wherein, described filter and amplification implement body comprises:
The chip of CX20106A, for carrying out elementary amplification to described ultrasonic echo;
Bandwidth-limited circuit, for carrying out filtering to the ultrasonic echo after elementary amplification.
Wherein, described microcontroller is the model that TI company produces is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence; The chip of described modulator to be model be AD9854; The chip of described adapter amplifier to be model be MJE2955.
Implement the present invention, there is following beneficial effect:
The present invention is based on hyperacoustic transmission and reception, and the object of differentiation of objects is reached according to the absorptivity of different material, the concept of spreading code in Principle of Communication is utilized to reach the multiobject detection of multisystem, to utilize in mathematics FFT method to the relation in the cycle and phase place that process echoed signal, relation between recycling solid geometry solves the orientation of target object, utilizes ultrasonic velocity to solve the three-dimensional coordinate of object.Device of the present invention is easy to use, is applicable to detecting fast, cheap compared with traditional detection method, do not need implement the early stage of transponder in water, have promptness, whole system coordinates other system to use, and utilizes GOLD sequence to reach difference and the analysis of multisystem.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of an embodiment of the ultra-short baseline Underwater Navigation method based on active target detection principle provided by the invention;
Fig. 2 is the system chart of an embodiment of the ultra-short baseline underwater positioning system based on active target detection principle provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of an embodiment of the ultra-short baseline Underwater Navigation method based on active target detection principle provided by the invention, as shown in Figure 1, comprises step:
S101, employing microcontroller produce GOLD sequence.
Wherein, the model that described microcontroller (MCU) is produced for TI company is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence.
GOLD sequence is used extensively in the communications, both can reduce white noise, realizes multi-target detection again by code sequence.The generation of GOLD sequence comprises step: utilize software algorithm, arranges the primitive polynomial of two groups of numbers as m sequence in MCU, carries out displacement mould two add generation m sequence to two groups of numbers; Now m sequence limited amount, the balance of recycling software algorithm to m sequence judges, picks out preferred m sequence.Then utilize preferred m sequence to add computing for germline carries out mould 2, produce a large amount of GOLD sequence pair.Now, according to man-machine interaction, sequence is selected, just can at Different periods, the GOLD sequence of Analysis in different system, reaches communication and the object distinguished with multipair GOLD sequence.
S102, adopt modulator offset of sinusoidal signal madulation according to described GOLD sequence, form modulation signal.
Wherein, the chip of described modulator to be model be AD9854.Start AD9854 and produce sinusoidal signal, GOLD sequence is utilized to modulate at the input end of signal, 0,1 of GOLD sequence yard is used for the program of control AD9854, utilize Binary Frequency Shift Keying, if the current symbol of GOLD sequence is 0, the sinusoidal signal frequency that then AD9854 sequence now produces reduces by half, otherwise frequency is equal with desired value.The generation of settling signal part like this and modulation, and the signal of communication is stored in sound wave with the situation of 0,1 yard.Different GOLD sequences, will produce different waveforms.
Described modulation signal coupling is amplified by S103, employing adapter amplifier.
Wherein, the chip of described adapter amplifier to be model be MJE2955.
S104, according to coupling amplify after modulation signal adopt transducer send ultrasonic incident wave.
S105, employing receive basic matrix and receive the ultrasonic echo that described ultrasonic incident wave touches object back reflection to be positioned.
Concrete, S105 comprises step:
Four nautical receiving sets receiving basic matrix are adopted to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned respectively, wherein, described reception basic matrix is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, and described 4 perpendicular nautical receiving sets form plane orthogonal matrix.
Described ultrasonic echo is carried out filter and amplification by S106, employing filter amplifier.
Concrete, S106 comprises step: employing model is that the chip of CX20106A carries out elementary amplification to described ultrasonic echo, adopts bandwidth-limited circuit to carry out filtering afterwards.
S107, adopt described microcontroller collection to conciliate the ultrasonic echo of menstruation regulating filter and amplification, obtain echo sequence signal.
S108, fft algorithm is utilized to calculate cycle and the phase place of described echo sequence signal.
S109, the relation between physical law and solid geometry is adopted to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.
Concrete, step S109 comprises:
The vertical reflection bee-line of described object to be positioned is drawn according to described cycle and phase place,
Wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
The position angle of described object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals;
The three-dimensional coordinate of described object to be positioned is calculated according to the vertical reflection bee-line of described object to be positioned and described position angle.
Fig. 2 is the system chart of an embodiment of the ultra-short baseline underwater positioning system based on active target detection principle provided by the invention, and as shown in Figure 2, system comprises:
Microcontroller 201, for generation of GOLD sequence;
Modulator 202, for according to described GOLD sequence pair sinusoidal signal modulation, forms modulation signal;
Adapter amplifier 203, amplifies described modulation signal for mating;
Transducer 204, sends ultrasonic incident wave for the modulation signal after amplifying according to coupling;
Receiving basic matrix 205, touching the ultrasonic echo of object back reflection to be positioned for receiving described ultrasonic incident wave;
Filter amplifier 206, for carrying out filter and amplification by described ultrasonic echo;
Described microcontroller 201 also for gathering the ultrasonic echo of conciliating menstruation regulating filter and amplification, obtains echo sequence signal;
Signal processor 207, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal, and adopts the relation between physical law and solid geometry to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.
