CN101872020B - 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
- Publication number
- CN101872020B CN101872020B CN2010102046637A CN201010204663A CN101872020B CN 101872020 B CN101872020 B CN 101872020B CN 2010102046637 A CN2010102046637 A CN 2010102046637A CN 201010204663 A CN201010204663 A CN 201010204663A CN 101872020 B CN101872020 B CN 101872020B
- Authority
- CN
- China
- Prior art keywords
- signal
- boat
- underwater
- carrying
- measurement mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
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 practical application, in order to confirm 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 that long baseline positioning system obtains the distance between measured target and measuring system through the echo round-trip delay under the known situation of the velocity of sound under water, adopt the sphere method of crossing to confirm the relative position of measured target.Short baseline confirms that through the mistiming that measurement of sound arrives each array element range difference utilizes the array element distance of forming short baseline again, adopts the hyperbolic curve method of crossing to confirm the target location.Ultra short baseline locating system is formed array by a plurality of nautical receiving sets; Distance between each array element is half the less than wave length of sound; Therefore accurately time difference measurement is relatively more difficult, often measures incident angle through the phase differential between array element, utilizes straight line to intersect again and positions; The bearing accuracy of long baseline is the highest in these several kinds of 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 confirming 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 through 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 through 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 through 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 to 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 maybe 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; Have the high advantage of long baseline bearing accuracy, have the little characteristics of short baseline volume again, the present invention also can confirm 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;
Said 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
are signal amplitude and initial phase, launch FM signal frequency f do
(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 the interference of inhibition multipath echo improves 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) do
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), receive signal and transmit into mixing, behind low-pass filter, take out frequency and obtain S than lower part
I(t)
Delay time the low frequency component that the mixing of last frequency sweep section obtains
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, thereby is converted into a simple signal, its frequency to non-stationary signal
Because f
0, B, c be known, so the frequency of signal is only relevant with the movement velocity of submarine target.The frequency hopping time and the measurement system to the target distance relationship:
to obtain the target velocity
target position relative to the measurement system
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to confirm the terrestrial coordinate of self, carries out the self-position rectification through the data that the hull attitude apparatus for correcting in the system provides, and confirms the coordinate of underwater movement objective under earth coordinates through 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.In order underwater movement objective to be carried out the need of tracking servo following steps from (sea, on the bank or in the air) waterborne: said step (1) preceding by radio transceiver waterborne through 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 with electromagnetic mode through 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 said step (1) sends positioning request information to the boat-carrying measurement mechanism; After said step (4), the boat-carrying measurement mechanism sends to moving target to the positional information of underwater movement objective with hyperacoustic mode through the underwater sound transceiver of self.
Apparatus of the present invention can realize through following technical scheme: 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 through electromagnetic wave and boat-carrying measurement mechanism, the underwater sound transceiver on the underwater movement objective is installed on underwater movement objective and communicates through sound wave and boat-carrying measurement mechanism.Said boat-carrying radio transceiver is connected with the control center microprocessor through 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 through 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, after the estimation of microprocessor completion target information, send positioning result to submarine target by boat-carrying underwater sound transceiver; Array signal processor is connected with the control center microprocessor through data line, address wire and control line; Be connected with the nautical receiving set array with control line through data line, be used to accomplish the pre-service of reception 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 through control line, is connected with array signal processor with control line through data line, responsible reception echoed signal; Hull attitude apparatus for correcting is connected with the control center microprocessor through 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 rectification of hull attitude provides information; The GPS receiver is connected with the control center microprocessor through 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 GPS receiver, hull attitude apparatus for correcting, nautical receiving set array and array signal processor work; Thereby the hull positional information that rectification information that the round-trip delay of it provides array signal processor after these modules are accomplished corresponding work DOA, secondary mixing signal frequency and direct wave is estimated, hull attitude apparatus for correcting provides and GPS receiver provide is carried out data and is merged position and the velocity information of confirming submarine target, sends positioning result according to the source decision of Location Request 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 BPF. through 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 through control line; When seized 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 seized 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.BPF. 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 BPF., 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.
Compare existing technology, the present invention has following advantage and beneficial effect:
1, to 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, and utilize its time-frequency domain characteristics, become signal the signal that a frequency hopping point is arranged through 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---through 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 complicated work such as to confirm 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 receives the signal workflow diagram for the underwater sound transceiver 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 implements the schematic flow sheet of tracking mode localization method waterborne for the present invention;
Fig. 9 implements the schematic flow sheet of active localization method under water for the present invention.
