CN112285649B - Manual precipitation hail prevention bomb explosion point sound positioning system and positioning method - Google Patents
Manual precipitation hail prevention bomb explosion point sound positioning system and positioning method Download PDFInfo
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- CN112285649B CN112285649B CN202011141020.2A CN202011141020A CN112285649B CN 112285649 B CN112285649 B CN 112285649B CN 202011141020 A CN202011141020 A CN 202011141020A CN 112285649 B CN112285649 B CN 112285649B
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The invention provides a manual precipitation hail-suppression sound positioning system and a positioning method, which aim to solve the problem of larger positioning deviation of the existing manual precipitation hail-suppression bomb explosion point positioning method. The invention adopts a positioning mode based on fusion of arrival distance difference and arrival angle of hail-suppression bomb explosion point acoustic signals, and is less influenced by clock stability and environmental factors, so that positioning deviation is smaller. In addition, as a plurality of single microphone nodes are arranged, redundant parameters and parameters for position calculation are more, and the position estimation of the explosion point of the hail-suppression bomb is more accurate.
Description
Technical Field
The invention relates to a manual precipitation hail-suppression bomb explosion point sound positioning system.
Background
The artificial influence weather operation has important significance for agriculture and ecological management in China, the antiaircraft gun system is the most widely applied transmitting device nowadays, the accuracy of hail-suppression ejection is one of important indexes for evaluating the efficiency of the artificial influence weather operation, and therefore, the real-time accurate measurement of the coordinates of the explosion points of the hail-suppression bombs is one of important measurement tasks of the efficiency of the artificial influence weather operation.
At present, the positioning of the explosion point of the artificial precipitation hail-suppression bomb is mainly realized by measuring the pitch angle and the azimuth angle of a launching system through a detection device, and then calculating the coordinates of the explosion point through a geometric model, but due to air resistance, the bomb drifts, so that the position estimation of the explosion point generates great deviation, and the calculated value is inconsistent with the actual value.
Disclosure of Invention
The invention provides a manual precipitation hail-suppression sound positioning system and a positioning method, which aim to solve the problem of larger positioning deviation of the existing manual precipitation hail-suppression bomb explosion point positioning method.
The technical scheme of the invention is as follows:
the artificial precipitation hail-suppression bomb explosion point sound positioning system is characterized in that:
the system comprises a control center and N area measurement and control units interacted with the control center; the collection of the N zone measurement and control units can cover the whole hail-suppression bomb landing point zone;
the single area measurement and control unit comprises an area measurement and control station, an acoustic array interacted with the area measurement and control station and at least four single microphone nodes;
the sound array is used for measuring the arrival angle of the explosion sound wave signals;
shan Chuansheng the node is used for measuring the arrival time of the explosion sound wave signal;
the area measurement and control station or the control center is used for calculating the arrival time difference of the explosion sound wave signals at any two single-transmitter nodes in the same area measurement and control unit according to the arrival time of the explosion sound wave signals measured by the single-microphone nodes, and obtaining the arrival distance difference of the explosion sound wave signals by multiplying the arrival time difference of the explosion sound wave signals by the sound velocity;
the regional measurement and control station or the control center is also used for establishing a positioning model and solving according to the position of the single microphone node, the arrival distance difference of the explosion sound wave signals and the arrival angle of the explosion sound wave signals to obtain the explosion point coordinates of the artificial precipitation hail suppression bomb;
the positioning model is as follows:
h＝G a z a ；
wherein:
d M,1 ＝d M -d 1 ，d M d is the distance between the explosion point of the hail-suppression bomb and the Mth single transmitter node participating in positioning 1 The distance between the explosion point of the hail-suppression bomb and the main node of the single-transmitter which participates in positioning;
x M,1 ＝x M -x 1 ，y M,1 ＝y M -y 1 ；
(x m ,y m ) Single-transmitter node B for participating in positioning m Position coordinates of (c);
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
K M is a constant value, and is used for the treatment of the skin,
α 1 is hail suppressionAnd an included angle between the explosion point and the transverse axis of the coordinate axis.
