CN115100841B - Remote activation method of seabed preset unmanned system based on electromagnetic waves - Google Patents
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- G—PHYSICS
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
The invention relates to a remote activation method of a seabed preset unmanned system based on electromagnetic waves, wherein a transmitting antenna of an electromagnetic wave activation signal is towed by a sea surface ship, the transmitting antenna is positioned in sea water, the sea surface ship adopts a 8-shaped navigation track, and the transmitting signal can be ensured to be received by the seabed preset unmanned system. The working frequency band of the electromagnetic wave activation signal is 5-20 Hz; the transmitting antenna adopts a horizontal electric dipole antenna. The invention provides an activation technology based on low-frequency electromagnetic waves, which can realize remote, reliable, accurate and rapid activation of a submarine preset system.
Description
Technical Field
The invention belongs to underwater communication, and relates to a submarine preset unmanned system remote activation method based on electromagnetic waves.
Background
With the acceleration of the development pace of marine equipment in the intelligent and informationized direction, the underwater unmanned equipment will gradually become the main angle of future sea battlefield. The U.S. published in 2016 "2025 autonomous underwater vehicle demand" which proposes new combat concepts such as anti-AUV combat, seabed combat, etc., aiming at constructing a novel complete underwater unmanned combat system through the development of a serialized unmanned vehicle. The underwater preset unmanned combat system is characterized in that combat equipment such as unmanned aerial vehicles, various missiles, torpedoes and the like is placed in sensitive sea areas such as continental frames, island chains and the like in advance and is hidden for a long time, and tasks such as reconnaissance, striking, channel blocking and the like can be executed after the unmanned aerial vehicle, various missiles, torpedoes and the like are activated by a remote means, so that the underwater combat system is novel underwater attack weaponry. The existing underwater preset unmanned combat equipment developed in Europe and America mainly comprises: sink-and-float loads (UFPs) and hadla (hydro), russian yacht missiles, etc. (Li Zhisheng, zhang Jiang. Current state of development of deep sea preset weapon systems and key technology [ J ]. Ship electronic engineering, 2020,40 (02): 1-3+41.).
Remote activation and communication of an underwater preset unmanned combat system are one of key technologies for which breakthrough is needed in the system. The preset system is in a silent state for a long time, and starts working after receiving an activation instruction; the reliability, accuracy and timeliness requirements of the remote activation technique are high. Although the underwater acoustic technology is widely applied to underwater detection and wireless communication, the scene faced by the activation and communication of an underwater preset system is a communication distance of tens or even hundreds of kilometers, and the complexity of the marine environment and the low speed of underwater acoustic propagation (33.3 s required for 50km propagation) make the underwater acoustic technology incapable of meeting the reliable, accurate and timely remote activation and communication requirements.
The medium-high frequency electromagnetic wave has larger attenuation than the sound wave when propagating in the sea water, but the low-frequency electromagnetic wave has smaller attenuation, and meanwhile, the electromagnetic wave has the capability of propagating across the interface, so that the long-distance propagation of the low-frequency electromagnetic wave near the interface can be realized. The underwater preset system is usually arranged on the seabed, and if the low-frequency electromagnetic emission system and the antenna are also arranged above the seabed, the radiated electromagnetic waves can be transmitted to the preset system through a seabed medium with small conductivity; meanwhile, as the electromagnetic wave propagation speed is high (8.3 s is needed for the 20Hz electromagnetic wave to propagate 50km underwater), the electromagnetic wave is not influenced by complex ocean environment and channels, and thus, the remote, reliable, accurate and rapid activation and communication of the submarine preset system can be realized. In addition, the wavelength of electromagnetic waves in seawater is greatly shortened compared with that in air (the underwater wavelength of 20Hz electromagnetic waves is one-half of that in air), so that the scale of the underwater electromagnetic emission system and the antenna is greatly reduced compared with that in air.