Wherein, described reception basic matrix 205 is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, described 4 perpendicular nautical receiving sets form plane orthogonal matrix, are respectively used to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned.
Wherein, described signal processor 207 specifically comprises:
FFT unit, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal;
Metrics calculation unit, for drawing the vertical reflection bee-line of described object to be positioned according to described cycle and phase place, wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
Position angle computing unit, for obtaining the position angle of described object to be positioned according to the phase angle difference of four groups of echo sequence signals;
Coordinate calculating unit, for calculating the three-dimensional coordinate of described object to be positioned according to the vertical reflection bee-line of described object to be positioned and described position angle.
Wherein, described filter amplifier 206 specifically comprises:
The chip of CX20106A, for carrying out elementary amplification to described ultrasonic echo;
Bandwidth-limited circuit, for carrying out filtering to the ultrasonic echo after elementary amplification.
Wherein, the model that described microcontroller 201 is produced for TI company is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence; Described modulator 202 for model be the chip of AD9854; Described adapter amplifier 203 for model be the chip of MJE2955.
Implement the present invention, there is following beneficial effect:
The present invention is based on hyperacoustic transmission and reception, and the object of differentiation of objects is reached according to the absorptivity of different material, the concept of spreading code in Principle of Communication is utilized to reach the multiobject detection of multisystem, to utilize in mathematics FFT method to the relation in the cycle and phase place that process echoed signal, relation between recycling solid geometry solves the orientation of target object, utilizes ultrasonic velocity to solve the three-dimensional coordinate of object.Device of the present invention is easy to use, is applicable to detecting fast, cheap compared with traditional detection method, do not need implement the early stage of transponder in water, have promptness, whole system coordinates other system to use, and utilizes GOLD sequence to reach difference and the analysis of multisystem.
It should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or device and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or device.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the device comprising this key element and also there is other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
In several embodiments that the application provides, should be understood that, disclosed system and method can realize by another way.Such as, system embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1., based on a ultra-short baseline Underwater Navigation method for active target detection principle, it is characterized in that, comprising:
Microcontroller is adopted to produce GOLD sequence;
Adopt modulator offset of sinusoidal signal madulation according to described GOLD sequence, form modulation signal;
Adapter amplifier is adopted described modulation signal coupling to be amplified;
Modulation signal after amplifying according to coupling adopts transducer to send ultrasonic incident wave;
Adopt and receive the ultrasonic echo that the described ultrasonic incident wave of basic matrix reception touches object back reflection to be positioned;
Adopt filter amplifier that described ultrasonic echo is carried out filter and amplification;
Adopt described microcontroller collection to conciliate the ultrasonic echo of menstruation regulating filter and amplification, obtain echo sequence signal;
Fft algorithm is utilized to calculate cycle and the phase place of described echo sequence signal;
The relation between physical law and solid geometry is adopted to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.
2. as claimed in claim 1 based on the ultra-short baseline Underwater Navigation method of active target detection principle, it is characterized in that, described employing receives the ultrasonic echo that the described ultrasonic incident wave of basic matrix reception touches object back reflection to be positioned, specifically comprises:
Four nautical receiving sets receiving basic matrix are adopted to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned respectively, wherein, described reception basic matrix is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, and described 4 perpendicular nautical receiving sets form plane orthogonal matrix.
3. as claimed in claim 2 based on the ultra-short baseline Underwater Navigation method of active target detection principle, it is characterized in that, the described three-dimensional coordinate obtaining described object to be positioned according to described cycle and the relation between phase place employing physical law and solid geometry, specifically comprises:
The vertical reflection bee-line of described object to be positioned is drawn according to described cycle and phase place,
Wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
The position angle of described object to be positioned is obtained according to the phase angle difference of four groups of echo sequence signals;
The three-dimensional coordinate of described object to be positioned is calculated according to the vertical reflection bee-line of described object to be positioned and described position angle.
4., as claimed in claim 1 based on the ultra-short baseline Underwater Navigation method of active target detection principle, it is characterized in that, described ultrasonic echo is carried out filter and amplification by described employing filter amplifier, specifically comprises:
Employing model is that the chip of CX20106A carries out elementary amplification to described ultrasonic echo, adopts bandwidth-limited circuit to carry out filtering afterwards.
5. as claimed in claim 1 based on the ultra-short baseline Underwater Navigation method of active target detection principle, it is characterized in that, described microcontroller is the model that TI company produces is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence; The chip of described modulator to be model be AD9854; The chip of described adapter amplifier to be model be MJE2955.
