CN105866742A - Shell explosion point positioning system and positioning method - Google Patents

Abstract

The invention discloses a shell explosion point positioning system and positioning method. The positioning system comprises a receiver unit, an environment parameter collecting unit, a central processing unit and a wireless communication unit. The receiver unit comprises four receivers distributed in a four-point isometric array mode, the receivers and the environment parameter collecting unit are connected to the central processing unit, and the central processing unit is connected to an upper computer unit through the wireless communication unit. The four-point isometric array receiver unit is adopted to collect subsonic signals of shell explosion, the subsonic signals are subjected to preprocessing to be converted into digital signals, and time identification is endowed to each fragment of digital sonic signals. Signal waveform converting and interference and noise removing are finished, the time difference existing when shell explosion sound waves are transmitted to the receivers is extracted, the coordinates of the shell explosion point are worked out according to a mathematical model, and the specific position of shell explosion is positioned. By means of the shell explosion point positioning system and the positioning method, safety of human operation can be improved, the danger coefficient can be reduced, and the operation effect can be improved.

Description

A kind of quick-fried point positioning system of shell and localization method

Technical field

The present invention relates to acoustic localization technique field, be specially a kind of quick-fried point positioning system of shell and localization method.

Background technology

Antiaircraft Gun Systems and rocket system are widely used Weather modification operation devices in all parts of the country, and it is mainly used for Existing hail weather launches high explosion cannonball bombardment hail cloud in a large number when threatening, eliminate or weaken hail disaster；When arid or haze weather Transmitting silver iodide of selecting a good opportunity increase precipitation.

In actual job, being affected by operation ammunition reliability, the threat of duds occurs now and then, and rocket runs track shakiness simultaneously The fixed assessment also affecting operation effectiveness.The threat of duds is mainly reflected in three aspects: one is that bullet is the most quick-fried broken, and fall dough figurine over the ground Member and facility form danger；Two are the most quick-fried bullet or rocket is picked up by ordinary person and caused danger；Three is that duds does not goes out thorax formation Dangerous.Rocket runs track instability not only affects operation effectiveness, and near-earth blast simultaneously also has the biggest threat, needs rocket Quality be tracked monitoring.

At present Weather modification operation point generally lacks the location or Fire Control Device bombarded a little, native system for this demand, if Meter is applied to the blow-up point location of Weather modification operation, the tracking location system of rocket operation monitoring.

Summary of the invention

For the problems referred to above, it is an object of the invention to provide and a kind of be capable of being accurately positioned of the quick-fried point of shell, and low cost, The quick-fried point positioning system of shell consuming energy little and localization method, contribute to reducing the threat that duds causes.Technical scheme is as follows:

A kind of quick-fried point positioning system of shell, including acceptor unit, ambient parameter collecting unit, CPU and channel radio Letter unit；Described acceptor unit includes three or the receiver of three, and described receiver includes sound wave microphone, and sound wave is transaudient Device is connected to CPU by preprocessing unit；Ambient parameter collecting unit is connected to CPU, centre Reason unit is connected to host computer unit by wireless communication unit.

Further, described acceptor unit includes 4 receivers, and described 4 receivers are with 4 equidistant array layouts.

More further, described receiver also includes that phase inverting box, the antetheca of described phase inverting box are provided with speaking terminal and paraphase mouth, transaudient Mouth is connected by elbow-type conduit in case with paraphase mouth；Described sound wave microphone is arranged at speaking terminal, and it includes the vibration of enlarging Film, connects bottom vibrating membrane and has voice coil loudspeaker voice coil；Voice coil loudspeaker voice coil is sleeved on permanent magnet, and be connected to low noise impedance transducer be connected to described before Put processing unit.

More further, described ambient parameter collecting unit includes temperature sensor, wind transducer and air velocity transducer；Temperature Sensor is connected to described CPU, and wind transducer is connected to described CPU, wind speed by shaping unit Sensor passes sequentially through buffer and Phototube Coupling unit is connected to described CPU.