In summary, although the low-frequency electromagnetic wave technology can be theoretically used for activating the submarine preset system, how the transmitting system is arranged, how the transmitting antenna and the working frequency band are selected, how the transmitting power and the receiving and transmitting distance are determined, and how the submarine medium affects the performance of the received signal; these factors will be key technical indicators that restrict the remote, reliable, accurate, and rapid activation of the subsea preset system.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a remote activation method of a submarine preset unmanned system based on electromagnetic waves, which defines the arrangement mode of an activation signal transmitting system, a transmitting antenna, a working frequency band, transmitting power and activation distance and the influence of a submarine medium on electromagnetic wave signals.
Technical proposal
A submarine preset unmanned system remote activation method based on electromagnetic waves is characterized in that: the transmitting antenna adopts a horizontal electric dipole antenna; the unmanned system to be activated is arranged on the sea floor, and an antenna of the system receives a low-frequency electromagnetic wave activation signal; the method comprises the following steps:
step 1: the transmitting antenna of the electromagnetic wave activating signal is towed by a sea surface ship, and the transmitting antenna is positioned in sea water;
step 2, constructing a low-frequency electromagnetic wave propagation model above the seabed:
wherein: e represents an electric field, H represents a magnetic field;representing a cylindrical coordinate system; idl is the electric dipole moment, ω is the angular frequency; mu (mu) 0 Is magnetic permeability, k l For propagation constant in the first layer medium, < ->J N For Bessel function of N order, J x ＝J 0 -J 2 ，J y ＝J 0 +J 2 ；/>M 4 ＝γ -1 ξ+γ 1 ；/>ζ and ζ are parameters related to the deposit, crust, mantle; />An included angle between a connecting line from an observation point to the radiation source and a horizontal axis of the radiation source;
step 3, obtaining electric field and magnetic field attenuation rules between the low-frequency electromagnetic wave receiving and transmitting nodes above the sea floor:
the electromagnetic parameters of seawater, a sediment layer, crust and mantle medium, the thickness of the sediment layer and the crust; the electric dipole moment Idl of the transmitting antenna, the operating frequency f; the height d of the transmitting antenna from the seabed and the height z of the receiving point from the seabed are brought into the formula of the step 1, so that electric field and magnetic field values generated by the horizontal electric dipole above the seabed in the sea water are obtained; drawing the change of the amplitude values of the electric field and the magnetic field along with the horizontal distance rho into a graph, and analyzing the attenuation rule of the electric field and the magnetic field;
step 4, setting the height d of the activated transmitting antenna from the seabed: on the premise that the transmitting antenna does not collide with the seabed, the distance from the transmitting antenna to the seabed is 10-20 m;
step 5: setting the working frequency band of the activation signal to be 5-20 Hz;
step 6: determining the signal-to-noise ratio when the preset system receives the activation signal according to a noise threshold of-142 dB A/m/∈Hz;
step 7: sea surface ship towing underwater horizontal electric dipole antenna adopts 8-shaped navigation track by changing included angle between receiving and transmitting antennasValue such that the subsea preset system effectively receives remote activationThe signal is activated.
The electric dipole moment on the transmitting antenna is more than 10 6 And at Am, the horizontal distance for effective transmission of the activation signal is greater than 35km.
The propagation constant is l=1, -1, -2, -3.
Advantageous effects
According to the remote activation method for the seabed preset unmanned system based on the electromagnetic waves, disclosed by the invention, the transmitting antenna of the electromagnetic wave activation signal is towed by the sea surface ship, the transmitting antenna is positioned in the sea water, the sea surface ship adopts a 8-shaped navigation track, and the transmitting signal can be ensured to be received by the seabed preset unmanned system. The working frequency band of the electromagnetic wave activation signal is 5-20 Hz; the transmitting antenna adopts a horizontal electric dipole antenna. The invention provides an activation technology based on low-frequency electromagnetic waves, which can realize remote, reliable, accurate and rapid activation of a submarine preset system.
Drawings
FIG. 1 is a schematic diagram of a low frequency electromagnetic wave transmitting antenna and a seabed preset system deployment and surface vessel sailing track.