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 through secondary mixing with velocity to moving target; And the due in of corresponding target reflection echo of the frequency hopping moment, can be through 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.
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
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 through 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 is accepted respectively from positioning request signal waterborne and under water with underwater sound transceiver module 4; And be connected with the Location Request detection module, confirm 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 the 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 is sent to nautical receiving set array and Array Signal Processing module 7 to this signal; Array signal processor 24 can adopt FPGA or DSP and peripheral circuit thereof to realize, with the nautical receiving set array 23 common functions that receive signal and Array Signal Processing module of accomplishing; GPS receiver 25 realizes confirming 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, BPF. 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 on the underwater movement objective receives the signal workflow and may further comprise the steps:
(1) by the state of channel-monitoring circuit through 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 BPF. and amplifier the signal of receiving transducer is carried out pre-service, then is input to signal detector 34 to signal, 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 then by this signal of transmitting transducer transmission to received signal; 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), boat-carrying radio transceiver or boat-carrying underwater sound transceiver be sent to control center's microprocessor to this information after receiving from waterborne or under water positioning request signal; 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, and control center's microprocessor receives these information line data of going forward side by side and merges, thereby confirms 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 position and the velocity information of then utilizing the boat-carrying radio transceiver to send submarine target from radio request waterborne, if Location Request is under water then utilize boat-carrying underwater sound transceiver to send the positional information of submarine target.( 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 BPF. 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 the signal of N BPF. 62 taking-up special frequency bands improves signal to noise ratio (S/N ratio) to reduce noise; Because the signal amplitude received is less, is unfavorable for carrying out the A/D conversion and therefore carries out analog to digital conversion to signal again after through amplifier 63; 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 reception signal; Then utilize DOA information to adjust the weights of each array element, make direct wave aim at the 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 is as shown in Figure 6, and concrete workflow is following:
(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 begins to receive signal and it is handled.
(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; Utilize the weights of each array element correspondence in the DOA information adjustment nautical receiving set array to make the nautical receiving set array on the direct wave arrival direction, form wave beam, on boundary reflection echo direction, form zero and fall into.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 carries out mixing, obtains both difference on the frequencies through low-pass filter.The time-frequency figure of low-frequency range is 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 relatively more difficult.
(4) linear FM signal is a non-stationary signal; Its parameter estimation is difficulty relatively; In order to obtain the signal of single frequency; After the last frequency sweep segment signal time-delay
of the present invention after mixing again with mixing after following swept-frequency signal carry out secondary mixing; Taking out the higher component of its frequency through 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 that according to frequency estimator the result confirms to transmit and receives the mistiming τ of signal.
(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 confirm 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, confirm 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 through 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 through underwater acoustic channel and realizes active location under water, and is 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 through 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 confirm 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, confirm 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 of obtaining step 93 sends to underwater movement objective through boat-carrying underwater sound transceiver.(step 94)
The present invention only just works after receiving from the Location Request with under water waterborne; 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;
Said symmetric triangular FM signal s (t)
Wherein
B ', f
0, T is respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A with
Be signal amplitude and initial phase, launch FM signal frequency f do
(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) do
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, target range boat-carrying measurement mechanism is r place and is that v moves with the radial velocity, and for just, boat-carrying measurement mechanism echo round-trip delay is τ, then away from the speed of boat-carrying measurement mechanism