More further, described preprocessing unit includes that A/D converting unit, A/D converting unit include AD73360 chip, The VINP pin of AD73360 chip passes sequentially through resistance R1 and electric capacity C1 and is connected to signal input part；AD73360 chip VINN pin passes sequentially through resistance R2 and electric capacity C2 ground connection, and the input of resistance R2 is also connected to the output of resistance R1； The REFOUT pin of AD73360 chip passes through resistance R3 ground connection, is simultaneously connected to the signal input part of operational amplifier OPI, The signal output part of operational amplifier OPI passes through electric capacity C3 ground connection, is simultaneously connected to the output of resistance R2.

A kind of quick-fried independent positioning method of shell, including

1) to 4 receiver M₀、M₁、M₂、M₃The data signal collected authorizes time marking, and carries out smooth place Reason；With M₀It is main receiver, then receiver M₀And M_i(i=1,2,3) difference table after the smoothed process of signal gathered It is shown as:

x₀(t)=a₀s(t)+e₀(t)

y_i(t)=a_is(t-τ_i)+e_i(t), i=1,2,3；

Wherein, a₀And a_iTravel to the decay factor of receiver for explosive sound, s (t) is signal to be detected, τ_iFor acoustical signal from Quick-fried arrival receiver M_iTime, e₀(t) and e_iT () is white Gaussian noise；

2) calculate acoustical signal and arrive separately at receiver M₀And M_iThe difference d=τ of time₀-τ_i:

Above-mentioned x₀(t) and y_iT the cross-correlation function of () is expressed as:

Wherein, G_0iF () is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesThrough adding Quan Hou, above-mentioned cross-correlation function is expressed as:

R_0i(d)=a₀a_iδ (t-d),

As t=d, corresponding to R_0iD the peak value of (), then acoustical signal arrives main receiver M₀Time τ₀With arrive other Receiver M_iTime τ_iDifference be:

D=τ₀-τ_i=arg max R_0i(d)；

3) real velocity of sound V of the explosive sound after computing environment parameter compensates_s；

4) quick-fried point location is calculated:

A) the quick-fried point of shell is calculated to receiving main device M₀Propagation distance with arrive other receivers M_iThe difference of propagation distance Δ_i:

Δ_i=V_sD, i=1,2,3；

B) 4 equidistant array three-dimensional coordinate systems, the most main receiver are set up according to 4 equidistant array layouts of 4 receivers M₀Coordinate (x₀,y₀,z₀) and receiver M_iCoordinate (x_i,y_i,z_i) about shell quick-fried some S (x, y, hyperboloid z) Equation is:

$\begin{array}{c}(x-x_0)(x_i-x_0)+(y-y_0)(y_i-y_0)+(z-z_0)(z_i-z_0)+{\mathrm{\Δ}}_i{r}_i=\\ \frac{1}{2}\[{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2-{{\mathrm{\Δ}}_i}^2\],i=1,2,3\end{array}$

Wherein, receiver M_iTo main receiver M₀Distance r_iFor:

$r_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2},i=1,2,3:$

C) the ternary linear simultaneous equation being made up of above-mentioned hyperboloid equation, solve quick-fried some S of shell coordinate (x, y, z).

Further, described smoothing processing includes:

I. with following difference equation, data signal is carried out bandpass filtering；

$y\left(n\right)=\frac{1010y(n-1)+14x\left(n\right)}{1024}$

Wherein, x (n) is input signal, and y (n) is output signal, and n represents current for n-th frame signal；

Ii. with following equation, upper step output signal carried out 1000 moving average algorithm process；

$y\left(n\right)=\frac{x\left(0\right)+x\left(1\right)+...x\left(n\right)}{1000},n<1000$

$y\left(n\right)=\frac{x(n-999)+x(n-998)+x\left(n\right)}{1000},n\&GreaterEqual;1000$

Iii. with following formula, the output signal of upper step is normalized；

$y\left(n\right)=\frac{y\left(n\right)}{max\frac{y^2\left(n\right)}{1000}}.$

Further, the computational methods of the velocity of sound of the explosive sound after described ambient parameter compensates are as follows:

$V_s=\sqrt{20.06(273.15+T)}+Vcos\mathrm{\&theta;}$

Wherein, V_sFor the real velocity of sound of explosive sound, T is Celsius temperature, and V is wind speed, and θ is the explosive sound source direction to collection point Angle with wind direction.