The amplitude of the electric E (left) and magnetic H fields (right) generated by horizontal (indicated as HED), vertical (indicated as VED) electric dipoles above the sea floor in fig. 2 varies with horizontal distance.
The effect of the change in the altitude of the horizontal electric dipole transmitting antenna towed by the surface vessel from the sea floor on the remote activation signal of fig. 3.
The effect of the operating frequency variation on the remote activation signal (different horizontal reception distances p) is shown in fig. 4.
Fig. 5 shows the transmission distance (operating frequency 10 Hz) of the activation signal at different transmission powers (electric dipole moment Idl).
FIG. 6 effect of deposit layer variation on remote activation signal propagation. The left plot shows the thickness variation and the right plot shows the conductivity variation.
Detailed Description
The invention will now be further described with reference to examples, figures:
in order to realize remote activation of the seabed preset unmanned system, the invention provides an activation technology based on low-frequency electromagnetic waves, which can meet the requirements of remote, reliable, accurate and quick activation of the seabed preset system.
The main contents of the invention are as follows:
1) The transmitting antenna of the electromagnetic wave activating signal is towed by a sea surface ship, the transmitting antenna is positioned in sea water, and the effect of the transmitting antenna is best when the height of the transmitting antenna from the sea bottom is 10-20 m. The sea surface ship can adopt an 8-shaped navigation track, so that a transmitting signal can be received by a seabed preset unmanned system, and the schematic diagram is shown in figure 1.
2) The working frequency band of the electromagnetic wave activation signal is 5-20 Hz; the transmitting antenna adopts a horizontal electric dipole antenna, the radiation performance of the antenna of the type near the seabed is the best, and meanwhile, the towing navigation of sea-surface ships is facilitated.
3) In a typical marine environment (with a deposited layer thickness of less than 200m and a conductivity of about 1S/m), satisfying the inventive aspects 1) and 2), the electric dipole moment on the transmitting antenna is greater than 10 6 And during Am, the horizontal distance for effective transmission of the activation signal is larger than 35km (the signal-to-noise ratio of the receiving end of the seabed preset system is not lower than 0 dB).
4) Average thickness h of the seabed deposit layer between the transmitting antenna and the seabed preset system -1 And conductivity sigma -1 (the meaning of the parameters is shown in FIG. 1) when the requirement in the summary 3) is not satisfied, h -1 The intensity of the activation signal drops by 13dB for every 100m increase; sigma (sigma) -1 The effect on the transmission performance of the activation signal is not great.
The invention provides a remote activation technology of a submarine preset unmanned system based on electromagnetic waves, and the adopted technical scheme can be divided into the following 7 steps:
1) Construction of model for propagation of low-frequency electromagnetic wave above sea floor
The preset unmanned system is arranged on the sea floor, an antenna of the system receives a low-frequency electromagnetic wave activation signal, and the receiving antenna is positioned in sea water above the sea floor; the underwater antenna that emits the activation signal is towed by the surface vessel. Thus constructing a low-frequency electromagnetic wave propagation model in a seawater-sediment layer-crust-mantle layered medium. The dielectric structure in the propagation model is shown in fig. 1.
Under this structure, assuming that the transmitting antenna is a Vertical Electric Dipole (VED), the electromagnetic field radiated in the sea water has the expression,
wherein E represents an electric field and H represents a magnetic field;representing a cylindrical coordinate system; idl is the electric dipole moment, ω is the angular frequency; mu (mu) 0 Is magnetic permeability, k l Is the propagation constant (l=1, -1, -2, -3) in the medium of the first layer,/-1, -2,>J N is a Bessel function of the N order; />ζ is a parameter related to the deposit, crust, mantle.
Assuming that the transmitting antenna is a Horizontal Electric Dipole (HED), the electromagnetic field radiated in the seawater has the expression,
wherein M is 4 ＝γ -1 ξ+γ 1 ；J x ＝J 0 -J 2 ，J y ＝J 0 +J 2 ；ζ is a parameter related to the deposit, crust, mantle; />Is the angle between the line of sight to the radiation source and the horizontal axis of the radiation source.