Further, the single microphone node includes an acoustic sensor, a first signal processing circuit, an a/D conversion circuit, a microprocessor, and a communication interface; the acoustic sensor is used for receiving the explosion sound wave; the first signal processing circuit is used for sequentially amplifying, filtering and controlling the amplitude of the explosion sound wave; the A/D converter is used for converting the analog signal output by the first signal processing circuit into a digital signal and sending the digital signal to the microprocessor; the microprocessor is used for eliminating noise of the received data, and then the data are transmitted to the corresponding regional measurement and control station through the communication interface after being coded.
Further, the acoustic array comprises a microprocessor, a communication interface, S acoustic sensors, S paths of second signal processing circuits and S A/D converters, and each acoustic sensor corresponds to one path of second signal processing circuit; s is more than or equal to 4; the acoustic sensor is used for receiving the explosion sound wave; the second signal processing circuit is used for sequentially amplifying, filtering, phase compensating and amplitude controlling the explosion sound wave; the A/D converter is used for converting the analog signal output by the second signal processing circuit into a digital signal and sending the digital signal to the microprocessor; the microprocessor is used for encoding the received data and transmitting the encoded data to the corresponding regional measurement and control station through the communication interface.
Further, the regional measurement and control station comprises an embedded system, a Beidou navigation time service module and a wireless transmission system; the embedded system is used for recording the Beidou absolute time of the acoustic sensor receiving the explosion sound wave signals, receiving signals from the single microphone node and the acoustic array and exchanging data with the control center; the wireless transmission system is used for transmitting the acquired sound wave signals and the Beidou absolute time to the control center in real time, receiving a control instruction sent by the control center and forwarding the control instruction to the embedded system.
The invention also provides a manual precipitation hail-suppression bomb explosion point sound positioning method, which is characterized by comprising the following steps of:
1) Acquiring an arrival angle of an explosion sound wave signal of the hail-suppression bomb by utilizing the signals acquired by the sound array, and establishing an arrival angle measurement equation of the explosion sound wave signal;
2) Calculating the arrival distance difference of the explosion sound wave signals through the arrival time differences of the explosion sound wave signals obtained by at least four single microphone nodes, and further establishing an arrival distance difference measurement equation of the explosion sound wave signals;
3) Carrying out data fusion on an arrival angle measuring equation and an arrival distance difference measuring equation of the explosion sound wave signals, and establishing a positioning model: h=g a z a ；
Wherein:
d M,1 ＝d M -d 1 ，d M d is the distance between the explosion point of the hail-suppression bomb and the Mth single transmitter node participating in positioning 1 The distance between the explosion point of the hail-suppression bomb and the main node of the single-transmitter which participates in positioning;
x M,1 ＝x M -x 1 ，y M,1 ＝y M -y 1 ；
(x m ,y m ) Single-transmitter node B for participating in positioning m Position coordinates of (c);
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
K M is a constant value, and is used for the treatment of the skin,
α 1 is the included angle between the explosion point of the hail-proof bomb and the transverse axis of the coordinate axis;
4) And solving the positioning model to obtain the coordinates of the explosion point of the artificial precipitation hail-suppression bomb.
Further, the arrival angle measurement equation of the explosive acoustic wave signal established in the step 1) is specifically:
wherein: and (x, y) is the position coordinates of the explosion point of the hail suppression bomb.
Further, the arrival distance difference measurement equation of the explosive acoustic wave signal established in the step 2) is specifically:
wherein:
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
(x i ,y i ) Single-transmitter node B for participating in positioning i Position coordinates of (c);
(x, y) is the position coordinates of the explosion point of the hail suppression bomb;
x i,1 ＝x i -x 1 ，y i,1 ＝y i -y 1 ，d i,1 ＝d i -d 1 ；
K i is a constant value, and is used for the treatment of the skin,
K 1 is a constant value, and is used for the treatment of the skin,
further, step 4) adopts a three-time least square algorithm to solve a positioning model, and utilizes the position prior information of the single microphone node to eliminate a binary solution, so that the current position coordinates of the explosion point of the hail-suppression and precipitation bomb are obtained.