With its substitution S
r(t), receive signal and transmit and carry out mixing, behind low-pass filter, take out frequency and obtain S than lower part
I(t)
Delay time the low frequency component that the mixing of last frequency sweep section obtains
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, is converted into a simple signal, its frequency to non-stationary signal
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 boat-carrying measurement mechanism range-to-go constantly:
Obtain target speed
Target is with respect to the position of boat-carrying measurement mechanism
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to confirm the terrestrial coordinate of self; Data through the hull attitude apparatus for correcting on the boat-carrying measurement mechanism provides are carried out the self-position rectification, confirm the coordinate of underwater movement objective under earth coordinates through 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) pass through electromagnetic wave to boat-carrying radio transceiver Location Request by radio transceiver waterborne, the boat-carrying radio transceiver sends this request on the boat-carrying measurement mechanism microprocessor;
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; Said symmetric triangular FM signal s (t) is:
Wherein
B ', f
0, T is respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A with
Be signal amplitude and initial phase, launch FM signal frequency f do
(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) do
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, target range boat-carrying measurement mechanism is r place and is that v moves with the radial velocity, and for just, boat-carrying measurement mechanism echo round-trip delay is τ, then away from the speed of boat-carrying measurement mechanism
With its substitution S
r(t), receive signal and transmit and carry out mixing, behind low-pass filter, take out frequency and obtain S than lower part
I(t)
Delay time the low frequency component that the mixing of last frequency sweep section obtains
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, is converted into a simple signal, its frequency to non-stationary signal
f
0, B, c be known, the frequency of signal is only relevant with the movement velocity of submarine target; Frequency hopping concerns with boat-carrying measurement mechanism range-to-go constantly:
Obtain target speed
Target is with respect to the position of boat-carrying measurement mechanism
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to confirm the terrestrial coordinate of self; Data through the hull attitude apparatus for correcting on the boat-carrying measurement mechanism provides are carried out the self-position rectification, confirm the coordinate of underwater movement objective under earth coordinates through data fusion then;
The boat-carrying measurement mechanism sends to radio transceiver waterborne to the position of submarine target and velocity information with electromagnetic mode through 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;
Said symmetric triangular FM signal s (t) is:
Wherein
B ', f
0, T is respectively centre frequency, the frequency sweep cycle of channel width, frequency modulation, A with
Be signal amplitude and initial phase, launch FM signal frequency f do
(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) do
K wherein
rBe decay factor;
If the velocity of propagation of sound wave in water be c, target range boat-carrying measurement mechanism is r place and is that v moves with the radial velocity, and for just, boat-carrying measurement mechanism echo round-trip delay is τ, then away from the speed of boat-carrying measurement mechanism
With its substitution S
r(t), receive signal and transmit and carry out mixing, behind low-pass filter, take out frequency and obtain S than lower part
I(t)
Delay time the low frequency component that the mixing of last frequency sweep section obtains
Mixing is carried out once more with the low frequency component that the mixing of following frequency sweep section obtains in the back, is converted into a simple signal, its frequency to non-stationary signal
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 boat-carrying measurement mechanism range-to-go constantly:
Obtain target speed
Target is with respect to the position of boat-carrying measurement mechanism
(4) the boat-carrying measurement mechanism utilizes the GPS receiver to confirm the terrestrial coordinate of self; Data through the hull attitude apparatus for correcting on the boat-carrying measurement mechanism provides are carried out the self-position rectification, confirm the coordinate of underwater movement objective under earth coordinates through data fusion then; The boat-carrying measurement mechanism sends to moving target to the positional information of underwater movement objective with hyperacoustic mode through 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, said underwater movement objective positioning navigation device comprises the underwater sound transceiver on boat-carrying measurement mechanism, radio transceiver waterborne and the underwater movement objective;
Said radio transceiver waterborne is independent device or is embedded in other devices waterborne, communicates through electromagnetic wave and boat-carrying measurement mechanism;
Underwater sound transceiver on the said underwater movement objective is installed on underwater movement objective and communicates through sound wave and boat-carrying measurement mechanism;
Said boat-carrying measurement mechanism comprises installs hull attitude apparatus for correcting, array signal processor, GPS receiver, control center's microprocessor, boat-carrying radio transceiver, boat-carrying underwater sound transceiver, nautical receiving set array; Wherein
