CN101566691A - Method and system for tracking and positioning underwater target - Google Patents

Method and system for tracking and positioning underwater target Download PDF

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Publication number
CN101566691A
CN101566691A CNA2009100393743A CN200910039374A CN101566691A CN 101566691 A CN101566691 A CN 101566691A CN A2009100393743 A CNA2009100393743 A CN A2009100393743A CN 200910039374 A CN200910039374 A CN 200910039374A CN 101566691 A CN101566691 A CN 101566691A
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processing unit
bluish
laser
central processing
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CN101566691B (en
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韦岗
曾令创
宁更新
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention relates to an underwater target tracking and positioning method, which comprises the following steps that: a central processing unit transmits a starting instruction and required positioning data rate information to a blue and green laser transmitting and receiving integral rotatable device, scans an underwater responder, and transmits a laser signal containing the data rate information to the underwater responder; the underwater responder reflects the laser signal according to the prior path, and a transducer is opened; after the reflected laser signal is received, the transducer transmits a synchronous timing signal to the central processing unit, and the central processing unit begins timing; the underwater responder transmits a periodical frequency hopping pulse signal of corresponding data rate to a hydrophorce according to the data rate information; the hydrophorce transmits a direct signal to the central processing unit; and the central processing unit calculates distance information, corrects the coordinate and calculates the coordinate of the underwater responder. The invention also relates to an underwater target tracking and positioning system. The invention adopts a blue and green laser synchronous time synchronization mechanism and a hydroacoustic frequency hopping mechanism to solve the problems of synchronous error and multi-path interference in the prior short-baseline hydroacoustic positioning system respectively.

Description

A kind of submarine target method for tracking and positioning and system
Technical field
The present invention relates to the communications field, more particularly, relate to a kind of submarine target method for tracking and positioning and system.
Background technology
Acoustic positioning system mainly refers to the track and localization that is used for the regional area object or the navigational system of steamer.Acoustic positioning system can be divided into long base line system, short-baseline system and ultra short base line according to the distance between the primitive (receiver or interrogator).
Publication number is CN101246215A, was the Chinese invention patent application on August 20th, 2008 in open day, be based on long baseline positioning system, form by differential GPS base station, underwater transceivers, GPS buoy and ship base control center, signal by underwater transceivers is calculated the distance of each point to the mistiming of each GPS buoy (at least 4), thereby draws the particular location of submarine target.This technical disadvantages be since primitive distance big (general require hundreds of on km), the turnover rate of position data is lower, reaches a minute level; Laying, calibrate and reclaiming of primitive needs the long time, and these operation process are comparatively complicated.The zone under water that generally is suitable for fixing positions navigation, as underwater construction, bottom cable laying etc.And to the on-fixed zone, locate under water as the frogman, because difficulty, position data turnover rate that primitive is arranged are low, this technology is generally inapplicable.
Traditional short baseline synchronized positioning system synchronously to the time, adopt underwater sound inquiry and response mode to finish.The primitive of short baseline generally is installed on the lash ship or on the portable pedestal, primitive after transponder receives interrogating signal, is beamed back answer signal with another frequency to the interrogating signal of transponder transmission under water under water.Transponder picks up counting after receiving interrogating signal, and the clock of primitive waterborne then deducted for 1/2nd " challenge-response " times by the moment that answer signal arrives.The lash ship primitive detects the answer signal of transponder under water, calculates the distance to each primitive of transponder under water, thereby draws under water transponder with respect to the coordinate of lash ship.Because the distance between primitive is shorter, generally adopt the mode of sync beacon; And because the synchronous clock that sends and receive uses the transmission between the underwater sound signal to determine, the underwater sound signal transmission speed is slow, between primitive and the transponder relative motion may take place, so choosing of synchronization point exists certain error, i.e. synchronous error in signals transmission.Synchronous error is a key factor that influences the positioning system degree of accuracy.
Transponder in the acoustic positioning system is periodically to each primitive transponder pulse, and a problem that must solve is the range ambiguity problem.In sync beacon formula system, beacon is launched sound pulse with period T, and its non-fuzzy distance is cT.When the distance R of beacon and receiver≤cT, can calculate target range.But when R>cT, transmitting of first frame falls into second frame after propagating, cause the observer not know the real travel-time.The possibility of result will be apart from miscalculation, range ambiguity that Here it is.The cycle of transmitting that increases beacon can enlarge the non-fuzzy distance, and for example beacon emissions signal period T increases n doubly, and the non-fuzzy distance also can corresponding increases n times so.But can reduce data rate like this, for the target of high-speed motion, this method is obviously incompatible.
