CN113189676A - Acoustic phase center calibration method and system based on acoustic darkroom - Google Patents
Acoustic phase center calibration method and system based on acoustic darkroom Download PDFInfo
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Abstract
An acoustic phase center calibration method and system based on an acoustic darkroom relate to an acoustic phase center calibration technology of acoustic elements, and in order to solve the problem that the calibration precision of the acoustic phase center calibration method of each element on the existing acoustic array is poor, the invention controls a travelling crane loaded with an acoustic transducer to navigate around the acoustic array and obtain acoustic phase center calibration data; establishing a calibration model of each elementary acoustic phase center of the acoustic array according to the acoustic phase center calibration data, and calculating coordinates of each elementary acoustic phase center of the acoustic array in a travelling coordinate system; calculating the length of a base line between each element of the acoustic array according to the coordinates of the acoustic phase center of each element of the acoustic array under a travelling coordinate system; and calculating the center coordinates of the acoustic phase of each element of the acoustic array in the array coordinate system according to the length of the base line between each element of the acoustic array, and finishing the center calibration of the acoustic phase. The method has the beneficial effect of high calibration precision.
Description
Technical Field
The invention relates to an acoustic phase center calibration technology of an acoustic element.
Background
The surface area of the ocean covering the earth is about 71%, a lot of abundant natural resources are stored, and an underwater positioning technology is needed for developing ocean resources; common underwater positioning means include inertial measurement, optical measurement and underwater acoustic measurement; however, the inertia measurement is easy to generate accumulative error due to integration, and the acting distance of the optical measurement is small, so that the underwater acoustic positioning technology is most widely applied; acoustic arrays are most commonly used in underwater acoustic positioning technology; the positioning is carried out according to the relative position of the acoustic phase center of each element on the array and the acoustic propagation delay difference, so that the accurate calibration of the acoustic phase center of each element of the acoustic array is particularly important; in the existing acoustic phase center measuring method of each element on the acoustic array, a geometric center is obtained as an acoustic phase center through machining, and in the actual application process, the following results are found: the equivalent acoustic center of each element on the acoustic array is not coincident with the geometric center of the element, so the calibration precision of the existing method for calibrating the acoustic phase center of each element on the acoustic array is poor.
Disclosure of Invention
The invention aims to solve the problem that the calibration precision of the existing calibration method for the acoustic phase center of each element on an acoustic array is poor, and provides an acoustic phase center calibration method and system based on an acoustic darkroom.
The invention relates to an acoustic phase center calibration method based on an acoustic darkroom, which comprises the following steps of:
the method comprises the following steps of firstly, controlling a traveling crane loaded with an acoustic transducer to navigate around an acoustic array, and obtaining acoustic phase center calibration data; the acoustic array is placed at the bottom of an acoustic darkroom;
secondly, establishing a calibration model of each elementary acoustic phase center of the acoustic array according to the acoustic phase center calibration data obtained in the first step, and calculating coordinates of each elementary acoustic phase center of the acoustic array in a travelling coordinate system;
step three, calculating the length of a base line between each element of the acoustic array according to the coordinates of the acoustic phase center of each element of the acoustic array under the travelling coordinate system in the step two;
and step four, calculating the center coordinates of the acoustic phase of each element of the acoustic array in the array coordinate system according to the length of the base line between each element of the acoustic array in the step three, and finishing the center calibration of the acoustic phase.
The invention relates to an acoustic phase center calibration system based on an acoustic darkroom, which is used for calibrating the acoustic phase center of each array element on an acoustic array; the calibration system comprises an acoustic darkroom, a data acquisition module, a first position resolving module, a baseline length calculating module and a second position resolving module;
the acoustic darkroom is a hexahedral pool, and each surface of the hexahedral pool is provided with a sound absorption wedge respectively and is used for simulating a borderless deep sea;
the acoustic array is placed at the bottom of an acoustic darkroom;
the data acquisition module is used for acquiring acoustic phase center calibration data;
the first position resolving module is used for resolving the coordinates of each element on the acoustic array under the travelling coordinate system according to the acoustic phase center calibration data acquired by the data acquisition module;
the base length calculation module is used for calculating the base length among the elements of the acoustic array;
and the second position resolving module is used for resolving the coordinates of each element on the acoustic array under the array coordinate system.
