CN101872020A - Underwater moving object location and navigation method and device based on frequency spectrum transformation - Google Patents
Underwater moving object location and navigation method and device based on frequency spectrum transformation Download PDFInfo
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Abstract
The invention relates to an underwater moving object location and navigation method based on frequency spectrum transformation. In the method, (1) an onboard underwater sound transceiver transmits a symmetric triangle frequency modulation signal s(t) to an underwater moving object; (2) an underwater receiver array on an onboard measurement device receives echo signals; (3) the weight number of each array element in the underwater sound receiver array is adjusted by utilizing information of signals in the direction of an incoming wave; and (4) the onboard measurement device determines the coordinates of the underwater moving object in geodetic coordinates. An underwater moving object location and navigation device based on spectrum transformation mainly comprises the onboard measurement device, a shiphull posture correction device, an underwater sound transceiver on the underwater moving object, a water radio transceiver, an array signal processor, a GPS receiver and a microprocessor. The invention can not only track and locate the underwater object above water, seas on shore or in air, but also automatically locate and navigate underwater objects.
Description
Technical field
The present invention relates to a kind of underwater movement objective positioning navigation method and device based on spectrum transformation.
Background technology
Sea and location navigation under water are all ocean development activities and the basic premise of ocean hi-tech development, and sub aqua sport carrier or equipment platform are the important tool of ocean development, in actual applications in order to determine its underwater position, often need to locate.Because electromagnetic wave is decayed in water seriously, the gps system of land is not suitable for the location of submarine target.Sound wave has good propagation characteristic in water, present location under water is a media with the sound wave generally, mainly contains long baseline positioning system, short baseline positioning system and ultra short baseline locating system etc.Supposing under the known situation of the velocity of sound under water that long baseline positioning system obtains distance between measured target and measuring system by the echo round-trip delay, adopts the sphere method of crossing to determine the relative position of measured target.Short baseline determines that by the mistiming that the measurement sound wave arrives each array element range difference utilizes the array element distance of forming short baseline again, adopts the hyperbolic curve method of crossing to determine the target location.Ultra short baseline locating system is formed array by a plurality of nautical receiving sets, distance between each array element is less than half of wave length of sound, therefore accurately time difference measurement is relatively more difficult, often measure incident angle by the phase differential between array element, utilizing straight line to intersect again positions, the bearing accuracy of long baseline is the highest in these several positioning systems, and short baseline takes second place.
The precise time difference measurements is the basis of long baseline and short baseline positioning system.For determining the coordinate of target under earth coordinates, long baseline positioning system requires each array element known to the coordinate under earth coordinates, its job step: the target of request location is sent distance measurement request by a simple signal to seabed underwater sound transceiver, each underwater sound transceiver of forming long baseline positioning system adopts different frequencies to send answer signal after receiving request signal, this signal has comprised the positional information of transponder, and the request localizing objects is estimated self-position by the positional information and the transmission request signal of answer signal with the time delay that receives answer signal.Underwater acoustic channel is the change-space-variant of a change-frequency when extremely complicated random narrow-band channel, have characteristics such as height is decayed, strong multipath disturbs, Doppler frequency deviation is serious, available band is narrow, the particularly strong multipath of these characteristics disturbs reception and the detection to the underwater sound signal of pure-tone polse signal to cause certain interference, has seriously influenced the precision of acoustic positioning system.And the array element distance of forming long baseline positioning system requires greater than 100m, and cloth is put in the diverse location in seabed, needs loaded down with trivial details calibration operation, and these have all limited the application based on the localization method of echo round-trip delay.
Spacing between ultra short baseline locating system array element requires to have the little advantage of volume less than half wavelength, but incident angle is estimated by the phase differential of measuring between array element by system, utilizes straight line to intersect again and positions, and has the not high defective of precision.
Summary of the invention
The objective of the invention is to defective at the prior art existence, a kind of underwater movement objective positioning navigation method based on spectrum transformation is provided, in practical application, the target of being located may with certain radial velocity away from or near measuring system, adopt short-baseline system to measure, utilize the symmetry of symmetric triangular FM signal time-frequency domain that signal is handled estimation echo round-trip delay, has the high advantage of long baseline bearing accuracy, have the little characteristics of short baseline volume again, the present invention also can determine the movement velocity of submarine target in the earth coordinates upper/lower positions at definite submarine target.The present invention can not only carry out track and localization to underwater movement objective from (sea, on the bank or in the air) waterborne, can also realize the robotization location and navigation of submarine target.