The invention has the beneficial effects as follows:

1) present invention is capable of being accurately positioned of the quick-fried point of shell, contributes to finding and instruct eliminating duds dangerous in time, improves people The security of shadow operation, can assess record ammunition quality simultaneously, reduces danger coefficient, promotes operation effectiveness；

2) receiver of alignment system of the present invention uses 4 equidistant array layouts, can either reduce hardware cost, again can be fully sharp Redundancy with the background process time, it is achieved that the target of the simplest location；

3) moving-coil microphone that alignment system of the present invention uses has the characteristic that acoustic resistive wave impact ability is strong, uses band paraphase mouth Phase inverting box, can effectively strengthen the energy of voice signal；

4) present invention is by authorizing time marking to data signal, meets the coherence request of multichannel collecting module；

5) localization method of the present invention is compensated by temperature, wind speed and direction, decreases measure error, improves whole system Check and evaluation precision；

6) perfect in shape and function of the present invention, low cost, consumes energy little, installs simple, it is adaptable to outdoor collection.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of the quick-fried point positioning system of shell of the present invention.

Fig. 2 is the structural representation of sound wave microphone of the present invention.

Fig. 3 is the internal structure schematic diagram of receiver of the present invention.

Fig. 4 is 4 equidistant array layouts of receiver of the present invention and 4 equidistant array three-dimensional coordinate system schematic diagrames.

Fig. 5 is the circuit theory diagrams of A/D converting unit of the present invention.

Fig. 6 is the structured flowchart of ambient parameter collecting unit of the present invention.

Fig. 7 is the oscillogram of antiaircraft gun explosive sound.

Fig. 8 is location Calculation flow chart of the present invention.

In figure: 1-phase inverting box；2-speaking terminal；3-paraphase mouth；4-sound wave microphone；41-vibrating membrane；42-voice coil loudspeaker voice coil；43-permanent magnet；44- Low noise impedance transducer；5-elbow-type conduit.

Detailed description of the invention

The present invention will be further described with specific embodiment below in conjunction with the accompanying drawings.

First, the operation principle of the quick-fried point positioning system of the shell of the present embodiment is as follows: due to the remote (rocket of the distance of shell blow-up point Big gun 4 km, about antiaircraft gun 6.8 km), it is possible to the energy of the sound wave sent back is little, is difficult to gather, in order to guarantee to gather To there being the acoustical signal of enough energy, native system is acquired analyzing for the subsonics signal shellbursted.Front end by four based on dynamic 4 equidistant array receiver unit of the bass horn signal subsonics signal picker composition of ring type gather the subsonics shellbursted Signal, is then passed through one-level and amplifies, filtering, two grades of amplifications, then is converted into data signal by high-speed AD acquisition；Then by awarding Time module, authorize time marking for each piece of digital acoustical signal；Received data signal, and preliminary treatment by dsp chip, differentiate, And preserve data, incoming central authorities MCU；And send host computer to by communication module；By Spectrum Analysis and wavelet analysis to letter Number carry out effective Treatment Analysis, it is achieved that the conversion of signal waveform, interference and noise eliminating, it is thus achieved that real explosive sound signal Take wave character.System goes out bomb blast Acoustic Wave Propagation according to these real explosive sound signals by certain discriminating Rule Extraction and arrives The time difference of acoustic sensor, calculate the coordinate shellbursted a little according to the Mathematical Modeling of appropriate design.Both can be accurately positioned Go out the particular location shellbursted.

The shell quick-fried point positioning system structure of the present embodiment as it is shown in figure 1, include acceptor unit, ambient parameter collecting unit, CPU and wireless communication unit；Described acceptor unit includes that the receiver of more than three, described receiver include sound Ripple microphone, sound wave microphone is connected to CPU by preprocessing unit；During ambient parameter collecting unit is connected to Central Processing Unit, CPU is connected to host computer unit by wireless communication unit.