The invention has the beneficial effects that: the calibration method comprises the steps of adopting a mode of establishing an acoustic phase center calibration model of each element of the acoustic array, obtaining coordinates of acoustic phase centers of the elements of the acoustic array under a travelling coordinate system, calculating the length of a base line between the elements of the acoustic array at first, and calculating the coordinates of the acoustic phase centers of the elements of the acoustic array under the array coordinate system at last, so that the calibration of the acoustic phase centers of the elements on the acoustic array is realized, the problem that the geometric centers of the elements on the acoustic array are not coincident with the acoustic phase centers is solved, the calibration precision is high, meanwhile, an acoustic darkroom is used for simulating a borderless deep sea, a high-precision and low-interference calibration environment is provided for the calibration of the acoustic phase centers, and the calibration precision is further improved.
Drawings
Fig. 1 is a flowchart of an acoustic phase center calibration method based on an acoustic darkroom according to a first embodiment;
FIG. 2 is a block diagram of a data acquisition module according to a sixth embodiment;
FIG. 3 is a perspective view of an acoustic darkroom based acoustic phase center calibration system in accordance with a sixth embodiment;
fig. 4 is a schematic diagram of a driving motion track viewed from an acoustic darkroom in a top view in the ninth embodiment.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1, and the calibration method for acoustic phase center based on an acoustic darkroom in the present embodiment includes the following steps:
the method comprises the following steps of firstly, controlling a traveling crane loaded with an acoustic transducer to navigate around an acoustic array, and obtaining acoustic phase center calibration data; the acoustic array is placed at the bottom of an acoustic darkroom;
secondly, establishing a calibration model of each elementary acoustic phase center of the acoustic array according to the acoustic phase center calibration data obtained in the first step, and calculating coordinates of each elementary acoustic phase center of the acoustic array in a travelling coordinate system;
step three, calculating the length of a base line between each element of the acoustic array according to the coordinates of the acoustic phase center of each element of the acoustic array under the travelling coordinate system in the step two;
and step four, calculating the center coordinates of the acoustic phase of each element of the acoustic array in the array coordinate system according to the length of the base line between each element of the acoustic array in the step three, and completing the calibration of the center of the acoustic phase of the element on the acoustic array.
The second embodiment is as follows: in this embodiment, the calibration data of the acoustic phase center obtained in the first step includes coordinates of the acoustic transducer in a driving coordinate system, a sound velocity, a propagation time of a signal from the acoustic transducer to each cell on the acoustic array, and a fixed time delay of each cell channel of the acoustic array; the coordinates of the acoustic transducer under the driving coordinate system are obtained by the motion trail of the driving; the sound velocity is measured by a sound velocity profiler; the propagation time of the signal from the acoustic transducer to each element on the acoustic array is obtained by copying and correlating the signal received by each element of the acoustic array and a reference signal sent by the acoustic transducer, and the fixed time delay of each element channel of the acoustic array is the propagation time of the signal in an internal circuit of the instrument.
The third concrete implementation mode: in this embodiment, the calibration model for acoustic phase centers of each element of the acoustic array established in the second step is further defined as follows:
||Xi-XN||＝ciN·(tiN-τN)，i＝1,2,3，…,M；
wherein M is the number of coordinates of the acoustic transducer in a driving coordinate system and is M observation points, i is the serial number of the observation points, and X isiIs a specific coordinate value of the ith observation point in a travelling coordinate system, N is the serial number of the primitive in the acoustic matrix, XNIs the specific coordinate value of the Nth element in the travelling coordinate system, ciNThe sound velocity between the ith observation point and the Nth element is taken as the sound velocity; t is tiNIs the propagation time between the ith observation point and the Nth primitive; tau isNA fixed time delay corresponding to the nth primitive receive channel.
The fourth concrete implementation mode: in this embodiment, the third embodiment further defines the method for calibrating acoustic phase center based on an acoustic darkroom, and in the third embodiment, the specific method for calculating the baseline length between each element of the acoustic matrix in the third step is as follows:
||XNi-XNj||＝lNi,Nj
wherein Ni and Nj are two different primitives on the acoustic array; xNiThe specific coordinate value of the element Ni under the driving coordinate system; xNjIs the specific coordinate value of the element Nj in the driving coordinate system, lNi,NjIs the base length between element Ni and element Nj.