Underwater movement objective positioning navigation method based on spectrum transformation of the present invention may further comprise the steps:
(1) boat-carrying underwater sound transceiver is to a underwater movement objective emission symmetric triangular FM signal s (t), and the underwater sound transceiver that is installed on the underwater movement objective amplifies forwarding to received signal;
Described symmetric triangular FM signal s (t)
Wherein
B ', f0, T are respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A and
Be signal amplitude and initial phase, launch FM signal frequency f be
(2) the nautical receiving set array received echoed signal on the boat-carrying measurement mechanism, because the path that direct wave is propagated is less than the echo of boundary reflection, compare direct wave with these echoes and reach the nautical receiving set array at first, utilize array signal processor to handle to received signal, estimate the arrival bearing of direct wave and boundary reflection echo;
(3) utilize the incoming wave directional information to adjust the weights of each array element in the nautical receiving set array, make the wave beam main lobe aim at direct wave, fall into, thereby suppress the interference of multipath echo, improve signal to noise ratio (S/N ratio) and on boundary reflection echo arrival direction, form zero.The output signal S of nautical receiving set array after the weighted
r(t) be
K wherein
rBe decay factor.
If the velocity of propagation of sound wave in water be c, the target distance measurement system is r place and is that v (away from the speed of measuring system for just) moves with the radial velocity that measuring system echo round-trip delay is τ, then
With its substitution S
r(t), the received signal and the into mixing that transmits are taken out frequency and are obtained S than lower part behind low-pass filter
I(t)
The low frequency component that the mixing of last frequency sweep section obtains is delayed time
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, thereby non-stationary signal is converted into a simple signal, its frequency
Because f
0, B, c be known, so the frequency of signal is only relevant with the movement velocity of submarine target.And frequency hopping concerns with the measuring system range-to-go constantly:
Thereby the target speed of obtaining
Target is with respect to the position of measuring system
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to determine the terrestrial coordinate of self, carries out the self-position rectification by the data that the hull attitude apparatus for correcting in the system provides, and determines the coordinate of underwater movement objective under earth coordinates by data fusion then.
On the basis of such scheme, can only realize that the boat-carrying measurement mechanism is to the active location of underwater movement objective.Need following steps for underwater movement objective being followed the tracks of from (sea, on the bank or in the air) waterborne: described step (1) preceding by radio transceiver waterborne by electromagnetic wave to boat-carrying radio transceiver Location Request, the boat-carrying radio transceiver sends this request on the boat-carrying measurement mechanism microprocessor; After step (4), the boat-carrying measurement mechanism sends to radio transceiver waterborne to the position of submarine target and velocity information in electromagnetic mode by self radio electricity transceiver.In order to realize the active location navigation of submarine target, need following steps: the underwater sound transceiver on the preceding underwater movement objective of described step (1) sends positioning request information to the boat-carrying measurement mechanism; After described step (4), the boat-carrying measurement mechanism sends to moving target to the positional information of underwater movement objective in hyperacoustic mode by the underwater sound transceiver of self.
Apparatus of the present invention can be achieved through the following technical solutions: comprise underwater sound transceiver and radio transceiver waterborne on boat-carrying measurement mechanism, the underwater movement objective, wherein the boat-carrying measurement mechanism is a core of the present invention, radio transceiver waterborne can be that independent device also can be embedded in other devices waterborne, communicate by electromagnetic wave and boat-carrying measurement mechanism, the underwater sound transceiver on the underwater movement objective is installed on underwater movement objective and communicates by sound wave and boat-carrying measurement mechanism.Described boat-carrying radio transceiver is connected with the control center microprocessor by data line, address wire and control line, and its monitoring is from Location Request waterborne with to request positioning system transmission positioning result waterborne; Boat-carrying underwater sound transceiver is connected with control center with control line by data line, address wire, it is responsible for monitoring the Location Request under water, under the control of microprocessor, be responsible for emission symmetric triangular FM signal when needing the location, send positioning result by boat-carrying underwater sound transceiver to submarine target finish the estimation of target information when microprocessor after; Array signal processor is connected with the control center microprocessor by data line, address wire and control line, be connected with the nautical receiving set array with control line by data line, be used to finish the pre-service of received signal and the time delay estimation of DOA, secondary mixing signal frequency and direct wave; The nautical receiving set array is connected with the control center microprocessor by control line, is connected with array signal processor with control line by data line, is responsible for receiving echoed signal; Hull attitude apparatus for correcting is connected with the control center microprocessor by data line, address wire and control line, be used to measure since hull about with swing up and down the error that is caused, for the rectification of hull attitude provides information; The GPS receiver is connected with the control center microprocessor by data line, address wire and control line, is used to receive the signal by satellite and GPS base station, thus the definite position of ship under earth coordinates; Microprocessor is the control center of this device, it is after receiving the positioning request information that transmits from boat-carrying radio transceiver and boat-carrying underwater sound transceiver, control boat-carrying underwater sound transceiver emission symmetric triangular FM signal, start the GPS receiver, hull attitude apparatus for correcting, nautical receiving set array and array signal processor work, the DOA that it provides array signal processor after these modules are finished corresponding work, the round-trip delay of secondary mixing signal frequency and direct wave is estimated, thereby the hull positional information that rectification information that hull attitude apparatus for correcting provides and GPS receiver provide is carried out data and is merged position and the velocity information of determining submarine target, and the source decision according to Location Request sends positioning result by boat-carrying radio transceiver or boat-carrying underwater sound transceiver again.