The beneficial effects of the invention are as follows:
the invention adopts a positioning mode based on fusion of arrival distance difference and arrival angle of hail-suppression bomb explosion point acoustic signals, and is less influenced by clock stability and environmental factors, so that positioning deviation is smaller. In addition, as a plurality of single microphone nodes are arranged, redundant parameters and parameters for position calculation are more, and the position estimation of the explosion point of the hail-suppression bomb is more accurate.
The positioning method can overcome the defects of independently adopting angle positioning and independently adopting distance difference positioning, and can obtain better positioning and tracking effects.
Drawings
FIG. 1 is an architectural diagram of a hail suppression bomb point acoustic positioning system.
FIG. 2 is a schematic diagram of a regional measurement and control unit in accordance with the present invention.
Fig. 3 is a block circuit diagram of a single microphone node in the present invention.
Fig. 4 is a block diagram of the circuit of the acoustic array of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the artificial precipitation hail suppression bomb explosion point sound positioning system provided by the invention comprises a control center and N area measurement and control units interacted with the control center.
The control center is responsible for control management, resource scheduling, information exchange and data storage of the whole system; the control center may also be equipped with a weather measurement station responsible for providing information on environmental conditions such as wind speed, wind direction, temperature and air pressure within the coverage area of the system for use as a reference for subsequent big data analysis.
The N area measurement and control units are distributed according to the terrain distribution of the operation site, and the collection of the N area measurement and control units can cover the whole hail-suppression bomb landing point area; the single area measurement and control unit comprises an area measurement and control station, an acoustic array interacted with the area measurement and control station and at least four single microphone nodes; the number of single microphone nodes in the measurement and control units of different areas can be the same or different, namely the values of M, H, Q in fig. 1 can be equal or unequal;
in the process of the propagation of the explosion sound wave signals, the explosion sound wave signals sequentially sweep through the single-microphone nodes corresponding to the measurement and control stations in each area, so that the acoustic sensors of the single-microphone nodes are triggered; according to the difference of arrival time of the explosion sound wave signals measured by different Shan Chuansheng device nodes, the time difference measured by any two single-transmitter nodes in the same area measurement and control unit can be obtained, namely the arrival time difference of the explosion sound wave at any two single-transmitter nodes in the same area measurement and control unit, and the arrival time difference of the explosion sound wave signals is multiplied by the sound velocity to obtain the arrival distance difference of the explosion sound wave signals;
the arrival angle of the explosion sound wave signal can be measured through the sound array;
the regional measurement and control station directly manages the acoustic array and the single acoustic transducer node in the regional measurement and control unit, establishes a positioning model and solves according to the position of the single acoustic transducer node corresponding to the acoustic array and the single acoustic transducer node, the calculated arrival distance difference of the explosion acoustic wave signal and the arrival angle of the explosion acoustic wave signal, so that the coordinates of the explosion point of the hail-proof bomb with artificial precipitation can be obtained, and the detection and positioning of the explosion point of the hail-proof bomb in the regional measurement and control station can be finished, or the regional measurement and control station can upload the signal processing results of the collected single acoustic transducer node and the acoustic array and the original acoustic signal data to a control center, and the control center can finish the detection and positioning of the explosion point of the hail-proof bomb in the regional.