The sound wave microphone of the present embodiment is based on DYN dynamic bass horn signal subsonics signal microphone, for acoustical signal being turned It is changed to the signal of telecommunication.By the analysis to shell explosion sound signal spectrum figure, it is possible to the signal energy collected concentrates on 100-200hz. So the design of microphone should be for subsonics low frequency signal.More commonly use on market is condenser type Electret condenser microphone, but should Microphone is the most sensitive, goes out, at cannon, the sound wave that thorax produces and gentle flows down, is easily damaged.So the present embodiment uses acoustic resistive wave impact The strong moving-coil microphone of ability is as sound wave microphone 4.Sound wave microphone 4 structure is as in figure 2 it is shown, include the vibration of enlarging Film 41, connects bottom vibrating membrane 41 and has voice coil loudspeaker voice coil 42；Voice coil loudspeaker voice coil 42 is sleeved on permanent magnet 43, and is connected to low noise impedance transformation Device 44 is connected to described preprocessing unit.

But this sound wave microphone 4 acquisition capacity is more weak, need to strengthen the concentration of acoustical signal energy.The present embodiment is in terms of two Strengthen the concentration of acoustical signal energy: one is the design from audio amplifier, utilizes the principle of bass moving-coil type loudspeaker, designs a band paraphase The musical form audio amplifier of mouth, same audio signal carries out the steering-effecting of 180 degree and strengthens the collection of audio signal in the rear end of microphone. Structure, as it is shown on figure 3, receiver also includes that phase inverting box 1, the antetheca of described phase inverting box 1 are provided with speaking terminal 2 and paraphase mouth 3, passes Sound mouth 2 is connected by elbow-type conduit 5 in case with paraphase mouth 3；Described sound wave microphone 4 is arranged at speaking terminal 2.Two are Sound wave microphone 4 increases a signal enhancement region, under conditions of meeting impedance matching, increases the coil thickness of voice coil loudspeaker voice coil, line The circle number of turns increases signal strength signal intensity, increases signal strength signal intensity.

The most common passive acoustic direction system can be divided into three sensor array, four-element array or five yuan from layout and the number of sensor Array etc..Target sound source just can be positioned by the planar array of 3 sonic transducer compositions, its simple in construction, but shortcoming It is the movement velocity of known target sound source must just may determine that the position of target, and substantial amounts of arrow must be carried out in order to position Amount computing, hardware is realized proposing the highest requirement by this.Though and five element array can reduce operand, improving locating speed, But add hardware cost.In view of native system, the processing speed of algorithm not being had the highest requirement, host computer has enough Time goes process information, it is only necessary to the requirement reaching simply to position and quickly positioning, therefore this enforcement row use by 4 receiver structures 4 the equidistant arrays become, can either reduce hardware cost, can make full use of again the redundancy of background process time, it is achieved that accurately The target of simple location.4 equidistant array layout schematic diagrames of receiver as shown in Figure 4, M in figure₀、M₁、M₂、M₃ Represent the position of four receivers respectively.

Explosive sound signal is converted to the signal of telecommunication by front end microphone, but the signal of telecommunication only has microvolt rank, samples in not nearly enough rear end Process, and also carry noise secretly.So preposition processing subsystem Main Function has a collection acoustical signal, the straight coupling of one-level low noise high power, Two grades of amplifications, filtering and noise reduction, and A/D conversion.