Underwater sound transceiver on the underwater movement objective adopts the transducer of bistatic, and wherein receiving transducer is connected with the channel-monitoring circuit with bandpass filter by signal wire; Transmitting transducer is connected with modulator-demodular unit with amplifier; The channel-monitoring circuit is connected with receiving transducer, microprocessor, and it judges according to the signal that receiving transducer received whether channel has signal, if having then send information to microprocessor, starts its building block work by microprocessor; Signal detector is connected with amplifier signal, be connected with microprocessor by control line, when tested signal is the symmetric triangular FM signal, signal detector transmits high level (perhaps low level) signal to microprocessor, and little processing controls amplifier amplifies the back to the signal that is received and launched by transmitting transducer.When tested signal was not the symmetric triangular FM signal, detecting device transmitted low level (perhaps high level) signal to microprocessor, the information that the microprocessor receiving modem transmits.Bandpass filter is connected with receiving transducer, amplifier, is used to take out the signal of specific bandwidth, and reducing noise provides signal to noise ratio (S/N ratio); Amplifier is connected with bandpass filter, microprocessor, modulator-demodular unit and transmitting transducer, is used for amplifying signal; Modulator-demodular unit is connected with microprocessor, transmitting transducer, amplifier, is used for modulation and demodulation information.
Compared to existing technology, the present invention has following advantage and beneficial effect:
1, at the low characteristic of the underwater acoustic channel rate of information throughput, the present invention does not send the information of frame of reference, but launch a symmetric triangular FM signal, utilize its time-frequency domain characteristics, signal is become the signal that a frequency hopping point is arranged by secondary mixing, frequency after the saltus step is only relevant with target speed, and the signal frequency jumping moment corresponds to the direct wave round-trip delay.Principle of work is simple, is the frequency of signal owing to what estimate simultaneously, has overcome the influence of threshold value in the long baseline localization method, has improved the measuring accuracy of system.
2, the good characteristic that transmits makes the present invention can be as long baseline positioning system---by the round-trip delay measuring distance, have the high characteristics of measuring accuracy, overcome of the requirement of long baseline positioning system simultaneously, avoided laying of transponder arrays under water loaded down with trivial details work such as to determine with coordinate to array element distance.
3, only just work after receiving of the present invention from waterborne and under water Location Request, when not from waterborne and under water Location Request, other parts of the present invention all are in dormant state except that three monitoring modules, and the power consumption I extends the life of a cell.
Description of drawings
Fig. 1 is a device block diagram of the present invention;
Fig. 2 is a boat-carrying measurement mechanism schematic block circuit diagram of the present invention;
Fig. 3 is the underwater sound transceiver circuit theory diagram on the underwater movement objective of the present invention;
Fig. 4 is the underwater sound transceiver received signal workflow diagram on the underwater movement objective of the present invention;
Fig. 5 is the workflow diagram of control center in the boat-carrying measurement mechanism of the present invention;
Fig. 6 is nautical receiving set array of the present invention and Array Signal Processing module frame chart;
Fig. 7 is the time-frequency synoptic diagram of symmetric triangular FM signal Frequency mixing processing of the present invention;
Fig. 8 is the schematic flow sheet of the invention process tracking mode localization method waterborne;
Fig. 9 is the invention process schematic flow sheet of active localization method under water.
Embodiment
The present invention adopts the symmetric triangular FM signal as transmitting, utilize the symmetry of frequency sweep section up and down, obtain a simple signal relevant by secondary mixing with velocity to moving target, and the due in of corresponding target reflection echo of the frequency hopping moment, can be by spectrum transformation in the hope of respective frequencies f
ΔWith frequency hopping moment τ, utilize
Try to achieve the movement velocity of target, utilize
Try to achieve the distance of target to the boat-carrying measurement mechanism.