As shown in fig. 2, the regional measurement and control station comprises an embedded system, a Beidou navigation time service module and a wireless transmission system; the embedded system is used for recording the Beidou absolute time of the acoustic sensor receiving the explosion sound wave signals, receiving signals from the single microphone node and the acoustic array and exchanging data with the control center; if the detection and the positioning of the explosion point of the hail-proof bomb are completed by the regional measurement and control station, the embedded system is also used for calculating the distance difference reached by the explosion sound wave signal and establishing and solving a positioning model; the Beidou navigation time service module is used for providing Beidou absolute time for the embedded system; the wireless transmission system is used for transmitting the acquired sound wave signals and the Beidou absolute time to the control center in real time, receiving a control instruction sent by the control center and forwarding the control instruction to the embedded system.
As shown in fig. 3, a single microphone node includes an acoustic sensor, a first signal processing circuit, an a/D converter, a microprocessor, and a communication interface; the acoustic sensor is used for receiving the explosion sound wave; the first signal processing circuit comprises an instrument amplifying circuit, an active high-pass filter circuit and an amplitude control circuit which are connected in sequence; the instrument amplifying circuit is used as a pre-amplifier and used for amplifying the explosion sound wave signals acquired by the acoustic sensor; the active high-pass filter circuit is an active filter with the lower limit frequency of 100Hz and is used for filtering the amplified signal; the amplitude control circuit is used for controlling the signal amplitude to avoid signal amplitude limiting; the A/D converter converts the analog signal output by the first signal processing circuit into a digital signal and sends the digital signal to the microprocessor; the microprocessor adopts a singular value decomposition denoising method based on multi-scale morphology (the method is a method which is already disclosed in the prior art, and other denoising methods can also be adopted) to eliminate noise in signals so as to improve time measurement precision, and then codes the denoised data and transmits the coded data to a corresponding region measurement and control station through a communication interface.
As shown in fig. 4, the acoustic array includes a microprocessor, a communication interface, S acoustic sensors, S second signal processing circuits and S a/D converters, where each acoustic sensor corresponds to one second signal processing circuit; s is greater than or equal to 4, in the embodiment, S is equal to 4, namely four acoustic sensors are adopted to amplify and sample in four paths simultaneously; in order to ensure that the phase characteristics of all paths are consistent so as to facilitate signal processing, the four paths of second signal processing circuits in the embodiment adopt the same structure and all comprise an instrument amplifier, an active high-pass filter circuit, a phase adjusting circuit and an amplitude control circuit which are connected in sequence. For each path of second signal processing circuit, the instrument amplifier is used as a pre-amplifier for amplifying the explosion sound wave signals acquired by the acoustic sensor; the active high-pass filter circuit adopts an active filter with the lower limit frequency of 100Hz and is used for filtering the amplified signal; the phase adjusting circuit is used for performing phase compensation so as to ensure that the phase characteristics of the four circuits are consistent; the amplitude control circuit is used for controlling the signal amplitude to avoid signal amplitude limiting. The A/D converter converts the analog signal output by the second signal processing circuit into a digital signal and sends the digital signal to the microprocessor; the microprocessor is used for encoding the received data and transmitting the encoded data to the corresponding regional measurement and control station through the communication interface.
Some current types of microprocessors integrate a/D conversion functionality, where a separate a/D converter may be omitted from the single microphone node and acoustic array.
The principle of the invention is as follows:
firstly, estimating an arrival angle of an explosion signal of the hail-suppression bomb by utilizing signals acquired by an acoustic array, and establishing an arrival angle measurement equation of the explosion sound wave signal; then, calculating the arrival distance difference of the explosion sound wave signals through the arrival time differences of the sound wave signals obtained by the plurality of single microphone nodes, and further establishing an arrival distance difference measurement equation of the explosion sound wave signals; and finally, combining an arrival angle measurement equation of the explosion sound wave signal and an arrival distance difference measurement equation of the explosion sound wave signal to perform data fusion.