The sounding passive location system estimated based on time delay is higher to the coherence request of multichannel collecting module, and system is selected A/D chip is programmable A D73360 that ADI company produces, and conversion accuracy is 16, containing 6 series analog memory inputs, Group delay is low, and channel sample rate is controlled, and the maximum sample rate of support is 64KHz, in that context it may be convenient to various high low speed microcontroller Device connects.The feature of AD73360 is to have six signal condition inputs, each input can independent programmed configurations, select single End signal input or differential signal input.If necessary, real input signal can also be inverted in inside.It is input to The analog signal of AD73360 can be to be dc-couple mode, and now the DC biased level of input signal is by the internal ginseng of AD73360 Examine level (REFOUT) to provide.In system, the signal of signal conditioner output is single-ended signal, and therefore AD73360 signal is pre- Process end and use the design of single ended input AC coupled.The circuit theory diagrams of A/D converting unit are as it is shown in figure 5, AD73360 chip VINP pin pass sequentially through resistance R1 and electric capacity C1 and be connected to signal input part；The VINN pin of AD73360 chip depends on Secondary by resistance R2 with electric capacity C2 ground connection, the input of resistance R2 is also connected to the output of resistance R1；AD73360 core The REFOUT pin of sheet passes through resistance R3 ground connection, is simultaneously connected to the signal input part of operational amplifier OPI, operation amplifier The signal output part of device OPI passes through electric capacity C3 ground connection, is simultaneously connected to the output of resistance R2.Wherein C1 plays every straight effect, R1, C2 are single order low pass anti-aliasing filter, and the effect of R2 is that reference signal REFOUT is incorporated into input, to ensure Not having input signal when, the level of VINP with VINN keeps consistent, and C3 effect is to filter ripple, and R3 is drop-down electricity Resistance, C4 is shunt capacitance.For improving REFOUT output carrying load ability, before REFOUT delivers to six passages, adopt Isolate with operational amplifier OP1, thus improve REFOUT output port antijamming capability.

In addition, in order to eliminate the asynchronous error brought of acquisition time, data signal time service to be (stamps time mark), The present embodiment sends time marking by wireless communication unit to central processing unit, it is achieved the function of sync identification.Data signal is sent A time tag can be stored below while central processing unit.This label is sent to central authorities' process by wireless communication module On the basis of the time of unit, with 3 byte records times, unit is 10 delicate, and such as time marking is 1177750, it is simply that 11.7775 the second gathers.Pass through time synchronized, it is possible to eliminate the different time error brought of acquisition time.

CPU: the sample rate of single-chip microcomputer sets must guarantee to collect the sound of whole frequencies that acoustic target sends Tone signal and higher temporal resolution is provided.According to nyquist sampling law, need the sample rate set must reach institute's mesh More than the twice of the highest frequency of mark signal, the integrality of guarantee target information.By frequency 200hz, single-chip microcomputer sampling frequency Rate is greater than 400hz, more than sufficient for the information being used for gathering echo signal complete.And sample rate is the highest, time resolution Rate is the highest, and namely the distinguishable phase difference of system is the least, and this just gets ready to the raising of positioning precision.But sampling The setting of rate must be according to the speed of data transmission in node model machine, the processing speed of single-chip microcomputer, and the computation rate of DSP comes Determine.Analyzing through measuring and calculating, under conditions of meeting single-chip microcomputer processing speed, the sample rate of system may be set to 10K.

In order to be effective reducing while cost, the present embodiment uses Texas Instruments (TI) MSP430 monolithic, MSP430 Series monolithic is the single-chip microcomputer of 16, and it can be under the driving of 25MHz crystal, it is achieved the instruction cycle of 40ns, 16 Data width, the instruction cycle of 40ns and the multi-functional hardware multiplier (can realize multiply-add operation) of position match, and process The sample rate of 10K is more than sufficient.MSP430 single-chip microcomputer is because it is reducing the supply voltage of chip and flexible and controlled operation Clock aspect has its distinctive feature, the most ultralow power consumption advantages.

Preprocessor through the signal data of preliminary treatment, is sent to the carrying out of central host by radio communication subsystem in real time Signal transacting and calculating assessment.Also control information and the time marking of host computer are sent to preprocessing unit simultaneously.Achieve Host computer communicates with slave computer.Radio communication subsystem uses 2.4GHz microwave transmission frequencies, and transfer rate is up to 11 Mbit/s。

Owing to environment temperature, these parameters of wind speed and direction have considerable influence to the velocity of sound, need to compensate, therefore need to gather ring Border parameter.The ambient parameter collecting unit of the present embodiment includes temperature sensor, wind transducer and air velocity transducer；Structure is such as Shown in Fig. 6, temperature sensor is connected to described CPU, and wind transducer is connected to described central authorities by shaping unit Processing unit, air velocity transducer passes sequentially through buffer and Phototube Coupling unit is connected to described CPU.