2) Obtaining the electric field and magnetic field attenuation law between the low-frequency electromagnetic wave receiving and transmitting nodes above the sea bottom
Setting electromagnetic parameters of seawater, a sediment layer, crust and mantle medium, and setting the thickness of the sediment layer and the crust; setting the electric dipole moment Idl of a transmitting antenna and the working frequency f; the height d of the transmitting antenna from the seabed and the height z of the receiving point from the seabed are set, and the horizontal distance ρ between the transmitting antenna and the receiving point is set.
Bringing these parameters into equations (1) to (3) in step 1), the electric field and magnetic field values generated by the vertical electric dipoles above the sea floor in the sea water can be obtained; by taking the formulas (4) to (9), the electric field and magnetic field values generated by the horizontal electric dipole above the sea floor in the sea water can be obtained. The amplitude values of the electric field and the magnetic field are plotted as a function of the horizontal distance ρ, so that the attenuation law of the electric field and the magnetic field can be analyzed.
3) Determining the type of transmitting antenna as a horizontal electric dipole
The electromagnetic field amplitude values of the vertical electric dipole and the horizontal electric dipole radiation obtained in the step 2) are compared together with the change curve of the horizontal distance ρ, as shown in fig. 2. As can be seen from the figure, at close distances, the electric and magnetic fields of the vertical and horizontal electric dipole radiations are not very different; the radiation field of the horizontal electric dipole is overall higher than the vertical electric dipole after a distance of more than 3km (up to 100 km).
The radiation performance of a horizontal electric dipole is better than that of a vertical electric dipole at the same radiation power (electric dipole moment), marine environment and spatial position. Thus, selecting the type of transmitting antenna as a horizontal electric dipole helps to improve the signal-to-noise ratio of the remote activation signal of the subsea preset system. Meanwhile, the transmitting antenna is towed by the water surface ship, and compared with an electric dipole which is vertically arranged, the electric dipole which is horizontally arranged is more convenient to arrange and maintain the navigation posture.
4) Determining the sailing trajectory of a towed marine vessel on the sea surface and the height of the transmitting antenna from the sea floor
a) Navigation track
In FIG. 2, when the electric field and the magnetic field of the horizontal electric dipole radiation are calculated, the equations (4) to (9) are shownThe values of (2) are such that +.>Or->Are all equal to 1, i.e. the receiving point is located in the direction of the maximum of the radiated electric and magnetic field components. In practice, when the sea-surface ship tows the underwater horizontal electric dipole antenna for navigation, the transmitting antenna and the receiving antenna cannot be aligned completely, so the electric field and the magnetic field amplitude can be reduced +.>Or->The signal-to-noise ratio of the remote activation signal received by the subsea preset system will be reduced. To compensate for this, the sea-surface vessel can navigate along an "8-shaped" trajectory (as shown in fig. 1), so that by varying the angle between the transmit-receive antennas +.>The value is such that the subsea preset system can effectively receive the remote activation signal.
b) Height d of transmitting antenna from sea floor
When the height d of the underwater transmitting antenna towed by the sea surface ship, namely the horizontal electric dipole, from the sea bottom changes, the intensity of the activation signal received by the submarine preset system is affected. The other parameters are unchanged, and the variation of the intensity of the reception activation signal with the height d of the transmitting antenna is shown in fig. 3. As can be seen from the figure, as d increases, the strength of the received signal decreases. The signal strength is reduced by about 2.7dB every 10 m. Thus, in theory, the smaller the height d of the transmitting antenna from the sea floor, the better. However, in practice, the ocean floor is rugged, so the d size should be preset according to the actual topography of the ocean area where the transmitting antenna is located, and the distance from the transmitting antenna to the ocean floor is optimal by 10-20 m on the premise that the transmitting antenna does not collide with the ocean floor.