Let the position coordinates of the single-transducer nodes Bi (i=1, 2, …, M) involved in positioning be (x) i ,y i ) Wherein B1 is a single microphone master node (here the first single microphone node is selected as master node). The distance between the explosion point of the hail-proof bomb and the ith single-transmitter node is d i . According to d i A distance equation may be established:
wherein: k (K) i Is a constant value, and is used for the treatment of the skin,
let x i,1 ＝x i -x 1 ，y i,1 ＝y i -y 1 ，d i,1 ＝d i -d 1 The above equation can be rewritten as the arrival distance difference measurement equation of the explosive acoustic wave signal:
the included angle between the explosion point of the hail-suppression and the coordinate axis x is alpha 1 ，α 1 The angle equation is satisfied:
let z a ＝[x,y,d 1 ] T For unknown quantity, establish equation
h＝G a z a Wherein:
the estimated result of the explosion point of the hail-proof and rain-increasing bomb can be obtained by using a three-time least square algorithm:
finally, the positions of the explosion points of the hail-suppression and rain-increasing bomb are determined as follows:
or (b)
The binary solution existing in the above formula can be eliminated by utilizing the position priori information of the Shan Chuansheng device node, and the current position coordinates of the explosion point of the hail-suppression and rain-enhancement bomb are obtained.
Claims (8)
1. Manual precipitation hail suppression bomb explosion point sound positioning system, its characterized in that:
the system comprises a control center and N area measurement and control units interacted with the control center; the collection of the N zone measurement and control units can cover the whole hail-suppression bomb landing point zone;
the single area measurement and control unit comprises an area measurement and control station, an acoustic array interacted with the area measurement and control station and at least four single microphone nodes;
the sound array is used for measuring the arrival angle of the explosion sound wave signals;
shan Chuansheng the node is used for measuring the arrival time of the explosion sound wave signal;
the area measurement and control station or the control center is used for calculating the arrival time difference of the explosion sound wave signals at any two single-transmitter nodes in the same area measurement and control unit according to the arrival time of the explosion sound wave signals measured by the single-microphone nodes, and obtaining the arrival distance difference of the explosion sound wave signals by multiplying the arrival time difference of the explosion sound wave signals by the sound velocity;
the regional measurement and control station or the control center is also used for establishing a positioning model and solving according to the position of the single microphone node, the arrival distance difference of the explosion sound wave signals and the arrival angle of the explosion sound wave signals to obtain the explosion point coordinates of the artificial precipitation hail suppression bomb;
the positioning model is as follows:
h＝G a z a ；
wherein:
d M,1 ＝d M -d 1 ，d M d is the distance between the explosion point of the hail-suppression bomb and the Mth single transmitter node participating in positioning 1 The distance between the explosion point of the hail-suppression bomb and the main node of the single-transmitter which participates in positioning;
x M,1 ＝x M -x 1 ，y M,1 ＝y M -y 1 ；
(x m ,y m ) Single-transmitter node B for participating in positioning m Position coordinates of (c);
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
K M is a constant value, and is used for the treatment of the skin,
α 1 is the included angle between the explosion point of the hail-proof bomb and the transverse axis of the coordinate axis.
2. The artificial precipitation hail-suppression bomb blast sound positioning system according to claim 1, wherein:
the single microphone node comprises an acoustic sensor, a first signal processing circuit, an A/D conversion circuit, a microprocessor and a communication interface;
the acoustic sensor is used for receiving the explosion sound wave;
the first signal processing circuit is used for sequentially amplifying, filtering and controlling the amplitude of the explosion sound wave;
the A/D converter is used for converting the analog signal output by the first signal processing circuit into a digital signal and sending the digital signal to the microprocessor;
the microprocessor is used for eliminating noise of the received data, and then the data are transmitted to the corresponding regional measurement and control station through the communication interface after being coded.