In deep-marine-environment, the DeGrain of multipath need not to carry out too much consideration when track and localization.And when the shallow sea, many ways of underwater sound feature is the most obvious.For example, the homogeneous shallow water that 100m is dark, transmitting-receiving places the 50m degree of depth, at a distance of 10km, under isothermal positive gradient hydrologic condition, sound pulse normalization and time delay that the shock pulse response function is at first reached make zero, then the first reflected sound amplitude thereafter is-0.98, time delay 1.379ms, the second reflected sound amplitude is 0.92, time delay is 5.517ms.The 3rd reflected sound amplitude is-0.893, and time delay is 12.44ms..., and it is important having 9 approach at least, overall delay 67.59ms.This shows, in the shallow sea, because the amplitude of reflected acoustic pulse follows the amplitude of direct sound wave to be more or less the same, so think that the difficulty of directly distinguishing from amplitude is bigger.And method commonly used at present is the time window method---estimate the time that direct signal arrives, receiver is opened in this time period, and received signal, and in the time period, receiver cuts out, and avoids other signals.This method is slow to movement velocity, and the positioning system that data transfer rate is low is effective.And to swiftly passing object, the locator data rate is higher, and the through signal meeting and the reflected signal of a last signal are overlapping, more than one of the signal possibility that receives in time window.If time window is too small, just can not guarantee to receive effective direct signal.
In positioning system in the past, transponder often sends single underwater sound frequency signal.Fuzzy distance problem and multipath transmission problem all can't overcome.Under particularly serious and the situation that noise source is many, be easy to cause the error of location in shallow sea reflectance.For high-speed moving object, the path change of transmission is fast, must take high data transfer rate, can describe movement locus.High Data Rate causes non-fuzzy apart from shortening, when moving object has exceeded the scope of non-fuzzy distance, and the situation that the track and localization of system will occur separating more.For this reason, want in the shallow sea, swiftly passing object to be positioned tracking, must take effective anti-multipath mode.
For swiftly passing object, for its movement locus is more comprehensively described, just must adopt the mode of sync beacon, improve the turnover rate that sync beacon sends locator data simultaneously.And when data updating rate improves, when the distance of R-T unit greater than the one-period pulse transmitted apart from the time, a last pulse signal will drop into the next clock period and detect, it is many-valued to cause measuring distance to occur.So, avoiding measuring distance to occur many-valued and improve on the locator data turnover rate having contradiction.
Than in the pelagic realm, transmission has serious multi-path problem to underwater sound signal in the neritic area, and the power difference between direct signal and the reflected signal is little, is difficult to be distinguished from power.As seen, the mode of traditional positioning system transmission monopulse is difficult to solve the multi-path problem of neritic area.
Summary of the invention
At existing shortcomings and deficiencies in the existing short baseline acoustic positioning system, primary and foremost purpose of the present invention is to provide a kind of submarine target method for tracking and positioning, adopt bluish-green laser synchronously to the time and underwater sound frequency hopping mechanism solved the problem that existing synchronous error and multipath are disturbed in the existing short baseline acoustic positioning system respectively.
Another object of the present invention is to provide a kind of submarine target tracing-positioning system.
The present invention adopts following technical scheme to realize above-mentioned primary and foremost purpose: a kind of submarine target method for tracking and positioning, may further comprise the steps: step 1 receives integrated rotatable device by central processing unit to the bluish-green laser emission and sends open command and needed locator data rate information; Step 2, the bluish-green laser emission receives integrated rotatable device and scans transponder under water, and sends the laser signal that comprises data rate information to transponder; Step 3, transponder is pressed original route and is received integrated rotatable device reflector laser signal to the bluish-green laser emission under water, and transducer is opened; After step 4, green Laser emission receive integrated rotatable device and receive the reflector laser signal, send the time synchronisation signal to central processing unit, central processing unit starts synchronous clock, picks up counting; Step 5, transponder is according to the data rate information that laser signal comprised, to the cycle frequency hopping pulse signal of nautical receiving set emission corresponding data rate under water; Step 6, nautical receiving set is issued central processing unit with the direct signal in the cycle frequency hopping pulse signal; Step 7, central processing unit be according to direct signal, computed range information; According to the signal of angel measuring instrument, carry out coordinates correction; According to the data of depth transducer, calculate the coordinate of transponder under water again.