The present invention is further described below in conjunction with drawings and embodiments.
As shown in Figure 1, the underwater movement objective locating device that the present invention is based on spectrum transformation is made up of the underwater sound transceiver C on boat-carrying measurement mechanism A, radio transceiver B waterborne and the underwater movement objective, boat-carrying measurement mechanism A carries out information transmission by electromagnetic wave signal and radio transceiver B waterborne, and boat-carrying measurement mechanism A adopts the underwater sound transceiver C on acoustical signal and the underwater movement objective to carry out information transmission.Wherein the functional module of boat-carrying measurement mechanism A comprises Location Request detection module 5, emission symmetric triangular FM signal module 6, nautical receiving set array and the Array Signal Processing module 7 that connects successively, radio transceiver chip 3 and underwater sound transceiver module 4 are accepted respectively from positioning request signal waterborne and under water, and be connected with the Location Request detection module, determine that hull positional information module 8, ship attitude rectification module 9, nautical receiving set array and Array Signal Processing module 7, radio transceiver chip 3 and underwater sound transceiver module 4 are connected with data fusion module 10 respectively.
As shown in Figure 2, the hardware circuit of boat-carrying measurement mechanism mainly contains little processing 21, underwater sound transceiver 22, nautical receiving set array 23, array signal processor 24, GPS receiver 25, hull attitude apparatus for correcting 26, radio transceiver 27 and forms jointly.Microprocessor 21 as control center can be DSP or MCU chip, and it is the control center of system, coordinates each building block work and realizes data fusion module function among Fig. 1; Boat-carrying underwater sound transceiver 22 is realized the function of Location Request detection module 5, underwater sound transceiver module 4 and emission symmetric triangular FM signal module 6 under the control of microprocessor, when being in position fixing process, its launches symmetric triangular FM signal, and this signal is sent to nautical receiving set array and Array Signal Processing module 7; Array signal processor 24 can adopt FPGA or DSP and peripheral circuit thereof to realize, finishes the function of received signal and Array Signal Processing module jointly with nautical receiving set array 23; GPS receiver 25 realizes determining the function of hull positional information module; Hull attitude apparatus for correcting 26 is realized the function of ship attitude rectification module; Radio transceiver 27 is realized the function of Location Request detection module 5 and radio transceiver chip.
As shown in Figure 3, the hardware circuit of the underwater sound transceiver on the underwater movement objective comprises receiving transducer 31, bandpass filter 32, amplifier 33, signal detector 34, microprocessor 35 and modulator-demodular unit 36, transmitting transducer 37, the channel-monitoring circuit 38 that connects successively.Wherein channel-monitoring circuit 38 is used for the state of monitor channel; Signal detector 34 is connected with microprocessor 35 with amplifier 33, and the signal that is used for the reception of receiving transducer receipts carries out frequency detecting, judges and receives whether the signal that receives is the symmetric triangular FM signal; Microprocessor 35 is control centers of this part, is connected with signal detector 34, amplifier 33 and modulator-demodular unit 36, channel-monitoring circuit 38, and the definite signal type of judged result decision of its received signal detector 34 is made response again.
As shown in Figure 4, the underwater sound transceiver received signal workflow on the underwater movement objective may further comprise the steps:
(1) by the state of channel-monitoring circuit by the signal monitoring underwater acoustic channel that receiving transducer received, when the channel-monitoring circuit listened to channel for the free time, microprocessor did not respond, and continued the state of monitor channel; When the channel-monitoring circuit listens to channel when busy, send this information to microprocessor; (step 41,42)
(2) when channel when busy, microprocessor starts bandpass filter and amplifier the signal of receiving transducer is carried out pre-service, then signal is input to signal detector 34, is detected by 34 pairs of signals that received of signal detector; (step 43,44)
(3) when the signal that receives is the symmetric triangular FM signal, the microprocessor control amplifier amplifies to received signal then and sends this signal by transmitting transducer, remove the information in the modulator-demodular unit, the information of microprocessor receiving modem when the signal that receives is not the symmetric triangular FM signal, microprocessor continues the state of monitor channel then.(step 44,45,46)
As shown in Figure 5, the workflow of control center may further comprise the steps in the boat-carrying measurement mechanism:
(1) starts boat-carrying radio transceiver and boat-carrying underwater sound transceiver, monitor Location Request waterborne and respectively under water; (step 50)
(2) after boat-carrying radio transceiver or boat-carrying underwater sound transceiver are received from waterborne or under water positioning request signal, this information is sent to control center's microprocessor, microprocessor starts boat-carrying underwater sound transceiver and launches the symmetric triangular FM signal under water, then starts GPS receiver, ship attitude apparatus for correcting, nautical receiving set array and array signal processor; (step 51,52,53,54,55)