The fifth concrete implementation mode: in this embodiment, a specific process of calculating the acoustic phase center coordinates of each element of the acoustic matrix in the matrix coordinate system in the fourth step is as follows:
fourthly, randomly selecting three elements on the acoustic array to construct a plane, and establishing an array coordinate system;
step two, determining the acoustic phase center coordinates of the three elements on the acoustic array selected randomly in the step four under the array coordinate system;
and step three, solving the acoustic phase center coordinates of other elements on the acoustic array under the array coordinate system through the length intersection of the base lines, wherein the other elements on the acoustic array are three elements on the acoustic array selected randomly in the step four.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 2 and fig. 3, and the acoustic darkroom-based acoustic phase center calibration system of the present embodiment is used for calibrating the acoustic phase center of each array element on the acoustic array 4; the calibration system comprises an acoustic darkroom 1, a data acquisition module, a first position resolving module, a baseline length calculating module and a second position resolving module;
the acoustic darkroom 1 is a hexahedral pool, and each surface of the hexahedral pool is respectively provided with a sound absorption wedge 5 for simulating a boundless deep sea;
the acoustic array 4 is placed at the bottom of the acoustic darkroom 1;
the data acquisition module is used for acquiring acoustic phase center calibration data;
the first position resolving module is used for resolving the coordinates of each element on the acoustic array 4 under the travelling coordinate system according to the acoustic phase center calibration data acquired by the data acquisition module;
the base length calculation module is used for calculating the base length among the elements of the acoustic array;
and the second position resolving module is used for calculating the acoustic phase center coordinates of each element of the acoustic array under the array coordinate system.
In the present embodiment, a plurality of acoustic elements are rigidly mounted on the acoustic array 4, and the geometric center of each element does not coincide with the phase center.
The seventh embodiment: in this embodiment, the acoustic phase center calibration system based on an acoustic darkroom according to the sixth embodiment is further limited, in which the data acquisition module includes a signal transmitting unit and a signal receiving unit;
the signal transmitting unit comprises a travelling crane 2, an acoustic transducer 3, a signal source 6 and a power amplifier 7;
the crane 2 is used for navigating around the acoustic array 4 in the acoustic darkroom 1;
the signal source 6 is used for emitting an electric signal, the electric signal output end of the signal source 6 is connected with the electric signal input end of the power amplifier 7, the amplified electric signal output end of the power amplifier 7 is connected with the amplified electric signal input end of the acoustic transducer 3,
the acoustic transducer 3 is fixed at the bottom of the travelling crane 2, and the acoustic transducer 3 is used for converting the electric signal into an acoustic signal and transmitting the acoustic signal;
the signal receiving unit comprises a signal processor 8, a data converter 9, a sound velocity profiler 10 and a power supply 11;
the power supply 11 is used for supplying power to the signal processor 8;
a sound velocity profiler 10 for measuring the velocity of the acoustic transducer 3 propagating the acoustic signal through the acoustic array 4 and outputting to the data converter 9 in the form of a sound velocity signal;
the signal processor 8 is used for processing the acoustic signals received by each element of the acoustic array 4 to generate processing signals;
the data converter 9 is used for receiving the electric signal transmitted by the signal source 6 and acquiring the time information of the electric signal transmitted by the signal source 6; the acoustic array is also used for receiving and processing signals and acquiring information of each time when each element of the acoustic array 4 receives acoustic signals; the acoustic transducer is also used for receiving the sound velocity signal and acquiring the speed of the acoustic transducer 3 for transmitting the acoustic signal; and is also used for converting the time information of the electric signal transmitted by the signal source 6, the time information of the acoustic signals received by each element of the acoustic array 4 and the speed of the acoustic signals transmitted by the acoustic transducer 3 into acoustic phase center calibration data.
In the present embodiment, the initial position of the traveling crane 2 is above the acoustic darkroom 1.
In this embodiment, the signal processor 8, when it starts to enter the operating state, sends out a synchronization trigger signal that triggers the signal source to emit an electrical signal.
