CN100520441C - Phase measuring system of 8-element ultrashort base positioning system and calibration thereof - Google Patents
Phase measuring system of 8-element ultrashort base positioning system and calibration thereof Download PDFInfo
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- CN100520441C CN100520441C CNB2006100098128A CN200610009812A CN100520441C CN 100520441 C CN100520441 C CN 100520441C CN B2006100098128 A CNB2006100098128 A CN B2006100098128A CN 200610009812 A CN200610009812 A CN 200610009812A CN 100520441 C CN100520441 C CN 100520441C
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Abstract
A phase measuring device of eight elements ultra short base line positioning system consists of sound source unit including signal source, power amplifier and transverter; sonar unit including array of ultra short base line and receiving circuit; data collection circuit and computer being either measuring unit or a portion of measured sonar unit; and array rotation unit.
Description
Technical field
The invention belongs to 8 primitive ultra short baseline locating system phase measuring systems and calibration steps thereof.
Background technology
Ultra-short baseline is a kind of acoustic positioning technique commonly used.Traditional ultra short baseline locating system adopts aperture (spacings between two primitives) less than isosceles right triangle or equilateral triangle that three primitives of half-wavelength are arranged in more, adopts the line array of two quadratures that 4 primitives are arranged in addition.Positioning principle is to utilize the phase differential of each primitive received signal to resolve, thereby obtains target direction and range information.Its bearing accuracy depends primarily on the estimated accuracy of adjacent primitive phase of received signal difference.And transducer, receiver and other circuit all can produce additional phase shift, must be compensated (correction) in the location survey process.Measuring additional phase shift just becomes the key of phase alignment.The additional phase shift that receiver and other circuit record can record in the laboratory, and is compensated.The additional phase shift that transducer produces then is difficult for measuring, and need measure in water.The measuring method of Cai Yonging was that ultra-short baseline basic matrix level is placed waters, open far field in the past, and sound source or transponder place the below of ultra-short baseline basic matrix.As seen list of references " adopts the ultra-short baseline underwater acoustic tracking system of self-adaptation phasometer ", applied acoustics, 1993.12.P19～23, Cai's equality.Adjust basic matrix or sound source position earlier and make two adjacent primitives of basic matrix aim at sound source, measure the phase differential of two adjacent primitive received signals
Basic matrix is horizontally rotated 180 ° then, measure the phase differential of two adjacent primitive received signals once more
By calculating the additional phase error that just can obtain one group of adjacent primitive generation be:
Just can obtain the additional phase error that other adjacent primitive produces according to identical method.This Measurement of Phase difference on the one hand, needs to measure 4 times, just can obtain the additional phase error of two primitives on two axis; On the other hand, for the additional phase error of novel 8 primitive ultra-short baseline basic matrixs (seeing accompanying drawing 1), measure in the next very difficult Using such method of Near Field.
Summary of the invention
The objective of the invention is to be inconvenient to be used for the measurement calibration of novel 8 primitive ultra-short baseline basic matrix additional phase errors, a kind of 8 primitive ultra short baseline locating system basic matrix calibration stepss are provided in order to overcome traditional ultra-short baseline basic matrix additive phase difference measurements calibration steps.This method has solved traditional measuring method and has measured often, and obtaining in twos, the additional phase error of primitive needs to measure (basic matrix several 1) inferior problem and sound source and the difficult problem of aiming at of basic matrix.Make Measuring Time and difficulty greatly descend, only need just can obtain required all primitives additional phase error between any two 2 times.
The formation of the measuring system (seeing accompanying drawing 2) that the present invention is used mainly is made up of sound source [9], tested sonar system [10], data acquisition circuit [11], computing machine [12] and basic matrix wheelwork [13].Wherein sound source [9] is made up of signal source [14] and transducer [15], sonar system [10] comprises that ultra-short baseline basic matrix [16], receiving circuit [17] are systems under test (SUT), and data acquisition circuit [11] and computing machine [12] can be measuring equipments, also can be the parts of tested sonar system.Wherein electric signal connects between data acquisition circuit [11], the computing machine [12], and is connected with transducer [15] electric signal with signal source [14] successively; Basic matrix wheelwork [13] and ultra-short baseline basic matrix [16] have mechanical connection; Ultra-short baseline basic matrix [16] is connected with receiving circuit [17], data acquisition circuit [11], computing machine [12] electric signal successively.
Measuring method of the present invention is: the preliminary work before the first step is measured places sound source [9] under the ultra-short baseline basic matrix.Start sound source [9] Xiang Shuizhong emission amplitude appropriate C W pulse, rotating basic matrix wheelwork [13] makes ultra-short baseline basic matrix [16] corner place initial position, echoed signal in ultra-short baseline basic matrix [16] the reception water is through receiving circuit [17], and output signal is added to the input end of data acquisition circuit [11]; The second stepping line data is gathered, and sound source [9] was constantly launched amplitude appropriate C W pulse in water when, data acquisition circuit [11] was stored in the computing machine [12] according to the synchronizing pulse image data; The 3rd step, rotate basic matrix wheelwork [13], ultra-short baseline basic matrix [16] is horizontally rotated 180 °, repeat the operating process in second step; The 4th step was carried out resolving of additional phase error, the data of utilizing the first step and the second pacing amount to obtain
The data that obtain with the 3rd pacing amount
Calculate the system phase calibration parameter.Additional phase error between primitive in twos on each axis
Can utilize formula
Find the solution out, wherein
With
Be respectively the phase differential between second step and the i primitive that obtains of the 3rd pacing amount and No. 1 primitive, utilize self-adaptation survey phase technology to record.