Hull attitude apparatus for correcting is connected with the control center microprocessor through 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 rectification of hull attitude provides information;
Boat-carrying underwater sound transceiver is connected with control center with control line through data line, address wire; It is responsible for monitoring the Location Request under water; Under the control of control center's microprocessor, be responsible for emission symmetric triangular FM signal during the location, after the estimation of control center's microprocessor completion target information, send positioning result to submarine target by boat-carrying underwater sound transceiver;
The nautical receiving set array is connected with the control center microprocessor through control line, is connected with array signal processor with control line through data line, responsible reception echoed signal;
The boat-carrying radio transceiver is connected with the control center microprocessor through data line, address wire and control line, and its monitoring is from Location Request waterborne with to request positioning system transmission positioning result waterborne;
Array signal processor is connected with the control center microprocessor through data line, address wire and control line; Be connected with the nautical receiving set array with control line through data line, be used to accomplish the pre-service of reception signal and the time delay estimation of DOA, secondary mixing signal frequency and direct wave;
The GPS receiver is connected with the control center microprocessor through 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;
Control center's microprocessor is 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 GPS receiver, hull attitude apparatus for correcting, nautical receiving set array and array signal processor work; Thereby the hull positional information that rectification information that the time delay of it provides array signal processor after these modules are accomplished corresponding work DOA, secondary mixing signal frequency and direct wave is estimated, hull attitude apparatus for correcting provides and GPS receiver provide is carried out position and velocity information that data fusion is confirmed submarine target, sends positioning result according to the source decision of Location Request 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 BPF. through signal wire; Transmitting transducer is connected with modulator-demodular unit with amplifier; The channel-monitoring circuit is connected with receiving transducer, underwater movement objective microprocessor; It is according to signal that receiving transducer received; Judge whether channel has signal; If have then send information, start its building block work by the underwater movement objective microprocessor to the underwater movement objective microprocessor; Signal detector is connected with amplifier signal; Be connected with the underwater movement objective microprocessor through control line; When seized signal is the symmetric triangular FM signal; Signal detector transmits high level or low level signal to the underwater movement objective microprocessor, and underwater movement objective microprocessor control amplifier amplifies the back to the signal that is received and launched by transmitting transducer; When seized signal was not the symmetric triangular FM signal, detecting device transmitted low level or high level signal to the underwater movement objective microprocessor, the information that underwater movement objective microprocessor receiving modem transmits; BPF. is connected with receiving transducer, amplifier, is used to take out the signal of specific bandwidth, reduces noise and improves signal to noise ratio (S/N ratio); Amplifier is connected with BPF., underwater movement objective microprocessor, modulator-demodular unit and transmitting transducer, is used for amplifying signal; Modulator-demodular unit is connected with underwater movement objective microprocessor, transmitting transducer, amplifier, is used for modulation and demodulation information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102046637A CN101872020B (en) | 2010-06-18 | 2010-06-18 | Underwater moving object location and navigation method and device based on frequency spectrum transformation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102046637A CN101872020B (en) | 2010-06-18 | 2010-06-18 | Underwater moving object location and navigation method and device based on frequency spectrum transformation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101872020A CN101872020A (en) | 2010-10-27 |
| CN101872020B true CN101872020B (en) | 2012-10-31 |
Family
ID=42997003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102046637A Expired - Fee Related CN101872020B (en) | 2010-06-18 | 2010-06-18 | Underwater moving object location and navigation method and device based on frequency spectrum transformation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101872020B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102096064B (en) * | 2010-11-12 | 2013-10-30 | 嘉兴中科声学科技有限公司 | Method and system used for accurately measuring time delay difference in short base line underwater acoustic positioning system |
| CN102624463B (en) * | 2011-01-26 | 2016-05-11 | 北京国科环宇空间技术有限公司 | In latent communication, set up the method and system of communication link |
| CN102122993B (en) * | 2011-03-11 | 2013-09-25 | 华南理工大学 | Method and device of remote underwater acoustic communication |
| CN102721951B (en) * | 2012-05-04 | 2013-12-25 | 西安电子科技大学 | Method for tracking high maneuvering target |