Wherein, air velocity transducer uses electro-optical pickoff, and output signal is pulse signal, and wind speed is directly proportional to its frequency.Arteries and veins Rush signal through Phototube Coupling, shaping, by its frequency of single chip computer measurement, and be converted into ambient wind velocity.Wind transducer uses Gray Code disc optoelectronic formula sensor, exporting 7 bit digital quantity is Gray code, and Gray's code value has with wind transducer blade and closes one to one System, the angle that the digital quantity of wind transducer output is converted between wind direction and reference direction.

Host computer processes the digital blast signal sent back, extracts the time difference, exhibition by combination method spacing, the velocity of sound after compensation, After determine quick-fried some position.Concrete process and the process of calculating as shown in Figure 8, specifically comprise the following steps that

1) to 4 receiver M₀、M₁、M₂、M₃The data signal collected authorizes time marking, and is smoothed.

The acoustical signal regularity that shell explosion produces is relatively strong, has waveform of significantly decaying, as it is shown in fig. 7, every separate explosion can correspondence One obvious crest, crest to be found, it should first smoothed curve, make crest preferably highlight, in order to accurately to extract ripple The time that peak is corresponding.Additionally, the sudden change component that in signal, energy is less also should be removed.Smoothing step is as follows:

I. with following difference equation, data signal is carried out bandpass filtering；

$y\left(n\right)=\frac{1010y(n-1)+14x\left(n\right)}{1024}$

Wherein, x (n) is input signal, and y (n) is output signal, and n represents current for n-th frame signal；

After the most filtered, wave mode becomes mild, and second step uses 1000 moving averages, and equation is represented by:

$y\left(n\right)=\frac{x\left(0\right)+x\left(1\right)+...x\left(n\right)}{1000},n<1000$

$y\left(n\right)=\frac{x(n-999)+x(n-998)+x\left(n\right)}{1000},n\&GreaterEqual;1000$

Iii. moving average can be regarded as the smoothing processing to signal, and the signal after process there is no bigger sudden change, finally Carrying out energy normalized again, processing method is:

$y\left(n\right)=\frac{y\left(n\right)}{max\frac{y^2\left(n\right)}{1000}}.$

The signal strength signal intensity taking energy maximum is 1, and other signal energies become accounting for the percentage of maximum.Normalized purpose is main It is to remove the crest that energy in signal is less, is that produced by bomb blast, crest becomes apparent from, it is easier to extraction time.

With M₀It is main receiver, then receiver M₀And M_i(i=1,2,3) in time domain, distinguish table after the smoothed process of signal gathered It is shown as:

x₀(t)=a₀s(t)+e₀(t)

y_i(t)=a_is(t-τ_i)+e_i(t), i=1,2,3；

Wherein, a₀And a_iTravel to the decay factor of receiver for explosive sound, s (t) is signal to be detected, τ_iFor acoustical signal from quick-fried point Arrive the time of receiver, e₀(t) and e_iT () is incoherent white Gaussian noise.

2) calculate acoustical signal and arrive separately at receiver M₀And M_iThe difference d=τ of time₀-τ_i:

Above-mentioned x₀(t) and y_iT the cross-correlation function of () is expressed as:

Wherein, G_0iF () is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesAfter weighted, Above-mentioned cross-correlation function is expressed as:

R_0i(d)=a₀a_iδ (t-d),

As t=d, corresponding to R_0iD the peak value of (), i.e. corresponding to the peakvalue's checking in Fig. 7, then acoustical signal arrives main receiver M₀ Time τ₀With arrival other receiver M_iTime τ_iDifference be:

D=τ₀-τ_i=arg max R_0i(d)。

3) velocity of sound V of the explosive sound after computing environment parameter compensates_s: the computational methods of the velocity of sound of the explosive sound after ambient parameter compensation are such as Under:

Wherein, sound wave spread speed C in static air and the relation between Celsius temperature T are:

$C=\sqrt{20.06(273.15+T)};$

In the case of having wind, if wind direction and explosive sound source are θ to the angle in the direction of collection point, wind speed is V, the most quick-fried Real velocity of sound V of fried sound_s=C+V cos θ, i.e.