Represent the additional phase error between i primitive and No. 1 primitive, d
1Be the distance of reference primitive (getting No. 1 primitive here is with reference to primitive) to the basic matrix center, d
iBe the distance of i primitive to the basic matrix center, H is the vertical range between sound source and the ultra-short baseline basic matrix, and λ is a signal wavelength.When system carried out the actual location measurement, the phase of echo difference of target can be by formula
Revise, wherein
Be the notional phase poor (geometric phase is poor) of the target echo that receives of i primitive and No. 1 primitive,
The phase differential of the target echo that the i primitive that measures of expression and No. 1 primitive receive,
Represent the additional phase error between i primitive and No. 1 primitive.Sound source transducer [15] should be measured in advance with the distance of ultra-short baseline basic matrix [16], and the computing machine of packing into [12]; When resolving the primitive additional phase error, can utilize self-compiling program to resolve, also can utilize MATLAB to resolve; Basic matrix wheelwork [13] and ultra-short baseline basic matrix [16] mechanical connection can rotate by horizontal any direction ultra-short baseline basic matrix [16]; Data acquisition circuit [11], computing machine [12] can be the parts of measuring system, also can be the parts of tested sonar system [10]; Should also be noted that in the phase calibration process: sound source [9] should place the position under the ultra-short baseline basic matrix [16] as far as possible, if relative position has error, then calibration accuracy can produce error, and the relative position error is big more, and calibration error is also big more.When site error during at 0.2m, 1,2 primitive calibration errors are 0.1 ‰, but the phase alignment of the primitive [1] of symmetrical primitive such as accompanying drawing 1 and [4] then is not subjected to the influence of sound source and basic matrix relative position.In addition, in whole measuring process, signal can not have many ways effect, to avoid the phase difference measurement mistake.
In sum, the present invention has been owing to adopted data acquisition technology, make this measuring method possessed easy flexibly, efficiency of measurement is high, one-shot measurement can be gathered multi-group data, handles by computing machine, can reduce the stochastic error in the measuring process.In addition, this measuring method make full use of system under test (SUT) self with data acquisition circuit [11] and computing machine [12], reduced and measured used instrument and equipment.The present invention is applicable to fully the measurement of the cross battle array additional phase error of 4n primitives such as 4 primitives, 6 primitives, 8 primitives, also is applicable to the measurement of additional phase error and calibration between primitive in twos on other plane basic matrix axis.
Description of drawings
Figure 18 primitive ultra short baseline locating system basic matrix structural representation
Figure 28 primitive ultra short baseline locating system phase alignment measuring system composition frame chart
Embodiment
The instrument that is adopted in the measuring system of the present invention is the conventional instrument that can buy on the market; Wherein signal source [14] can be that instrument is used in general experiment, and as the signal source of AGILENT33120A model, it can produce the CW pulse signal that the cycle is adjustable, amplitude is adjustable; Transducer [15] is the transducer that is complementary with the sonar system frequency of operation; Data acquisition circuit [11] can be the LA1600 data acquisition unit, also can be other normal data collector, can also be the part of tested sonar system [10]; Basic matrix wheelwork [13] is for measuring the wheelwork of pond special use.
The present invention is example (seeing accompanying drawing 1) with 6 primitive ultra short baseline locating systems, its concrete measuring method is: the first step, transducer [15] is placed 1 meter distant place under the ultra-short baseline basic matrix, produce the CW pulse of 200mV with the signal source of AGILENT33120A model, the Xiang Shuizhong emission, rotate basic matrix wheelwork [13] and make ultra-short baseline basic matrix [16] corner place initial position, the output signal of receiving circuit [17] is added to data acquisition unit LA1600[11] input end; In second step, sound source [9] was constantly launched the CW pulse in water when, data acquisition unit [11] was according to the synchronizing pulse image data; The 3rd step, rotate basic matrix wheelwork [13], ultra-short baseline basic matrix [16] is horizontally rotated 180 °, repeat the operating process in second step; The 4th step, utilize self-adaptation to survey the phase technology, calculate the phase differential between i primitive (i=1,2,3,4,5,6,7,8) here and No. 1 primitive
With
Pass through formula
Calculate the additional phase error between i primitive and No. 1 primitive
When system carried out the actual location measurement, the phase of echo difference of target can be by formula
Revise.