5) Determining the operating frequency band of an activation signal
Firstly, in order to ensure the reliability of the remote activation of the preset system, the working frequency cannot be too high according to the propagation performance of the electromagnetic field radiated by the electric dipole antenna above the seabed obtained in the step 1), otherwise, the propagation attenuation is large, and the reliable transmission of tens of kilometers to hundreds of kilometers is not achieved. However, a significant reduction in operating frequency increases the size of the transmitting antenna and system. The invention calculates the frequency characteristic of electromagnetic waves in the frequency range of 1-1000 Hz under the condition of different receiving and transmitting horizontal distances rho, as shown in figure 4. When the activation distance is 10 km-100 km, the optimal working frequency band of the remote activation signal of the seabed preset system is 5-20 Hz.
Secondly, the main purpose of the activation signal is to wake up the dormant subsea preset system, and the main design index is reliability, but the requirement on the communication rate is not high. Therefore, the low-frequency electromagnetic wave below 20Hz is adopted as an activation signal, and the requirements of low speed and high reliability can be met.
6) Determining the effective working distance of the electric dipole moment of the transmitting antenna and the corresponding low-frequency electromagnetic wave activation signal
Currently, low-frequency electromagnetic receiving devices, such as magnetic sensors, have very low noise levels, and the noise of high-level magnetic sensors at home and abroad has been reduced to 0.1 pT/. V.Hz, converted to a magnetic field strength of 7.958 ×10 -8 A/m/∈Hz (i.e., -142dB A/m/∈Hz). According to the underwater magnetic field environmental noise disclosed in the literature, the range is-144 to-147 dB A/m/∈Hz. Thus, the signal to noise ratio at which the preset system receives the activation signal is determined in the present invention by a noise threshold of-142 dB a/m/∈hz (the maximum of sensor noise and ambient noise).
As can be seen from FIG. 5, when the electric dipole moment of the transmitting antenna is 10 4 At Am, the effective transmission distance of the activation signal (the signal to noise ratio of the signal received by the seabed preset system is not less than 0 dB) can reach about 10km; electric dipole moment of 10 6 At Am, the effective transmission distance may reach about 35km; electric dipole moment of 10 8 Am, the effective transmission distance may reach about 81km.
7) Determining the influence of submarine medium structure and electromagnetic parameters on a low-frequency electromagnetic wave activation signal
In the actual marine environment, the submarine medium, especially the sediment layer is complex and changeable, and the thickness and the conductivity of the sediment layer in different sea areas are different. In the invention, the thickness and the conductivity of the deposited layer are both input parameters of the model.
As can be seen from fig. 6, when the thickness of the deposition layer is increased from 50m to 500m, the low-frequency electromagnetic wave signal in the remote activation technology provided by the invention is increased and then decreased, and analysis shows that when the thickness of the deposition layer is within 200m, the activation signal performance is optimal (the signal-to-noise ratio of the receiving signal of the seabed preset system is not less than 0 dB). In addition, the intensity of the activation signal is almost unchanged when the conductivity of the deposited layer changes.
The invention verifies that:
taking the low-frequency electromagnetic wave activation signal emitted by the electric dipole antenna above the sea floor in the sea water as an example, an implementation example of the invention is given. To verify the effective performance of the present invention, the inventors performed a theoretical simulation of the verifications.
Simulation conditions: seawater-sedimentary layer-crust-mantle four-layer medium, vertical and horizontal electric dipoles in seawater generate electromagnetic fields in seawater. Magnetic dipole moment idl=10 6 A·m, frequency 10Hz, magnetic electric dipole d=20m above the seafloor, observation point z=2m above the seafloor. Conductivity: seawater 4S/m, sediment layer 1S/m, crust 0.01S/m, mantle 10 -4 S/m. Permeability μ, all media being the same μ=4ρe-7 (H/m). Relative dielectric constant: sea water 81, sediment layer 4, crust 5, mantle 6.5.