$V_s=\sqrt{20.06(273.15+T)}+Vcos\mathrm{\&theta;}.$

4) quick-fried point location is calculated:

A) the quick-fried point of shell is calculated to receiving main device M₀Propagation distance with arrive other receivers M_iThe difference of propagation distance Δ_i:

Δ_i=V_sD, i=1,2,3；

B) 4 equidistant array three-dimensional coordinate systems are set up according to 4 equidistant array layouts of 4 receivers, as shown in Figure 4.Then Main receiver M₀Coordinate (x₀,y₀,z₀) and receiver M_iCoordinate (x_i,y_i,z_i) about shell quick-fried some S (x, y, hyperboloid z) Equation is:

$\begin{array}{c}(x-x_0)(x_i-x_0)+(y-y_0)(y_i-y_0)+(z-z_0)(z_i-z_0)+{\mathrm{\&Delta;}}_i{r}_i=\\ \frac{1}{2}\&lsqb;{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2-{{\mathrm{\&Delta;}}_i}^2\&rsqb;,i=1,2,3\end{array}$

Wherein, receiver M_iTo main receiver M₀Distance r_iFor:

$r_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2},i=1,2,3;$

C) the ternary linear simultaneous equation being made up of above-mentioned hyperboloid equation, solve quick-fried some S of shell coordinate (x, y, z).By Being a ternary linear simultaneous equation in this formula, do not have the non-linear location ambiguity problem solving and occurring, solution procedure is simple.

Claims (8)

1. the quick-fried point positioning system of shell, it is characterised in that include that acceptor unit, ambient parameter collecting unit, central authorities process Unit and wireless communication unit；Described acceptor unit includes three or the receiver of more than three, and described receiver includes Sound wave microphone, sound wave microphone is connected to CPU by preprocessing unit；Ambient parameter collecting unit is even Receiving CPU, CPU is connected to host computer unit by wireless communication unit.

The quick-fried point positioning system of shell the most according to claim 1, it is characterised in that described acceptor unit includes 4 receptions Device, described 4 receivers are with 4 equidistant array layouts.

The quick-fried point positioning system of shell the most according to claim 1 and 2, it is characterised in that described receiver also includes phase inverting box (1), the antetheca of described phase inverting box (1) is provided with speaking terminal (2) and paraphase mouth (3), speaking terminal (2) and paraphase mouth (3) Connected by elbow-type conduit (5) in case；Described sound wave microphone (4) is arranged on speaking terminal (2) place, and it includes expanding The vibrating membrane (41) of mouth, vibrating membrane (41) bottom connects voice coil loudspeaker voice coil (42)；Voice coil loudspeaker voice coil (42) is sleeved on permanent magnet (43) On, and be connected to low noise impedance transducer (44) and be connected to described preprocessing unit.

The quick-fried point positioning system of shell the most according to claim 1, it is characterised in that described ambient parameter collecting unit includes temperature Degree sensor, wind transducer and air velocity transducer；Temperature sensor is connected to described CPU, and wind direction senses Device is connected to described CPU by shaping unit, and air velocity transducer passes sequentially through buffer and Phototube Coupling unit It is connected to described CPU.

The quick-fried point positioning system of shell the most according to claim 1, it is characterised in that described preprocessing unit includes that A/D turns Changing unit, A/D converting unit includes AD73360 chip, and the VINP pin of AD73360 chip passes sequentially through resistance R1 It is connected to signal input part with electric capacity C1；The VINN pin of AD73360 chip passes sequentially through resistance R2 and electric capacity C2 Ground connection, the input of resistance R2 is also connected to the output of resistance R1；The REFOUT pin of AD73360 chip leads to Cross resistance R3 ground connection, be simultaneously connected to the signal input part of operational amplifier OPI, the signal output of operational amplifier OPI End, by electric capacity C3 ground connection, is simultaneously connected to the output of resistance R2.