(3) the GPS receiver provides the hull positional information, because the meetings such as swing of hull affect to the position of boat-carrying measurement mechanism, ship attitude apparatus for correcting will provide the rectification information of hull position, array signal processor provides the frequency information behind arrival bearing, round-trip delay and the secondary mixing of signal, control center's microprocessor receives these information line data of going forward side by side and merges, thereby determines the position and the speed of submarine target; (step 52,53,54,55,56)
(4) control center's microprocessor is according to the source of request location, if then utilize the boat-carrying radio transceiver to send the position and the velocity information of submarine target, if Location Request is under water then utilize boat-carrying underwater sound transceiver to send the positional information of submarine target from radio request waterborne.( step 57,58,59)
As shown in Figure 6, nautical receiving set array and Array Signal Processing module mainly by the nautical receiving set array 61 that contains N array element, a N bandpass filter 62, a N amplifier 63, N road A/D converter 64_1, array signal processor 65, transmit 66, low-pass filter 67_1, time-delay T/2 circuit 69, Hi-pass filter 67_2, A/D converter 64_2 form, wherein N bandpass filter 62 taken out the signal of special frequency band to reduce noise, the raising signal to noise ratio (S/N ratio); Because the signal amplitude received is less, is unfavorable for carrying out the A/D conversion and therefore signal is carried out analog to digital conversion after by amplifier 63 again; Array signal processor can adopt DSP or FPGA to realize, it at first utilizes nautical receiving set array received signal, carry out the DOA estimation 65_1 of direct wave and boundary reflection echo according to the phase differential of each array element received signal, then utilize DOA information to adjust the weights of each array element, make direct wave aligning wave beam main lobe and on boundary reflection echo direction, form zero and fall into, estimate the frequency and the frequency hopping moment difference on the frequency f thereof of secondary mixing signal at last
ΔWith round-trip delay τ.
The workflow diagram of nautical receiving set array and array signal processor as shown in Figure 6, concrete workflow is as follows:
(1) nautical receiving set array and array signal processor be after receiving the startup command that boat-carrying measurement mechanism control center microprocessor sends, and the beginning received signal is also handled it.
(2) since between 2 the distance of straight line the shortest, so direct wave reaches the nautical receiving set array the earliest.If the signal that system launched is a narrow band signal, then can use DOA estimating algorithm commonly used such as MUSIC to estimate the arrival bearing of direct wave and boundary reflection echo, the weights that utilize DOA information to adjust each array element correspondence in the nautical receiving set array make the nautical receiving set array form wave beam on the direct wave arrival direction, form zero and fall on boundary reflection echo direction.Keep the pairing weights of each sensor, the wave beam that makes sensor array form is aimed at the direction that direct wave arrives, and disturbs thereby suppress multipath, improves signal to noise ratio (S/N ratio).
(3) the symmetric triangular FM signal that signal after the nautical receiving set array weight is sued for peace and boat-carrying underwater sound transceiver are sent is carried out mixing, obtains both difference on the frequencies by low-pass filter.The time-frequency figure of low-frequency range as shown in Figure 7 after the Frequency mixing processing, because Doppler's influence, signal after the last frequency sweep section of direct wave and following frequency sweep segment signal and the mixing that transmits is through still being linear FM signal behind the low-pass filter, accurate spectrum estimation is difficulty relatively.
(4) linear FM signal is a non-stationary signal, and its parameter estimation is difficulty relatively, and in order to obtain the signal of single frequency, the last frequency sweep segment signal of the present invention after mixing delayed time
After again with mixing after following swept-frequency signal carry out secondary mixing, taking out the higher component of its frequency by Hi-pass filter, and this component is a simple signal, the frequency of this signal is exactly the difference on the frequency of formula (6).
(5) utilize C.Yang, G.Wei, people such as and F.J.Chen deliver is entitled as " the auto-correlation frequency estimator of expansion " (" An Estimation-Range Extended Autocorrelation-Based Frequency Estimator ", Journal on Advances in Signal Processing, vol.2009, Article ID 961938,2009.doi:10.1155/2009/961938.) the frequence estimation method that proposed makes up frequency estimator, and the secondary mixing signal subsection is carried out Frequency Estimation.
(6) result of calculation of array signal processor receive frequency estimator if the frequency of signal is a variations per hour, thinks that then this signal is the signal before direct wave arrives; When the frequency of signal is that a constant can be thought and comprises the direct wave signal in the signal that receives, this constant is relevant with the speed of target, estimates result determine to transmit mistiming τ with received signal according to frequency estimator.