| CN102778676B (en) * | 2012-07-02 | 2014-05-07 | 华南理工大学 | Method and system for detecting deterministic signal in quick-changing underwater acoustic channel |
| CN103226198B (en) * | 2013-03-14 | 2015-07-29 | 华南理工大学 | Based on submarine target localization method and the device of Doppler effect |
| CN104133217B (en) * | 2014-07-17 | 2017-01-11 | 华南理工大学 | Method and device for three-dimensional velocity joint determination of underwater moving target and water flow |
| CN106446801B (en) * | 2016-09-06 | 2020-01-07 | 清华大学 | Micro-gesture recognition method and system based on ultrasonic active detection |
| CN108169724B (en) * | 2016-12-08 | 2022-03-18 | 南京理工大学 | Real signal digital beam forming-based automobile anti-collision radar system and method |
| CN106771347B (en) * | 2016-12-30 | 2019-08-09 | 内蒙古工业大学 | A kind of frequency sweep type ultrasonic wind measurement method |
| CN107576328B (en) * | 2017-08-22 | 2020-05-01 | 西北工业大学 | Automatic water surface tracking and monitoring system for underwater vehicle |
| CN107659870B (en) * | 2017-11-22 | 2023-08-22 | 青岛理工大学 | Digital underwater acoustic transducer unit, array, device and control method |
| CN108964737A (en) * | 2018-07-02 | 2018-12-07 | 浙江大学 | A kind of super directive property subsurface communication receiver and communication means based on circular array |
| CN110132281B (en) * | 2019-05-21 | 2023-10-20 | 哈尔滨工程大学 | Underwater high-speed target high-precision autonomous acoustic navigation method based on inquiry response mode |
| CN111025302B (en) * | 2019-12-20 | 2024-01-23 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and positioning method |
| US11472524B2 (en) * | 2020-03-30 | 2022-10-18 | Raytheon Company | Integrated acoustic localization and communications array |
| CN111679246B (en) * | 2020-06-04 | 2022-11-15 | 哈尔滨工程大学 | Small-scale array high-resolution direction finding method carried by three-dimensional motion platform |
| CN112684482B (en) * | 2020-11-13 | 2023-09-29 | 中国人民解放军军事科学院国防科技创新研究院 | Underwater target detection system and method based on ocean unmanned platform |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5319376A (en) * | 1992-12-01 | 1994-06-07 | Trw Inc. | Arctic submarine buoy and application methods |
| CN101339036A (en) * | 2008-08-20 | 2009-01-07 | 北京航空航天大学 | Terrain auxiliary navigation method and apparatus |
| CN101393025A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | AUV combined navigation system non-tracing switch method |
| CN101436074A (en) * | 2008-12-06 | 2009-05-20 | 中国海洋大学 | Autonomous type underwater robot by simultaneous positioning and map constructing method |
-
2010
- 2010-06-18 CN CN2010102046637A patent/CN101872020B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5319376A (en) * | 1992-12-01 | 1994-06-07 | Trw Inc. | Arctic submarine buoy and application methods |
| CN101339036A (en) * | 2008-08-20 | 2009-01-07 | 北京航空航天大学 | Terrain auxiliary navigation method and apparatus |
| CN101393025A (en) * | 2008-11-06 | 2009-03-25 | 哈尔滨工程大学 | AUV combined navigation system non-tracing switch method |
| CN101436074A (en) * | 2008-12-06 | 2009-05-20 | 中国海洋大学 | Autonomous type underwater robot by simultaneous positioning and map constructing method |
Non-Patent Citations (1)
| Title |
|---|
| 孔凡村等.船舶超前防浅避礁声纳系统方案探讨.《上海海事大学学报》.1992,(第03期),1-9. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101872020A (en) | 2010-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101872020B (en) | Underwater moving object location and navigation method and device based on frequency spectrum transformation | |
| CN108955678B (en) | A kind of deep-sea vehicle communication location navigation time service integral method and system | |
| US8509030B2 (en) | Underwater acoustic positioning system | |
| Tan et al. | A survey of techniques and challenges in underwater localization | |
| US7362653B2 (en) | Underwater geopositioning methods and apparatus | |
| CN109116360B (en) | A kind of deep-sea real-time high-precision locating method and system | |
| RU2469346C1 (en) | Method of positioning underwater objects | |
| RU2437114C1 (en) | System for determining coordinates of underwater objects | |
| CN110703203A (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider | |
| CN104297727A (en) | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission | |
| CN110703202B (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle | |
| CN109884647A (en) | The node apparatus and distributed node system of underwater sound passive detection or Passive Positioning | |
| AU2012202370A1 (en) | Method for global acoustic positioning of a marine or submarine target | |
| Carroll et al. | Underwater localization and tracking of physical systems | |
| WO2021139022A1 (en) | Underwater acoustic positioning and timing buoy and underwater positioning method | |
| US7388807B2 (en) | Method for an antenna angular calibration by relative distance measuring | |
| Cheng et al. | A range-difference based self-positioning scheme for underwater acoustic sensor networks | |
| RU2689281C1 (en) | Method for navigation-information support of deep-sea autonomous unmanned underwater vehicle | |
| CN108627802B (en) | Multi-information-source marine Internet of things positioning method | |
| CN111948685A (en) | Buoy-based combined baseline underwater sound positioning method | |
| CN109640265B (en) | Self-positioning method for network node of underwater acoustic sensor | |
| JPH07270519A (en) | Positioning method for underwater working machine, etc. | |
| CN106028414A (en) | Reverse underwater positioning method and system | |
| Carroll et al. | Underwater localization based on multicarrier waveforms | |
| CN111522013A (en) | Submarine target positioning device based on side scan sonar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121031 Termination date: 20150618 |
|
| EXPY | Termination of patent right or utility model |