The present invention adopts following technical scheme to realize above-mentioned another purpose: a kind of submarine target tracing-positioning system, comprise underwater sound basic matrix that signal connects and transponder under water, it is characterized in that: described underwater sound basic matrix comprises the polyhedron pedestal, central processing unit, display device and the depth transducer that is arranged on the polyhedron pedestal bottom surface, at least one angel measuring instrument, at least one nautical receiving set, and the bluish-green laser emission that is arranged on nautical receiving set below receives integrated rotatable device, central processing unit respectively with depth transducer, angel measuring instrument, nautical receiving set, the bluish-green laser emission receives integrated rotatable device signal and connects; Described transponder under water comprises that the bluish-green laser of signal connection receives reflection unit, control center, frequency hopper and underwater acoustic transducer successively; It is the integrated rotatable device of bluish-green laser emission reception institute emitted laser signal that bluish-green laser receives reflection unit institute laser light reflected signal; The underwater sound frequency hopping pulse signal that frequency hopper produced is sent to nautical receiving set by underwater acoustic transducer, and recurrence interval T Stimulated Light signal controlling.
Described polyhedron pedestal is the positive tetrahedron pedestal, and a nautical receiving set is being placed at three angles, pedestal bottom surface respectively, and three nautical receiving sets are formed the hydrophone array that is connected with central processing unit; The underwater sound frequency hopping pulse signal that frequency hopper produced is sent to hydrophone array by underwater acoustic transducer.
Described underwater sound basic matrix also comprises prime amplifier, the hydrophone array processing unit that signal connects, and wherein prime amplifier is connected with hydrophone array, and the hydrophone array processing unit is connected with central processing unit.
Described bluish-green laser emission receives integrated rotatable device and comprises bluish-green laser transmitter and bluish-green laser receiver, and wherein the bluish-green laser receiver comprises the laser pick-off antenna, is connected the photosensitive device between laser pick-off antenna and the central processing unit; Described bluish-green laser receives reflection unit and comprises laser pick-off antenna, photosensitive device, laser amplifier, the laser reflector that connects successively, and wherein photosensitive device is connected with control center.
The pulse rule of described underwater sound frequency hopping pulse signal is: send underwater sound frequency hopping pulse signal with period T, with n period T as a frame; In a frame, the frequency of each periodic signal is floated with f 0In the zone for the center, the frequency interval of adjacent two the frequency hopping pulse signals that sent differs 2 Δ f at least.
Action principle of the present invention is:
One, adopt bluish-green laser synchronously to the time, the accurate tracking location.The bluish-green laser transmitter of underwater sound basic matrix adopts comprehensive scan mode, and transponder is installed the bluish-green laser pick-off reflection unit that has under water.When laser signal scanned under water the transponder surface, transponder received laser signal under water, opened clock.Simultaneously, the laser signal of a part is turned back to water surface bluish-green laser receiver by original route.The bluish-green laser receiver of underwater sound basic matrix also picks up counting after receiving reflected signal.
Because the underwater transmission speed of light is about 22.5 ten thousand kilometers per seconds, and the aerial transmission speed of the underwater sound is about 1.5 kilometers per seconds.Both differ 10 5The order of magnitude.So in short distance, the time of light transmission can ignore with respect to the transmission time of sound.As transmitting the distance of 450m, sound needs 0.3 second, and light only needs 2 microseconds.Both synchronous clock errors are minimum, and the precision of measurement also will improve greatly.Simultaneously, the bluish-green laser receiver of underwater sound basic matrix can detect catoptrical angle, can in time judge the general orientation of transponder under water.
Can take single laser instrument and single nautical receiving set bimodulus mode accurately to draw particular location if be used for to the determining of stationary object position.And for moving object, high-speed moving object particularly, as torpedo, underwater diver and underwater robot etc.,, adopt the mode (as a plurality of nautical receiving sets) of many primitives also can accurate tracking to locate because the moving region may surpass the scope that bluish-green laser can arrive.