6. the localization method of the quick-fried point positioning system of shell as claimed in claim 2, it is characterised in that include

1) to 4 receiver M₀、M₁、M₂、M₃The data signal collected authorizes time marking, and carries out smooth place Reason；With M₀It is main receiver, then receiver M₀And M_i(i=1,2,3) difference table after the smoothed process of signal gathered It is shown as:

x₀(t)=a₀s(t)+e₀(t)

y_i(t)=a_is(t-τ_i)+e_i(t), i=1,2,3；

Wherein, a₀And a_iTravel to the decay factor of receiver for explosive sound, s (t) is signal to be detected, τ_iFor acoustical signal from Quick-fried arrival receiver M_iTime, e₀(t) and e_iT () is white Gaussian noise；

2) calculate acoustical signal and arrive separately at receiver M₀And M_iThe difference d=τ of time₀-τ_i:

Above-mentioned x₀(t) and y_iT the cross-correlation function of () is expressed as:

Wherein, G_0iF () is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesThrough adding Quan Hou, above-mentioned cross-correlation function is expressed as:

R_0i(d)=a₀a_iδ (t-d),

As t=d, corresponding to R_0iD the peak value of (), then acoustical signal arrives main receiver M₀Time τ₀With arrive other Receiver M_iTime τ_iDifference be:

D=τ₀-τ_i=arg max R_0i(d)；

3) real velocity of sound V of the explosive sound after computing environment parameter compensates_s；

4) quick-fried point location is calculated:

A) the quick-fried point of shell is calculated to receiving main device M₀Propagation distance with arrive other receivers M_iThe difference of propagation distance △_i:

△_i=V_sD, i=1,2,3；

B) 4 equidistant array three-dimensional coordinate systems, the most main receiver are set up according to 4 equidistant array layouts of 4 receivers M₀Coordinate (x₀,y₀,z₀) and receiver M_iCoordinate (x_i,y_i,z_i) about shell quick-fried some S (x, y, hyperboloid z) Equation is:

$\begin{array}{c}(x-x_0)(x_i-x_0)+(y-y_0)(y_i-y_0)+(z-z_0)(z_i-z_0)+{\mathrm{\&Delta;}}_i{r}_i=\\ \frac{1}{2}\&lsqb;{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2-{{\mathrm{\&Delta;}}_i}^2\&rsqb;,i=1,2,3\end{array}$

Wherein, receiver M_iTo main receiver M₀Distance r_iFor:

$r_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2+{(z_i-z_0)}^2},i=1,2,3;$

C) the ternary linear simultaneous equation being made up of above-mentioned hyperboloid equation, solve quick-fried some S of shell coordinate (x, y, z).

The localization method of the quick-fried point positioning system of shell the most according to claim 6, it is characterised in that described smoothing processing includes:

I. with following difference equation, data signal is carried out bandpass filtering；

$y\left(n\right)=\frac{1010y(n-1)+14x\left(n\right)}{1024}$

Wherein, x (n) is input signal, and y (n) is output signal, and n represents current for n-th frame signal；

Ii. with following equation, upper step output signal carried out 1000 moving average algorithm process；

$y\left(n\right)=\frac{x\left(0\right)+x\left(1\right)+...x\left(n\right)}{1000},n<1000$

$y\left(n\right)=\frac{x(n-999)+x(n-998)+x\left(n\right)}{1000},n\&GreaterEqual;1000$

Iii. with following formula, the output signal of upper step is normalized；

$y\left(n\right)=\frac{y\left(n\right)}{max\frac{y^2\left(n\right)}{1000}}.$

The localization method of the quick-fried point positioning system of shell the most according to claim 6, it is characterised in that described ambient parameter compensates After the computational methods of the velocity of sound of explosive sound as follows:

$V_s=\sqrt{20.06(273.15+T)}+Vcos\mathrm{\&theta;}$

Wherein, V_sFor the real velocity of sound of explosive sound, T is Celsius temperature, and V is wind speed, and θ is that explosive sound source arrives collection point Direction and the angle of wind direction.