(7) array signal processor is sent to control center's microprocessor to the direct wave arrival bearing angle θ of estimation, frequency and echo round-trip delay estimation result.
Above-mentioned underwater movement objective localization method based on spectrum transformation has two kinds of working methods, and a kind of is tracking mode localization method waterborne, as shown in Figure 8, may further comprise the steps:
(1) when needing understand the motion state of submarine target, by waterborne radio transceiver transmitted radio signal to boat-carrying measurement mechanism sends Location Request when system waterborne (on the sea, or in the air have the system of radio transceiver two functions) on the bank; (step 81)
(2) radio transceiver on the boat-carrying measurement mechanism passes to control center's microprocessor to this information after receiving the positioning request signal that system waterborne sends, microprocessor control boat-carrying underwater sound transceiver sends the symmetric triangular FM signal, starts nautical receiving set array and array signal processor, GPS receiver, hull attitude apparatus for correcting; (step 82)
(3) microprocessor of boat-carrying measurement mechanism utilizes the GPS operation of receiver to determine the three-dimensional coordinate of hull, the rectification information of utilizing hull attitude apparatus for correcting to provide reduces waving of ship etc. the hull position is impacted, the arrival bearing, frequency and the echo round-trip delay that utilize array signal processor to provide are estimated the position and the speed of submarine target relative measurement device, determine coordinate and the speed of submarine target under earth coordinates thereby carry out data fusion then; (step 83)
(4) control center's microprocessor is the result of step 83---and the speed and the positional information of submarine target send to request positioning system waterborne by the boat-carrying radio transceiver.(step 84)
The another kind of working method of above-mentioned localization method is active under water localization method, be that underwater movement objective initiatively sends Location Request, thereby the boat-carrying measurement mechanism sends positioning result to underwater movement objective by underwater acoustic channel and realizes active location under water, as shown in Figure 9, may further comprise the steps:
(1) when underwater movement objective need be understood the positional information of self, sends the hydrolocation request signal to the boat-carrying measurement mechanism by the underwater sound transceiver on the underwater movement objective; (step 91)
(2) underwater sound transceiver on the boat-carrying measurement mechanism passes to control center's microprocessor to positioning request information under water after receiving the signal that underwater sound transceiver sends, microprocessor control boat-carrying underwater sound transceiver sends the symmetric triangular FM signal, starts nautical receiving set array and array signal processor, GPS receiver, hull attitude apparatus for correcting; (step 92)
(3) microprocessor of boat-carrying measurement mechanism utilizes the GPS operation of receiver to determine the three-dimensional coordinate of hull, the rectification information of utilizing hull attitude apparatus for correcting to provide reduces waving of ship etc. the hull position is impacted, the arrival bearing, frequency and the echo round-trip delay that utilize array signal processor to provide are estimated the position and the speed of submarine target relative measurement device, determine coordinate and the speed of submarine target under earth coordinates thereby carry out data fusion then; (step 93)
(4) positional information of control center's microprocessor underwater movement objective that step 93 is obtained sends to underwater movement objective by boat-carrying underwater sound transceiver.(step 94)
The present invention only just works after receiving from waterborne and under water Location Request, when not from waterborne and under water Location Request, module---the channel-monitoring circuit of the underwater sound transceiver on boat-carrying radio transceiver and boat-carrying underwater sound transceiver and the underwater movement objective is in running order to have only three monitorings, other all are in dormant state, and the power consumption I extends the life of a cell.Because boat-carrying radio transceiver and boat-carrying underwater sound transceiver are constantly monitored from Location Request waterborne and under water, and this device can be responded rapidly from location navigation request waterborne and under water.