The specific implementation mode is eight: the present embodiment is further limited to the acoustic phase center calibration system based on the acoustic darkroom according to the seventh embodiment, and in the present embodiment, the calibration system further includes a main chassis;
the signal source 6, the power amplifier 7, the signal processor 8, the data converter 9, the power supply 10, the first position calculating module, the baseline length calculating module and the second position calculating module are all arranged in the mainframe box.
In the present embodiment, the main cabinet is provided outside the acoustic darkroom 1.
The specific implementation method nine: the present embodiment is described with reference to fig. 4, and is further limited to the acoustic darkroom-based acoustic phase center calibration system according to the seventh embodiment, in the present embodiment, the traveling crane 2 has three degrees of freedom of movement while traveling around the acoustic matrix 4 inside the acoustic darkroom 1;
the three degrees of freedom of motion are two directions in which the horizontal plane is mutually perpendicular and a vertical direction perpendicular to the horizontal plane.
In the embodiment, the speed of the traveling crane 2 in the horizontal movement direction does not exceed 500 mm/min; meanwhile, in order to measure the track of the traveling crane 2, the traveling crane 2 is controlled to navigate by adopting a square track.
Claims (9)
1. An acoustic phase center calibration method based on an acoustic darkroom is characterized by comprising the following steps:
the method comprises the following steps of firstly, controlling a traveling crane loaded with an acoustic transducer to navigate around an acoustic array, and obtaining acoustic phase center calibration data; the acoustic array is placed at the bottom of an acoustic darkroom;
secondly, establishing a calibration model of each elementary acoustic phase center of the acoustic array according to the acoustic phase center calibration data obtained in the first step, and calculating coordinates of each elementary acoustic phase center of the acoustic array in a travelling coordinate system;
step three, calculating the length of a base line between each element of the acoustic array according to the coordinates of the acoustic phase center of each element of the acoustic array under the travelling coordinate system in the step two;
and step four, calculating the center coordinates of the acoustic phase of each element of the acoustic array in the array coordinate system according to the length of the base line between each element of the acoustic array in the step three, and completing the calibration of the center of the acoustic phase of the element on the acoustic array.
2. The acoustic darkroom-based acoustic phase center calibration method according to claim 1, wherein the acoustic phase center calibration data obtained in the first step comprises coordinates of the acoustic transducer in a traveling coordinate system, a sound velocity, a propagation time of a signal from the acoustic transducer to each cell on the acoustic matrix, and a fixed time delay of each cell channel of the acoustic matrix; the coordinates of the acoustic transducer under the driving coordinate system are obtained by the motion trail of the driving; the sound velocity is measured by a sound velocity profiler; the propagation time of the signal from the acoustic transducer to each element on the acoustic array is obtained by copying and correlating the signal received by each element of the acoustic array and a reference signal sent by the acoustic transducer, and the fixed time delay of each element channel of the acoustic array is the propagation time of the signal in an internal circuit of the instrument.
3. The acoustic darkroom-based acoustic phase center calibration method according to claim 2, wherein the calibration model of the acoustic phase center of each element of the acoustic matrix established in the second step is:
||Xi-XN||＝ciN·(tiN-τN)，i＝1,2,3，…,M；
wherein M is the number of coordinates of the acoustic transducer in a driving coordinate system and is M observation points, i is the serial number of the observation points, and X isiIs a specific coordinate value of the ith observation point in a travelling coordinate system, N is the serial number of the primitive in the acoustic matrix, XNIs the specific coordinate value of the Nth element in the travelling coordinate system, ciNThe sound velocity between the ith observation point and the Nth element is taken as the sound velocity; t is tiNIs the propagation time between the ith observation point and the Nth primitive; tau isNA fixed time delay corresponding to the nth primitive receive channel.
4. The method for calibrating the acoustic phase center based on the acoustic darkroom of claim 3, wherein the specific method for calculating the length of the baseline between the elements of the acoustic matrix in the step three is as follows:
||XNi-XNj||＝lNi,Nj
wherein Ni and Nj are two different primitives on the acoustic array; xNiThe specific coordinate value of the element Ni under the driving coordinate system; xNjIs the specific coordinate value of the element Nj in the driving coordinate system, lNi,NjIs the base length between element Ni and element Nj.