Two, based on the data transfer rate control and the underwater sound frequency hopping mechanism of bluish-green laser, solve the multipath interference problem.The present invention proposes the mode of emission cycle frequency hopping pulse signal.After bluish-green laser is determined synchronous start signal, transponder sends cycle frequency hopping pulse signal to hydrophone array according to certain rules under water, make the positioning signal of same frequency widen interval time like this, help the differentiation of hydrophone array direct signal and non-direct signal.After hydrophone array receives the frequency hopping pulse signal and preserves, select direct signal wherein, reject the reflected signal of follow-up arrival, and direct signal is transferred to central processing unit, by central processing unit according to direct signal computed range information.Simultaneously, underwater sound frequency hopping mechanism also makes system under the situation that does not reduce data transfer rate, enlarges the non-fuzzy distance.
To the sub aqua sport object, when movement velocity is fast,, need bigger locator data rate in order accurately to detect to its track; And when movement velocity was slow, the locator data rate need not excessive.In order to adjust data transfer rate as required, the different data rate request of bluish-green laser signal representative of emission different frequency, transponder send corresponding data transfer rate location frequency hopping pulse signal by its requirement after receiving the bluish-green laser signal of this frequency.Can effectively utilize system resource like this.
By above technical scheme and action principle as can be known, with respect to prior art, the present invention has following advantage:
1, synchronously to the time accurate, improved the setting accuracy of short-baseline system.System taked laser to the time, overcome traditional short baseline positioning system take the underwater sound to the time problem accurately not, the degree of accuracy that has improved the system location and followed the tracks of.
2, bluish-green laser answering system has been realized the control of transponder data rate under water.Laser " challenge-response " mechanism can to the instruction of transponder transmission under water, be adjusted the locator data rate according to the speed of object of which movement.For the object of low-speed motion, low locator data rate is taked in laser signal order transponder under water; For swiftly passing object, the laser signal command system is taked high locator data rate.
3, transponder sends the frequency hopping positioning signal, has solved the problem of location fuzzy, has solved the problem that separate more the location in the prior art, can be used for the track following of underwater high-speed moving object.
4, the frequency hopping positioning system has also overcome the problem of neritic area underwater sound multipath serious interference, can rapid differentiation direct signal and reflected signal, be suitable for the comparatively complicated scenes of underwater acoustic channel such as shallow sea.
Description of drawings
Fig. 1 is portable hydrolocation equipment and transponder device one-piece construction synoptic diagram under water;
Fig. 2 is the inner structure module map of underwater sound basic matrix;
Fig. 3 is the inner structure module map of transponder under water;
Fig. 4 is the sequential chart of track and localization in the embodiment of the invention;
Fig. 5 is the workflow diagram of the central processing unit of underwater sound basic matrix among the present invention;
Fig. 6 is the workflow diagram of the control center of transponder under water among the present invention;
Fig. 7 a is the frequency hopping rule synoptic diagram of transponder on time shaft under water;
Fig. 7 b is the frequency distribution synoptic diagram of frequency hopping pulse signal.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, system of the present invention mainly by underwater sound basic matrix and under water transponder form.Figure 2 shows that the inner structure module map of underwater sound basic matrix, as shown in Figure 2, underwater sound basic matrix comprises that pedestal 11, hydrophone array 12, bluish-green laser emission receive integrated rotatable device 13, hydraulic pressure sensor 14, Attitute detecting device 15, central processing unit 16, display device 17.Hydrophone array 12 is connected with hydrophone array processing unit 18 by prime amplifier 19, and central processing unit 16 receives integrated rotatable device 13 with hydrophone array processing unit 18, hydraulic pressure sensor 14, Attitute detecting device 15, display device 17, bluish-green laser emission respectively and is connected.The bluish-green laser emission receives integrated rotatable device 13 and is arranged at the hydrophone array below, as shown in Figure 2, it mainly is made up of bluish-green laser transmitter 130, laser pickoff and whirligig, and wherein laser pickoff comprises laser pick-off antenna 131 and photosensitive device 132; Can 360 ° of rotation sweeps, catch transponder under water.And the positive tetrahedron that pedestal 11 is made up of stainless-steel tube, a nautical receiving set is being placed at three angles, the bottom surface of positive tetrahedron respectively, and three nautical receiving sets are formed hydrophone array 12.Below respectively each module of Fig. 2 is described:
Bluish-green laser transmitter 130: have one in the ocean and be similar to the optical transmission window that exists in the atmosphere, i.e. seawater decay that the blue green light of wavelength in the 0.47-0.58 mu m waveband compared other optical bands is much smaller, the measurement that can be used for submarine target with communicate by letter.YAG frequency multiplication bluish-green laser device is ripe, a most practical present device, because its peak power height, pulse width, the life-span is long, conversion efficiency is higher, volume is little, in light weight, good stability, be not afraid of advantage such as shock and vibration, satisfies demand in the present invention.The requirement of the different data rate that generating laser sends over according to central processing unit also sends the laser signal of different frequency to transponder under water, after transponder is received this frequency, can send corresponding underwater sound frequency hopping pulse signal by this data rate request under water.