Claims (5)
1. underwater movement objective positioning navigation method based on spectrum transformation is characterized in that may further comprise the steps:
(1) boat-carrying underwater sound transceiver is to a underwater movement objective emission symmetric triangular FM signal s (t), and the underwater sound transceiver that is installed on the underwater movement objective amplifies forwarding to received signal;
Described symmetric triangular FM signal s (t)
Wherein
B ', f0, T are respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A and
Be signal amplitude and initial phase, launch FM signal frequency f be
(2) the nautical receiving set array received echoed signal on the boat-carrying measurement mechanism utilizes array signal processor to handle to received signal, estimates the arrival bearing of direct wave and boundary reflection echo;
(3) utilize the incoming wave directional information to adjust the weights of each array element in the nautical receiving set array, make the wave beam main lobe aim at direct wave, fall into and on boundary reflection echo arrival direction, form zero; The output signal S of nautical receiving set array after the weighted
r(t) be
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, the target distance measurement system is r place and is that v moves with the radial velocity, and for just, measuring system echo round-trip delay is τ, then away from the speed of measuring system
With its substitution S
r(t), received signal is carried out mixing with transmitting, and takes out frequency and obtain S than lower part behind low-pass filter
I(t)
The low frequency component that the mixing of last frequency sweep section obtains is delayed time
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, and non-stationary signal is converted into a simple signal, its frequency
f
0, B, c be known, the frequency of signal is only relevant with the movement velocity of submarine target; And frequency hopping concerns with the measuring system range-to-go constantly:
Obtain target speed
Target is with respect to the position of measuring system
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to determine the terrestrial coordinate of self, carries out the self-position rectification by the data that the hull attitude apparatus for correcting in the system provides, and determines the coordinate of underwater movement objective under earth coordinates by data fusion then; Realize that the boat-carrying measurement mechanism is to the active location of underwater movement objective.
2. underwater movement objective positioning navigation method based on spectrum transformation is characterized in that may further comprise the steps:
(1) by radio transceiver waterborne by electromagnetic wave to boat-carrying radio transceiver Location Request, the boat-carrying radio transceiver sends this request on the boat-carrying measurement mechanism microprocessor;
Described symmetric triangular FM signal s (t) is:
Wherein
B ', f0, T are respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A and
Be signal amplitude and initial phase, launch FM signal frequency f be
Boat-carrying underwater sound transceiver is to a underwater movement objective emission symmetric triangular FM signal s (t), and the underwater sound transceiver that is installed on the underwater movement objective amplifies forwarding to received signal;
(2) the nautical receiving set array received echoed signal on the boat-carrying measurement mechanism utilizes array signal processor to handle to received signal, estimates the arrival bearing of direct wave and boundary reflection echo;
(3) utilize the incoming wave directional information to adjust the weights of each array element in the nautical receiving set array, make the wave beam main lobe aim at direct wave, fall into and on boundary reflection echo arrival direction, form zero; The output signal S of nautical receiving set array after the weighted
r(t) be
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, the target distance measurement system is r place and is that v moves with the radial velocity, and for just, measuring system echo round-trip delay is τ, then away from the speed of measuring system
With its substitution S
r(t), received signal is carried out mixing with transmitting, and takes out frequency and obtain S than lower part behind low-pass filter
I(t)
The low frequency component that the mixing of last frequency sweep section obtains is delayed time
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, and non-stationary signal is converted into a simple signal, its frequency
f
0, B, c be known, the frequency of signal is only relevant with the movement velocity of submarine target; Frequency hopping concerns with the measuring system range-to-go constantly:
Obtain target speed
Target is with respect to the position of measuring system
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to determine the terrestrial coordinate of self, carries out the self-position rectification by the data that the hull attitude apparatus for correcting in the system provides, and determines the coordinate of underwater movement objective under earth coordinates by data fusion then;
The boat-carrying measurement mechanism sends to radio transceiver waterborne to the position of submarine target and velocity information in electromagnetic mode by the boat-carrying radio transceiver; Realize that the boat-carrying measurement mechanism is to the active location of underwater movement objective with from waterborne, sea, follow the tracks of underwater movement objective on the bank or in the air.
3. underwater movement objective positioning navigation method based on spectrum transformation is characterized in that may further comprise the steps:
(1) underwater sound transceiver on the underwater movement objective sends positioning request information to the boat-carrying measurement mechanism; Boat-carrying underwater sound transceiver is to a underwater movement objective emission symmetric triangular FM signal s (t), and the underwater sound transceiver that is installed on the underwater movement objective amplifies forwarding to received signal;
Described symmetric triangular FM signal s (t) is:
Wherein
B ', f0, T are respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A and
Be signal amplitude and initial phase, launch FM signal frequency f be
Boat-carrying underwater sound transceiver is to a underwater movement objective emission symmetric triangular FM signal s (t), and the underwater sound transceiver that is installed on the underwater movement objective amplifies forwarding to received signal;
(2) the nautical receiving set array received echoed signal on the boat-carrying measurement mechanism utilizes array signal processor to handle to received signal, estimates the arrival bearing of direct wave and boundary reflection echo;
(3) utilize the incoming wave directional information to adjust the weights of each array element in the nautical receiving set array, make the wave beam main lobe aim at direct wave; The output signal S of nautical receiving set array after the weighted
r(t) be
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, the target distance measurement system is r place and is that v moves with the radial velocity, and for just, measuring system echo round-trip delay is τ away from the speed of measuring system,
With its substitution S
r(t), received signal is carried out mixing with transmitting, and takes out frequency and obtain S than lower part behind low-pass filter
I(t)
The low frequency component that the mixing of last frequency sweep section obtains is delayed time
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, and non-stationary signal is converted into a simple signal, its frequency
f
0, B, c be known, the frequency of signal is only relevant with the movement velocity of submarine target; And frequency hopping concerns with the measuring system range-to-go constantly:
Obtain target speed
Target is with respect to the position of measuring system
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to determine the terrestrial coordinate of self, carries out the self-position rectification by the data that the hull attitude apparatus for correcting in the system provides, and determines the coordinate of underwater movement objective under earth coordinates by data fusion then; Realize that the boat-carrying measurement mechanism is to the active location of underwater movement objective; The boat-carrying measurement mechanism sends to moving target to the positional information of underwater movement objective in hyperacoustic mode by the transceiver under water of self; Realize the active location navigation of submarine target.