1) The remote activation technology of the submarine preset system provided by the invention is feasible
According to the submarine preset system remote activation technology based on the low-frequency electromagnetic waves, a transmitting antenna is distributed above the seabed in a towing mode of a sea surface ship to generate an activation signal, the transmitting antenna is in a horizontal electric dipole mode, and the sea surface ship can adopt an 8-shaped navigation track; the subsea preset system may receive the activation signal using a conventional high sensitivity low noise low frequency magnetic sensor. Both the transmission and reception system of the activation signal and the mode of operation are possible.
2) The invention defines the key index of the activation technology based on the low-frequency electromagnetic wave
The key components and indexes related to the remote activation technology of the seabed preset system comprise: the form of the transmitting antenna, the height of the transmitting antenna from the seafloor, the operating frequency band, the power of the transmitted signal (electric dipole moment) and the effective working distance of the signal, and the influence of the seafloor environment on the activation signal. The present invention analyzes and determines these components and metrics through modeling simulation.
According to an embodiment example, it can be considered that: the remote activation technology of the seabed preset unmanned system based on the low-frequency electromagnetic waves is feasible, and can realize remote, reliable, accurate and rapid activation of the seabed preset system.
Claims (3)
1. A submarine preset unmanned system remote activation method based on electromagnetic waves is characterized in that: the transmitting antenna adopts a horizontal electric dipole antenna; the unmanned system to be activated is arranged on the sea floor, and an antenna of the system receives a low-frequency electromagnetic wave activation signal; the method comprises the following steps:
step 1: the transmitting antenna of the electromagnetic wave activating signal is towed by a sea surface ship, and the transmitting antenna is positioned in sea water;
step 2, constructing a low-frequency electromagnetic wave propagation model above the seabed:
wherein: e represents an electric field, H represents a magnetic field; (ρ,z) represents a cylindrical coordinate system; idl is the electric dipole moment, ω is the angular frequency; mu (mu) 0 Is magnetic permeability, k l For propagation constant in the first layer medium, < ->J N For Bessel function of N order, J x ＝J 0 -J 2 ，J y ＝J 0 +J 2 ；/>M 4 ＝γ -1 ξ+γ 1 ；/>ζ and ζ are parameters related to the deposit, crust, mantle; />An included angle between a connecting line from an observation point to the radiation source and a horizontal axis of the radiation source;
step 3, obtaining electric field and magnetic field attenuation rules between the low-frequency electromagnetic wave receiving and transmitting nodes above the sea floor:
the electromagnetic parameters of seawater, a sediment layer, crust and mantle medium, the thickness of the sediment layer and the crust; the electric dipole moment Idl of the transmitting antenna, the operating frequency f; the height d of the transmitting antenna from the seabed and the height z of the receiving point from the seabed are brought into the formula of the step 1, so that electric field and magnetic field values generated by the horizontal electric dipole above the seabed in the sea water are obtained; drawing the change of the amplitude values of the electric field and the magnetic field along with the horizontal distance rho into a graph, and analyzing the attenuation rule of the electric field and the magnetic field;
step 4, setting the height d of the activated transmitting antenna from the seabed: on the premise that the transmitting antenna does not collide with the seabed, the distance from the transmitting antenna to the seabed is 10-20 m;
step 5: setting the working frequency band of the activation signal to be 5-20 Hz;
step 6: determining the signal-to-noise ratio when the preset system receives the activation signal according to a noise threshold of-142 dB A/m/∈Hz;
step 7: sea surface ship towing underwater horizontal electric dipole antenna adopts 8-shaped navigation track by changing included angle between receiving and transmitting antennasThe value is such that the subsea preset system is activated upon effectively receiving the remote activation signal.
2. The remote activation method of the submarine preset unmanned system based on electromagnetic waves according to claim 1, wherein the method comprises the following steps: the electric dipole moment on the transmitting antenna is more than 10 6 And at Am, the horizontal distance for effective transmission of the activation signal is greater than 35km.
3. The remote activation method of the submarine preset unmanned system based on electromagnetic waves according to claim 1, wherein the method comprises the following steps: l=1, -1, -2, -3 of the first layer medium.
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