Bluish-green laser receiver: form by laser pick-off antenna 131 and photosensitive device 132.Front end at laser pick-off antenna 131 is equipped with convex lens, and the focus place of convex lens is provided with photosensitive device 132.The incident ray planoconvex lens incides photosensitive device 132 after focusing on, and can improve the sensitivity of laser pickoff like this.
Attitute detecting device 15: at sea, because wave etc., lash ship itself may have and wave, and has caused waving of basic matrix under water.And basic matrix self also might be subjected to the influence of current under water and depart from surface level.For making under water transponder, must be revised the position with respect to being the center to receive pedestal.Being installed in two Attitute detecting devices 15 on pedestal 11 bottom surfaces, is exactly as angel measuring instrument, is used for measuring pedestal at the real-time angle of inclination of water.In the present embodiment, Attitute detecting device adopts attitude sensor.The data of two Attitute detecting devices 15 are delivered to central processing unit 16, are used for coordinates correction.
Hydraulic pressure sensor 14: as depth transducer, be installed on pedestal 11 bottom surfaces, be used to detect the degree of depth of basic matrix under water, data are sent to central processing unit 16, the purpose of doing like this is that transponder under water is the coordinate to ship with respect to the coordinate transformation of hydrophone array 12.
Hydrophone array processing unit 18: be connected between prime amplifier 19 and the central processing unit 16; Being used to detect the pulse signal that each nautical receiving set receives is that direct signal also is non-direct signal, and gives central processing unit 16 the direct signal time.After transponder received the signal of generating laser under water, clock picked up counting, and pressed original route reflected back signal.After laser pickoff is received reflected signal, also pick up counting.Because the transmission speed of the light velocity in water is exceedingly fast, in short distance, can ignore (as the distance of transmission 450m, light only needs 2 microseconds).Both synchronous clock errors are minimum.The precision of measuring also will improve greatly.
Central processing unit 16: in open stage, requirement according to external controller, can receive the request signal that integrated rotatable device 13 sends different frequencies to bluish-green laser emission, bluish-green laser transmitter 130 sends different laser pulses to transponder under water according to the difference request.At signal processing stage, direct signal time that is sended over according to hydrophone array processing unit 18 and the time of self compare, and just can draw the distance of object and each nautical receiving set.According to the inclination angle that basic matrix Attitute detecting device 15 sends over, the basic matrix coordinate is proofreaied and correct in real time, obtain the coordinate of transponder.The bathymetric data that obtains according to hydraulic pressure sensor 14 just can obtain the coordinate of transponder with respect to hull bottom again.Coordinate to each time is described, and just can obtain the movement locus of object.
Fig. 3 is the inner structure module map of transponder under water.As shown in figures 1 and 3, transponder comprises that bluish-green laser receives reflection unit 21, control center 22, frequency hopper 24 and underwater acoustic transducer 23 under water.Wherein bluish-green laser reception reflection unit 21 comprises laser pickoff, laser reflector 213, is equipped with laser amplifier 211 before the laser reflector 213; The detected feeble signal of laser pickoff receives on the laser pickoff of integrated rotatable device 13 by bluish-green Laser emission among original route reflected back Fig. 2 through after the amplification of laser amplifier 211.The laser pickoff of Fig. 3 is identical with laser pickoff shown in Figure 2, also is made up of laser pick-off antenna 210 and photosensitive device 212.After laser pickoff is received laser signal, the data rate information that laser signal comprised is issued control center 22; Under the control of control center 22, underwater acoustic transducer 23 sends the underwater sound frequency hopping pulse signal of the corresponding data rate that is produced by frequency hopper 24 to hydrophone array 12.The pulse rule that frequency hopper 24 is produced as shown in Figure 7, wherein, period T is controlled by laser signal.After laser pickoff receives the signal that bluish-green laser transmitter 130 sends over once more, the information of this signal is judged by control center 22, if change the information of data transfer rate, then make corresponding variation, if shutdown command, then order frequency hopper 24 and underwater acoustic transducer 23 to enter dormant state, wait next start signal.