6., based on a ultra-short baseline underwater positioning system for active target detection principle, it is characterized in that, comprising:
Microcontroller, for generation of GOLD sequence;
Modulator, for according to described GOLD sequence pair sinusoidal signal modulation, forms modulation signal;
Adapter amplifier, amplifies described modulation signal for mating;
Transducer, sends ultrasonic incident wave for the modulation signal after amplifying according to coupling;
Receiving basic matrix, touching the ultrasonic echo of object back reflection to be positioned for receiving described ultrasonic incident wave;
Filter amplifier, for carrying out filter and amplification by described ultrasonic echo;
Described microcontroller also for gathering the ultrasonic echo of conciliating menstruation regulating filter and amplification, obtains echo sequence signal;
Signal processor, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal, and adopts the relation between physical law and solid geometry to obtain the three-dimensional coordinate of described object to be positioned according to described cycle and phase place.
7. as claimed in claim 6 based on the ultra-short baseline underwater positioning system of active target detection principle, it is characterized in that, described reception basic matrix is four 4 perpendicular nautical receiving sets placed for the center of circle with described transducer, described 4 perpendicular nautical receiving sets form plane orthogonal matrix, are respectively used to receive four groups of ultrasonic echos that described ultrasonic incident wave touches object back reflection to be positioned.
8., as claimed in claim 7 based on the ultra-short baseline underwater positioning system of active target detection principle, it is characterized in that, described signal transacting implement body comprises:
FFT unit, for the cycle and the phase place that utilize fft algorithm to calculate described echo sequence signal;
Metrics calculation unit, for drawing the vertical reflection bee-line of described object to be positioned according to described cycle and phase place, wherein,
l
minfor vertical reflection bee-line, T is back wave period,
for phase place, v
soundfor the ultrasound wave velocity of sound in the seawater;
Position angle computing unit, for obtaining the position angle of described object to be positioned according to the phase angle difference of four groups of echo sequence signals;
Coordinate calculating unit, for calculating the three-dimensional coordinate of described object to be positioned according to the vertical reflection bee-line of described object to be positioned and described position angle.
9., as claimed in claim 6 based on the ultra-short baseline underwater positioning system of active target detection principle, it is characterized in that, described filter and amplification implement body comprises:
The chip of CX20106A, for carrying out elementary amplification to described ultrasonic echo;
Bandwidth-limited circuit, for carrying out filtering to the ultrasonic echo after elementary amplification.
10. as claimed in claim 6 based on the ultra-short baseline underwater positioning system of active target detection principle, it is characterized in that, described microcontroller is the model that TI company produces is the single-chip microcomputer of msp430f149, utilizes the timer of described single-chip microcomputer inside to be equipped with GOLD Sequence Generation Algorithm and produces GOLD sequence; The chip of described modulator to be model be AD9854; The chip of described adapter amplifier to be model be MJE2955.
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Cited By (8)
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| CN104809350A (en) * | 2015-04-29 | 2015-07-29 | 浙江工商大学 | Method for distinguishing marine litter from bion |
| CN105572674A (en) * | 2016-02-18 | 2016-05-11 | 河海大学常州校区 | GOLD sequence-based active object detection apparatus and method thereof |
| CN106199565A (en) * | 2016-06-27 | 2016-12-07 | 天津工业大学 | A kind of MSK waveform optimization method for undersea detection based on genetic algorithm |
| CN108327854A (en) * | 2017-12-29 | 2018-07-27 | 中国船舶重工集团公司第七0研究所 | A kind of drift anchor system buoy for detecting underwater sound signal |
| CN109655056A (en) * | 2018-11-26 | 2019-04-19 | 江苏科技大学 | A kind of compound positioning system of Sea miner and its localization method |
| CN109725304A (en) * | 2018-12-28 | 2019-05-07 | 河海大学常州校区 | A kind of acoustic releaser receive-transmit system and method based on GOLD sequence |
| CN109725292A (en) * | 2019-03-05 | 2019-05-07 | 中国电子科技集团公司第三研究所 | Underwater operation multiple target high-precision ultra-short baseline localization method and device |
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| CN105572674A (en) * | 2016-02-18 | 2016-05-11 | 河海大学常州校区 | GOLD sequence-based active object detection apparatus and method thereof |
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| CN106199565B (en) * | 2016-06-27 | 2018-11-09 | 天津工业大学 | A kind of MSK waveform optimization methods for undersea detection based on genetic algorithm |
| CN108327854A (en) * | 2017-12-29 | 2018-07-27 | 中国船舶重工集团公司第七0研究所 | A kind of drift anchor system buoy for detecting underwater sound signal |
| CN109655056A (en) * | 2018-11-26 | 2019-04-19 | 江苏科技大学 | A kind of compound positioning system of Sea miner and its localization method |
| CN109725304A (en) * | 2018-12-28 | 2019-05-07 | 河海大学常州校区 | A kind of acoustic releaser receive-transmit system and method based on GOLD sequence |
| CN109725292A (en) * | 2019-03-05 | 2019-05-07 | 中国电子科技集团公司第三研究所 | Underwater operation multiple target high-precision ultra-short baseline localization method and device |
| CN111854704A (en) * | 2020-07-15 | 2020-10-30 | 天津市陆海测绘有限公司 | Marine geophysical comprehensive survey system |
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