5. The method for calibrating the acoustic phase center based on the acoustic darkroom as claimed in claim 1 or 4, wherein the specific process of calculating the acoustic phase center coordinates of each element of the acoustic matrix in the matrix coordinate system in the fourth step is as follows:
fourthly, randomly selecting three elements on the acoustic array to construct a plane, and establishing an array coordinate system;
step two, determining the acoustic phase center coordinates of the three elements on the acoustic array selected randomly in the step four under the array coordinate system;
and step three, solving the acoustic phase center coordinates of other elements on the acoustic array under the array coordinate system through the length intersection of the base lines, wherein the other elements on the acoustic array are three elements on the acoustic array selected randomly in the step four.
6. An acoustic darkroom-based acoustic phase center calibration system is used for calibrating the acoustic phase center of each array element on an acoustic array (4); the calibration system is characterized by comprising an acoustic darkroom (1), a data acquisition module, a first position calculation module, a baseline length calculation module and a second position calculation module;
the acoustic darkroom (1) is a hexahedral pool, and each surface of the hexahedral pool is provided with a sound absorption wedge (5) respectively for simulating a boundless deep sea;
the acoustic array (4) is placed at the bottom of the acoustic darkroom (1);
the data acquisition module is used for acquiring acoustic phase center calibration data;
the first position resolving module is used for resolving the coordinates of each element on the acoustic array (4) under a travelling crane coordinate system according to the acoustic phase center calibration data acquired by the data acquisition module;
the base length calculation module is used for calculating the base length among the elements of the acoustic array;
and the second position resolving module is used for calculating the acoustic phase center coordinates of each element of the acoustic array under the array coordinate system.
7. The acoustic darkroom-based acoustic phase center calibration system of claim 6, wherein the data acquisition module comprises a signal transmitting unit and a signal receiving unit;
the signal transmitting unit comprises a traveling crane (2), an acoustic transducer (3), a signal source (6) and a power amplifier (7);
the travelling crane (2) is used for navigating around the acoustic array (4) in the acoustic darkroom (1);
the signal source (6) is used for transmitting an electric signal, the electric signal output end of the signal source (6) is connected with the electric signal input end of the power amplifier (7), the amplified electric signal output end of the power amplifier (7) is connected with the amplified electric signal input end of the acoustic transducer (3),
the acoustic transducer (3) is fixed at the bottom of the travelling crane (2), and the acoustic transducer (3) is used for converting an electric signal into an acoustic signal and transmitting the acoustic signal;
the signal receiving unit comprises a signal processor (8), a data converter (9), a sound velocity profiler (10) and a power supply (11);
the power supply (11) is used for supplying power to the signal processor (8);
a sound velocity profiler (10) for measuring the velocity of the acoustic transducer (3) propagating the acoustic signal through the acoustic array (4) and outputting to the data converter (9) in the form of a sound velocity signal;
a signal processor (8) for processing the acoustic signals received by each element of the acoustic array (4) to generate processed signals;
the data converter (9) is used for receiving the electric signal transmitted by the signal source (6) and acquiring the time information of the electric signal transmitted by the signal source (6); the acoustic array is also used for receiving the processing signal and acquiring the information of each time when each element of the acoustic array (4) receives the acoustic signal; the acoustic transducer is also used for receiving the sound velocity signal and acquiring the speed of the acoustic transducer (3) for transmitting the acoustic signal; and the time information of the electric signal transmitted by the signal source (6), the time information of the acoustic signal received by each element of the acoustic array (4) and the speed of the acoustic transducer (3) for transmitting the acoustic signal are converted into acoustic phase center calibration data.
8. An acoustic darkroom-based acoustic phase center calibration system according to claim 7, further comprising a main cabinet;
the signal source (6), the power amplifier (7), the signal processor (8), the data converter (9), the power supply (10), the first position resolving module, the base line length calculating module and the second position resolving module are all arranged inside the mainframe box.
9. An acoustic darkroom based acoustic phase center calibration system according to claim 7, wherein the traveling vehicle (2) has three degrees of freedom of movement while navigating inside the acoustic darkroom (1) around the acoustic matrix (4);
the three degrees of freedom of motion are two directions in which the horizontal plane is mutually perpendicular and a vertical direction perpendicular to the horizontal plane.
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