In order to satisfy the needs of following the tracks of high-speed moving object, transponder sends underwater sound frequency hopping pulse signal under water.After receiving the laser start signal, send underwater sound frequency hopping pulse signal with period T, with n period T as a frame.In a frame, the frequency of each periodic signal is floated with f 0In the zone for the center, the size in zone can be regulated according to the needs of anti-multipath, and the frequency interval of adjacent two the frequency hopping pulse signals that sent differs 2 Δ f at least; Specifically shown in Fig. 7 a, in a frame, the frequency in first cycle is f to the frequency hopping rule 0, the frequency of second period is f 0+ 2 Δ f, the frequency in the 3rd cycle is f 0-Δ f, the frequency in the 4th cycle is f 0+ Δ f ..., the periodicity n that comprises in the frame determines according to the needs that overcome multipath.Nautical receiving set can when it is a direct signal, all be given up at this frequency signal that reaches in the time less than nT receiving a certain frequency signal for the first time.This frequency signal that reaches after time at nT, if reflected signal, because through repeatedly reflection, it is suitable faint that this signal can become, control center 22 can clearly tell.
Fig. 4 has expressed the sequential chart of system in the beginning track and localization, and Fig. 5 and Fig. 6 have shown the processing flow chart and the processing flow chart of the control center of transponder under water of the central processing unit of underwater sound basic matrix respectively.The key step of the invention process submarine target location is as follows:
Begin to follow the tracks of: shown in Fig. 4,5, central processing unit receives integrated rotatable device to the bluish-green laser emission and sends open command, comprises required data rate information in the open command.The bluish-green laser emission receives integrated rotatable device and begins rotation sweep transponder under water, sends the laser signal that is comprising data rate information.After scanning under water transponder, transponder reflects this laser signal by original route under water, and underwater transducer is opened simultaneously.After bluish-green laser emission receives integrated rotatable device and receives the reflector laser signal, send the time synchronisation signal to central processing unit, central processing unit starts synchronous clock, picks up counting, and waits the underwater sound frequency hopping pulse signal that transponder under water launches.Transponder is according to the data rate information that laser signal comprised under water, and to the cycle frequency hopping pulse signal of hydrophone array emission corresponding data rate, the frequency hopping rule is shown in Fig. 7 a on request, and the frequency distribution of frequency hopping pulse signal is shown in Fig. 7 b.Hydrophone array begins receiving cycle frequency hopping pulse signal, and distinguishes and differentiate direct signal and reflected signal, and the direct signal of choosing is wherein issued central processing unit.Central processing unit is according to direct signal, computed range information; Receive the signal of Attitute detecting device, draw the inclination situation of pedestal, during calculating its coordinate is carried out correction on the algorithm; According to the data of hydraulic pressure sensor, calculating under water, transponder shows on display screen with respect to the coordinate of hull bottom again.
Change data transfer rate: according to actual needs, when object of which movement speed is very fast,, take higher locator data rate in order to realize accurate Position Tracking; When object of which movement speed is slow,,, can reduce the locator data rate simultaneously also in order to reduce the load of central processing unit in order to save the battery consumption of acoustic responder.At this moment, as shown in Figure 5, the bluish-green laser transmitter of underwater sound basic matrix scans once more, to the laser signal of transponder emission under water.As shown in Figure 6, after the laser pick-off antenna of transponder is received laser signal, press original route reflector laser signal once more under water, after the integrated rotatable device of bluish-green laser emission reception receives the reflector laser signal, the synchronous clock reclocking of central processing unit.The underwater acoustic transducer of transponder is according to the requirement of laser signal under water, and to the cycle frequency hopping pulse signal of hydrophone array transmission corresponding data rate, the frequency hopping rule is shown in Fig. 7 a.