4. the underwater movement objective positioning navigation device based on spectrum transformation is characterized in that comprising
The boat-carrying measurement mechanism---hull attitude apparatus for correcting, radio transceiver waterborne, array signal processor, GPS receiver, microprocessor are installed;
Hull attitude apparatus for correcting---be connected with the control center microprocessor by data line, address wire and control line, be used to measure since hull about and swing up and down the error that is caused, for the hull attitude is provided by the information that provides;
Underwater sound transceiver on the underwater movement objective---be connected with control center by data line, address wire and control line, it is responsible for monitoring the Location Request under water, under the control of microprocessor, be responsible for emission symmetric triangular FM signal during the location, send positioning result by boat-carrying underwater sound transceiver to submarine target finish the estimation of target information when microprocessor after; The nautical receiving set array is connected with the control center microprocessor by control line, is connected with array signal processor with control line by data line, is responsible for receiving echoed signal;
Radio transceiver waterborne---be independent device or be embedded in other devices waterborne, communicate by electromagnetic wave and boat-carrying measurement mechanism; Be connected with the control center microprocessor by data line, address wire and control line, its is monitored from Location Request waterborne with to request positioning system waterborne and sends positioning result;
Array signal processor---be connected with the control center microprocessor by data line, address wire and control line, be connected with the nautical receiving set array with control line by data line, be used to finish the pre-service of received signal and the time delay estimation of DOA, secondary mixing signal frequency and direct wave;
The GPS receiver---be connected with the control center microprocessor by data line, address wire and control line, be used to receive signal, thereby determine the position of ship under earth coordinates by satellite and GPS base station;
Microprocessor---after receiving the positioning request information of sending from boat-carrying radio transceiver and boat-carrying underwater sound transceiver, control boat-carrying underwater sound transceiver emission symmetric triangular FM signal, start the GPS receiver, hull attitude apparatus for correcting, nautical receiving set array and array signal processor work, the DOA that it provides array signal processor after these modules are finished corresponding work, the time delay of secondary mixing signal frequency and direct wave is estimated, thereby the hull positional information that rectification information that hull attitude apparatus for correcting provides and GPS receiver provide is carried out data and is merged position and the velocity information of determining submarine target, and the source decision according to Location Request sends positioning result by boat-carrying radio transceiver or boat-carrying underwater sound transceiver again.
5. device according to claim 4 is characterized in that underwater sound transceiver on the underwater movement objective adopts the transducer of bistatic, and wherein receiving transducer is connected with the channel-monitoring circuit with bandpass filter by signal wire; Transmitting transducer is connected with modulator-demodular unit with amplifier; The channel-monitoring circuit is connected with receiving transducer, microprocessor, and it judges according to the signal that receiving transducer received whether channel has signal, if having then send information to microprocessor, starts its building block work by microprocessor; Signal detector is connected with amplifier signal, be connected with microprocessor by control line, when tested signal is the symmetric triangular FM signal, signal detector transmits high level or low level signal to microprocessor, and little processing controls amplifier amplifies the back to the signal that is received and launched by transmitting transducer; When tested signal was not the symmetric triangular FM signal, detecting device transmitted low level or high level signal to microprocessor, the information that the microprocessor receiving modem transmits; Bandpass filter is connected with receiving transducer, amplifier, is used to take out the signal of specific bandwidth, and reducing noise provides signal to noise ratio (S/N ratio); Amplifier is connected with bandpass filter, microprocessor, modulator-demodular unit and transmitting transducer, is used for amplifying signal; Modulator-demodular unit is connected with microprocessor, transmitting transducer, amplifier, is used for modulation and demodulation information.
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