CN104407340A - Device and method for calibrating lineup of dragging linear array - Google Patents
Device and method for calibrating lineup of dragging linear array Download PDFInfo
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- CN104407340A CN104407340A CN201410720288.XA CN201410720288A CN104407340A CN 104407340 A CN104407340 A CN 104407340A CN 201410720288 A CN201410720288 A CN 201410720288A CN 104407340 A CN104407340 A CN 104407340A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a device for calibrating the lineup of a dragging linear array. The hardware of the device mainly comprises a calibration sound source, a receiving hydrophone array, a signal acquisition transmission module array and a data processing module. The lineup calibration process mainly comprises the following steps: (1) calibrating a sound source to transmit a calibrated submarine sound signal in a system synchronous clock; (2) according to the system synchronous clock, enabling the signal acquisition transmission module array to start work while the sound signal is transmitted, that is, a timer starts timing and hydrophones acquires data; (3) recording the timing time of the timer while the signal acquisition transmission module array acquires the transmitted calibrated submarine sound signal, and transmitting the timing time to the data processing module; (4) estimating the distances between the hydrophones and the calibrated sound source according to the timing time; (5) estimating the coordinates of hydrophones through the data processing unit according to the estimation results in combination with depth sensor data, thereby realizing lineup calibration. By adopting the device and the method, position calibration of array elements of a dragging array can be conveniently achieved.
Description
Technical field
The present invention relates to a kind of towing line array formation caliberating device and method, belong to underwater acoustic technology field.
Technical background
Towing line array is not subject to the restriction in warship body and towed body space, nautical receiving set quantity is many, and acoustic matrix length is long, aperture is large, can accept low frequency and even very low frequency (VLF) sound wave, detection range is far longer than traditional housing sonar and towing Variable depth sonar, has now obtained general military affairs and non-military application.But it also exists some intrinsic drawbacks in the application.If the acoustics section of dragging linear array is flexible, when pulling under water, is subject to the impact of ship manoeuvre and ocean current, occurs that formation distorts, cause detection performance to decline, even cannot work.
Document is had to propose technically to utilize the plane wave signal dragging linear array to accept to carry out formation measurement and distortion compensation; By laying multiple heading sensor in battle array, simulating formation by the change of course, each position and carrying out formation distortion compensation; Or in battle array, arrange that Sound Surveillance System measures formation, carry out compensation of formation distortion etc.
Towing line array formation caliberating device of the present invention and method, can be used for improving formation and to distort the towing line array detection performance decline problem caused.
Summary of the invention
The invention provides a kind of towing line array formation caliberating device and method, utilize acoustic method to carry out and drag linear array element position to demarcate, implementation method is simple, cheap.
Technical scheme of the present invention is: towing line array formation caliberating device, is characterized in that, comprises and demarcates sound source, receiving hydrophone array, signals collecting transport module array and data processing module,
Described demarcation sound source is two transmitting transducers, is arranged on warship body head and afterbody respectively, with receiving hydrophone array operation under same system clock, launches formation demarcation underwater sound signal;
Described receiving hydrophone array, receives and propagates into respective demarcation underwater sound signal through underwater acoustic channel, and changed into electric signal, and each nautical receiving set is equipped with a depth transducer, obtains the depth information of each receiving hydrophone in real time;
Described signals collecting transport module array is started working while transmitting acoustical signal, and timer starts timing, and while collecting transmitting demarcation underwater sound signal, the timing time of recording timer, transfers to data processing module;
Described data processing module is according to the velocity of sound in water and timer timing time, the distance estimated each receiving hydrophone and demarcate between sound source, data processing unit, according to above-mentioned estimated result and in conjunction with depth transducer data, obtains the estimated coordinates of each nautical receiving set through computing, realize formation and demarcate.
Aforesaid towing line array formation caliberating device, is characterized in that, the underwater sound signal of described demarcation source emission adopts different GOLD sequential coding, has optimum distance estimations precision and user's recognition capability.
Aforesaid towing line array formation caliberating device, is characterized in that, the GOLD sequence of demarcating sound source and using is preset, to complete the judgement of Received signal strength in described signals collecting transport module array inside.
Aforesaid towing line array formation caliberating device, it is characterized in that, described data processing module is based on dragging the data processing platform (DPP) of linear array or being equipped with high-Speed Digital Signal Processing Platform separately, to meet real time signal processing requirement, realize real-time location position, and result is applied to linear array real time data processing.
Based on the determination methods of towing line array formation caliberating device, it is characterized in that, comprise the following steps:
(1) under system synchronization clock, the demarcation underwater sound signal that source emission uses GOLD sequential coding is demarcated;
(2) under system synchronization clock, while launching acoustical signal, each collect and transmit module array is started working, and timer starts timing, image data;
(3), while collect and transmit module acquires demarcates underwater sound signal to transmitting, the timing time of recording timer, transfers to data processing module;
(4) according to the velocity of sound in water and timer timing time, the distance estimated each receiving hydrophone and demarcate between sound source;
(5) data processing unit is according to above-mentioned estimated result and depth transducer data, obtains the estimated coordinates of each nautical receiving set through computing, realizes formation and demarcates.
The aforesaid determination methods based on towing line array formation caliberating device, it is characterized in that, the collect and transmit process of described collect and transmit module is: adopt AD acquisition chip, while supersonic source launches ultrasonic signal, MCU opens timer, control AD acquisition chip commencing signal collection under certain sample frequency simultaneously, while A/D chip collects transmitting demarcation signal, timer record timing index now, obtains each transmission time, and transmits it to data processing module.