Dwell period: the bluish-green laser emission receives integrated rotatable device to the out code of transponder transmission under water, and transponder cuts out under water, and underwater acoustic transducer enters dormant state, waits for next open command.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (8)

1. submarine target method for tracking and positioning is characterized in that may further comprise the steps:
Step 1 receives integrated rotatable device by central processing unit to the bluish-green laser emission and sends open command and needed locator data rate information;
Step 2, the bluish-green laser emission receives integrated rotatable device and scans transponder under water, and sends the laser signal that comprises data rate information to transponder;
Step 3, transponder is pressed original route and is received integrated rotatable device reflector laser signal to the bluish-green laser emission under water, and transducer is opened;
After step 4, green Laser emission receive integrated rotatable device and receive the reflector laser signal, send the time synchronisation signal to central processing unit, central processing unit starts synchronous clock, picks up counting;
Step 5, transponder is according to the data rate information that laser signal comprised, to the cycle frequency hopping pulse signal of nautical receiving set emission corresponding data rate under water;
Step 6, nautical receiving set is issued central processing unit with the direct signal in the cycle frequency hopping pulse signal;
Step 7, central processing unit be according to direct signal, computed range information; According to the signal of angel measuring instrument, carry out coordinates correction; According to the data of depth transducer, calculate the coordinate of transponder under water again.
2. submarine target method for tracking and positioning according to claim 1 is characterized in that: the pulse rule of the described frequency hopping pulse signal of step 5 is: send underwater sound frequency hopping pulse signal with period T, with n period T as a frame; In a frame, the frequency of each periodic signal is floated with f 0In the zone for the center, the frequency interval of adjacent two the frequency hopping pulse signals that sent differs 2 Δ f at least.
3. submarine target tracing-positioning system according to the described method of claim 1, comprise underwater sound basic matrix that signal connects and transponder under water, it is characterized in that: described underwater sound basic matrix comprises the polyhedron pedestal, central processing unit, display device and the depth transducer that is arranged on the polyhedron pedestal bottom surface, at least one angel measuring instrument, at least one nautical receiving set, and the bluish-green laser emission that is arranged on nautical receiving set below receives integrated rotatable device, central processing unit respectively with depth transducer, angel measuring instrument, nautical receiving set, the bluish-green laser emission receives integrated rotatable device signal and connects; Described transponder under water comprises that the bluish-green laser of signal connection receives reflection unit, control center, frequency hopper and underwater acoustic transducer successively; It is the integrated rotatable device of bluish-green laser emission reception institute emitted laser signal that bluish-green laser receives reflection unit institute laser light reflected signal; The underwater sound frequency hopping pulse signal that frequency hopper produced is sent to nautical receiving set by underwater acoustic transducer, and recurrence interval T Stimulated Light signal controlling.
4. submarine target tracing-positioning system according to claim 3, it is characterized in that: described polyhedron pedestal is the positive tetrahedron pedestal, a nautical receiving set is being placed at three angles, pedestal bottom surface respectively, and three nautical receiving sets are formed the hydrophone array that is connected with central processing unit; The underwater sound frequency hopping pulse signal that frequency hopper produced is sent to hydrophone array by underwater acoustic transducer.
5. submarine target tracing-positioning system according to claim 4, it is characterized in that: described underwater sound basic matrix also comprises prime amplifier, the hydrophone array processing unit that signal connects, wherein prime amplifier is connected with hydrophone array, and the hydrophone array processing unit is connected with central processing unit.
6. submarine target tracing-positioning system according to claim 4, it is characterized in that: described bluish-green laser emission receives integrated rotatable device and comprises bluish-green laser transmitter and bluish-green laser receiver, and wherein the bluish-green laser receiver comprises the laser pick-off antenna, is connected the photosensitive device between laser pick-off antenna and the central processing unit; Described bluish-green laser receives reflection unit and comprises laser pick-off antenna, photosensitive device, laser amplifier, the laser reflector that connects successively, and wherein photosensitive device is connected with control center.
7. submarine target tracing-positioning system according to claim 4 is characterized in that: the pulse rule of described underwater sound frequency hopping pulse signal is: send underwater sound frequency hopping pulse signal with period T, with n period T as a frame; In a frame, the frequency of each periodic signal is floated with f 0In the zone for the center, the frequency interval of adjacent two the frequency hopping pulse signals that sent differs 2 Δ f at least.
8. submarine target tracing-positioning system according to claim 4 is characterized in that: described angel measuring instrument is an Attitute detecting device; Described depth transducer is a hydraulic pressure sensor.
CN2009100393743A 2009-05-11 2009-05-11 Method and system for tracking and positioning underwater target Expired - Fee Related CN101566691B (en)

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