The present invention has utilized data acquisition technology to survey technology mutually with self-adaptation, make this measuring method have easy flexibly, efficiency of measurement is high, the characteristics that measuring error is little, it not only can be used in the pond, also can be used in the waters such as other river, river, lake, sea the measurement to the primitive phase differential.The present invention can be applicable to the calibration measurement of ultra-short baseline basic matrix primitive phase place, also can be applied to the measurement of cross battle array primitive phase place, also is applicable to the measurement of additional phase error and calibration between primitive in twos on other plane basic matrix axis.
Claims (5)
1. primitive ultra short baseline locating system phase measuring system, it is characterized in that it comprises the tested sonar system (10) that is connected and formed by electric signal between ultra-short baseline basic matrix (16) and the receiving circuit (17), the sound source (9) formed of the signal source (14) that links to each other of electric signal and transducer (15) successively, and data acquisition circuit (11), computing machine (12) and basic matrix wheelwork (13) composition; Wherein ultra-short baseline basic matrix (16) has mechanical connection with basic matrix wheelwork (13), and signal source (14) is connected with data acquisition circuit (11) electric signal again.
2. 8 primitive ultra short baseline locating system phase measuring systems as claimed in claim 1 is characterized in that data acquisition circuit (11), computing machine (12) are external standard measuring instruments, or the part of tested sonar system.
3. the calibration steps of a primitive ultra short baseline locating system, this method is utilized the described 8 primitive ultra short baseline locating system phase measuring systems of claim 1, it is characterized in that its calibration steps is as follows:
Preliminary work before the first step is measured places sound source (9) under the ultra-short baseline basic matrix.Start sound source (9) Xiang Shuizhong emission amplitude appropriate C W pulse, rotating basic matrix wheelwork (13) makes ultra-short baseline basic matrix (17) corner place initial position, echoed signal in ultra-short baseline basic matrix (17) the reception water is through receiving circuit (18), and output signal is added to the input end of data acquisition circuit (11);
The second stepping line data is gathered, and sound source (9) was constantly launched amplitude appropriate C W pulse in water when, data acquisition circuit (11) was stored in the computing machine (12) according to the synchronizing pulse image data;
The 3rd step was rotated basic matrix wheelwork (13), and ultra-short baseline basic matrix (17) is horizontally rotated 180 °, repeated the operating process in second step;
The 4th step was carried out resolving of additional phase error, by
Provide the system phase calibration parameter, wherein,
Represent the additional phase error between i primitive and No. 1 primitive,
With
Be respectively the phase differential between second step and the i primitive that obtains of the 3rd pacing amount and No. 1 primitive, d
1Be the distance of reference primitive to the basic matrix center, getting No. 1 primitive here is with reference to primitive, d
iBe the distance of i primitive to the basic matrix center, H is the vertical range between sound source and the ultra-short baseline basic matrix, and λ is a signal wavelength.
4. the calibration steps of 8 primitive ultra short baseline locating systems as claimed in claim 3 is characterized in that if ultra-short baseline basic matrix (16) is changed into the cross battle array of 4n primitives such as 4 primitives, 8 primitives, n=1, and 2,3 ..., this method stands good.
5. the calibration steps of 8 primitive ultra short baseline locating systems as claimed in claim 3 is characterized in that changing ultra-short baseline basic matrix (16) into planar array, and this method also is applicable on the measurement plane basic matrix axis additional phase error between primitive in twos.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1971305B (en) * | 2006-12-01 | 2010-09-08 | 哈尔滨工程大学 | Intelligent responder of deep water |
| CN101109797B (en) * | 2007-07-06 | 2011-11-30 | 哈尔滨工程大学 | Five-time frequency interval ultra-wide frequency band sense finding method based on virtual array extension |
| CN101566691B (en) * | 2009-05-11 | 2012-07-18 | 华南理工大学 | Method and system for tracking and positioning underwater target |
| CN102707262A (en) * | 2012-06-20 | 2012-10-03 | 太仓博天网络科技有限公司 | Sound localization system based on microphone array |
| CN109283511B (en) * | 2018-09-01 | 2022-07-29 | 哈尔滨工程大学 | Wide-coverage multi-beam receiving array calibration method |
| CN109375198B (en) * | 2018-12-10 | 2022-04-29 | 哈尔滨工程大学 | Low-frequency sonar array impedance characteristic calibration method |
| CN109490835B (en) * | 2018-12-26 | 2022-09-23 | 江苏中海达海洋信息技术有限公司 | Water pool calibration method for system error of ultra-short baseline underwater sound positioning system |
| CN110275139B (en) * | 2019-05-31 | 2021-01-05 | 东南大学 | Ultra-short baseline positioning system and method based on rotary primitive multiplexing |
| CN110261824B (en) * | 2019-07-15 | 2024-03-19 | 交通运输部天津水运工程科学研究所 | Ultrashort baseline calibration system and calibration method based on multiple beacons |
| CN110703259B (en) * | 2019-10-22 | 2021-06-18 | 哈尔滨工程大学 | Underwater acoustic array channel phase consistency calibration method based on moving sound source |
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