3. The artificial precipitation hail-suppression bomb blast sound positioning system according to claim 1, wherein:
the acoustic array comprises a microprocessor, a communication interface, S acoustic sensors, S paths of second signal processing circuits and S A/D converters, and each acoustic sensor corresponds to one path of second signal processing circuit; s is more than or equal to 4;
the acoustic sensor is used for receiving the explosion sound wave;
the second signal processing circuit is used for sequentially amplifying, filtering, phase compensating and amplitude controlling the explosion sound wave;
the A/D converter is used for converting the analog signal output by the second signal processing circuit into a digital signal and sending the digital signal to the microprocessor;
the microprocessor is used for encoding the received data and transmitting the encoded data to the corresponding regional measurement and control station through the communication interface.
4. A manual precipitation hail-suppression bomb blast-point sound positioning system according to any one of claims 1-3, wherein:
the regional measurement and control station comprises an embedded system, a Beidou navigation time service module and a wireless transmission system;
the embedded system is used for recording the Beidou absolute time of the acoustic sensor receiving the explosion sound wave signals, receiving signals from the single microphone node and the acoustic array and exchanging data with the control center;
the wireless transmission system is used for transmitting the acquired sound wave signals and the Beidou absolute time to the control center in real time, receiving a control instruction sent by the control center and forwarding the control instruction to the embedded system.
5. The artificial precipitation hail prevention bomb explosion point sound positioning method is characterized by comprising the following steps of:
1) Acquiring an arrival angle of an explosion sound wave signal of the hail-suppression bomb by utilizing the signals acquired by the sound array, and establishing an arrival angle measurement equation of the explosion sound wave signal;
2) Calculating the arrival distance difference of the explosion sound wave signals through the arrival time differences of the explosion sound wave signals obtained by at least four single microphone nodes, and further establishing an arrival distance difference measurement equation of the explosion sound wave signals;
3) Carrying out data fusion on an arrival angle measuring equation and an arrival distance difference measuring equation of the explosion sound wave signals, and establishing a positioning model: h=g a z a ；
Wherein:
d M,1 ＝d M -d 1 ，d M d is the distance between the explosion point of the hail-suppression bomb and the Mth single transmitter node participating in positioning 1 The distance between the explosion point of the hail-suppression bomb and the main node of the single-transmitter which participates in positioning;
x M,1 ＝x M -x 1 ，y M,1 ＝y M -y 1 ；
(x m ,y m ) Single-transmitter node B for participating in positioning m Position coordinates of (c);
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
K M is a constant value, and is used for the treatment of the skin,
α 1 is the included angle between the explosion point of the hail-proof bomb and the transverse axis of the coordinate axis;
4) And solving the positioning model to obtain the coordinates of the explosion point of the artificial precipitation hail-suppression bomb.
6. The method for locating the sound of a hail-suppression bomb explosion point according to claim 5, wherein the method comprises the following steps:
the arrival angle measurement equation of the explosion sound wave signal established in the step 1) specifically comprises the following steps:
wherein: and (x, y) is the position coordinates of the explosion point of the hail suppression bomb.
7. The method for locating the sound of a hail-suppression bomb explosion point according to claim 5, wherein the method comprises the following steps:
the arrival distance difference measurement equation of the explosion sound wave signal established in the step 2) is specifically as follows:
wherein:
(x 1 ,y 1 ) Position coordinates of a single microphone master node participating in positioning;
(x i ,y i ) Single-transmitter node B for participating in positioning i Position coordinates of (c);
(x, y) is the position coordinates of the explosion point of the hail suppression bomb;
x i,1 ＝x i -x 1 ，y i,1 ＝y i -y 1 ，d i,1 ＝d i -d 1 ；
K i is a constant value, and is used for the treatment of the skin,
K 1 is a constant value, and is used for the treatment of the skin,
8. the method for locating the sound of a hail-suppression bomb explosion point according to claim 5, wherein the method comprises the following steps:
and 4) solving a positioning model by adopting a three-time least square algorithm, and eliminating a binary solution by utilizing the position priori information of the single microphone node, thereby obtaining the current position coordinates of the explosion point of the hail-suppression and precipitation bomb.
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