The aforesaid determination methods based on towing line array formation caliberating device, it is characterized in that, the nautical receiving set calculating coordinate process of described data processing module is: according to three dimensions distance between two points formula, between demarcation sound source and N number of towing line array nautical receiving set, can obtain 2N range equation:
Wherein, (x
01, y
01, z
01) and (x
02, y
02, z
02) for demarcating the coordinate of sound source, (x
i, y
i, z
i) be the coordinate of each nautical receiving set to be positioned,
for estimating each nautical receiving set of gained and the distance of demarcating sound source, the volume coordinate (x of N number of nautical receiving set
i, y
i, z
i) add up to unknown number 3N, wherein depth value residing for each nautical receiving set can directly be obtained by the depth transducer installed in cable, and actually only has 2N unknown number, and the above-mentioned 2N of simultaneous equation formation system of equations, can solve nautical receiving set coordinate, realize formation demarcation.
The beneficial effect that the present invention reaches:
1. the present invention utilizes acoustic means, by to demarcating sound source to the measurement of towed array each array element underwater sound propagation time, obtain its range information between any two, then range equation group is write out according to space distance between two points formula, by solving to system of equations the object reaching and demarcate array element coordinate.
2. corresponding device of the present invention and method do not need to reequip target towed array, only need install on towed body and demarcate sound source, and demarcation sound system and towing line array system are carried out synchronously realizing described element position staking-out work in time, realize simple, being easy to execute-in-place, being specially adapted to be equipped with the naval vessels of towing line array to use when carrying out array towing, target detection.
Accompanying drawing illustrates:
Fig. 1 is entire system schematic diagram;
Fig. 2 is distance estimations schematic diagram;
Fig. 3 is for demarcating sound system block diagram;
Fig. 4 is GOLD sequence product process figure;
Fig. 5 is the compositional block diagram of collect and transmit part.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
As shown in Figures 1 to 5, towing line array formation caliberating device, comprises and demarcates sound source, receiving hydrophone array, signals collecting transport module and data processing module.
Demarcation sound source module of the present invention mainly comprises: CPU, synchronization module, D/A module, GPS module, transducer driving circuit, transducer etc., as shown in Figure 3, wherein only have transducer to belong to wet end section, need to work under water, remainder all above deck.In order to reduce systematic error to the full extent, must Hard link be used to lay transducer during in-site installation, and by GPS module as transducer normal position, measurement transducer is to the distance of GPS module simultaneously, to obtaining the absolute geographic coordinate (x demarcating sound source
01, y
01, z
01) and (x
02, y
02, z
02).
CPU is the control center of whole demarcation sound source module, and it realizes the generation of GOLD sequence, the generation of CF signal, generates modulation signal further and delivers to D/A modular converter.
Synchronization module demarcates sound system by two and towing line array system couples together, realize the time synchronized of whole system: while demarcation signal launched by transducer, a point timekeeping system of demarcating for formation in towing line array system is started working, for accurately measuring the underwater sound signal travel-time between transmitting-receiving.
The modulated GOLD sequence that CPU produces by D/A module in charge is converted to simulating signal so that subsequent drive circuit uses from digital signal.
Simulating signal after D/A is carried out power amplification by driving circuit, and in addition transducer impedance matching treatment, drive transducer radiates to demarcate underwater sound signal.
GPS module is used to provide real-time time information and locus coordinate, CPU as required timing reads above-mentioned information from GPS module, and in conjunction with the difference in height information between in-site measurement gained GPS module and transducer, calculate the space absolute geographic coordinate of transducer residing for each time point.
Communication module adopts wired or communication to send the space absolute geographic coordinate information of above-mentioned transducer residing for each time point the data processing module of towing line array system to, demarcates calculation process for coordinate.
CPU produces the process flow diagram of GOLD sequence as shown in Figure 4, and two m sequences, if the absolute value bounded of their cross correlation function, and meet the following conditions:
We claim this pair m sequence for preferably right.If preferred the addition sequence mould two of two m sequencers generations, then the code sequence that generation one is new, i.e. Gold sequence.Gold sequence has optimum distance estimations precision and velocity estimation accuracy, and respectively by signal bandwidth B and pulse width T Independent Decisiveness, as long as ultrasound emission transducer frequency response (smooth and broadband) is allowed, range resolution just can obtain lifting by increasing transmitted signal bandwidth further.GOLD sequence has excellent orthogonality, multiple user can be suppressed to share cochannel interference that same channel causes, and the present invention adopts two orthogonal GOLD sequences to use to demarcating sound source 1 and demarcating sound source 2 respectively.
Collect and transmit part as shown in Figure 5, by nautical receiving set, frontly to be put, filtering, after put, A/D, MSP430 single-chip microcomputer, synchronization module, the compositions such as communication module.
Synchronization module is connected with the synchronization module of described demarcation sound source, while demarcation source emission demarcation signal, synchronizing signal is given MSP430 chip, realizes transmitting-receiving synchronous.
MSP430 chip is the control center of collect and transmit part, selects MSP430 can reach minimum power attenuation while meeting processing requirements.When not carrying out coordinate demarcation process, MSP430 is in dormant state, reduces power consumption.Need coordinate timing signal, under the triggering of synchronization module synchronizing signal, MSP430 exits dormant state, and activation signal Acquisition Circuit carries out respective handling to nautical receiving set Received signal strength.Nautical receiving set export ultra-weak electronic signal need through a series of signal modulate circuits such as prime amplifier, bandpass filter, post amplifiers, just may obtain follow-up A/D can signal, meet the requirement of A/D and follow-up signal process.The simulating signal sent here is sampled, quantizes, is encoded to digital signal by A/D, sends into MSP430 single-chip microcomputer and processes.The processing procedure of the single-chip microcomputer inside GOLD sequence that mainly Received signal strength and this locality prestored carries out relevant treatment, judges whether it is the demarcation signal launched, while collecting demarcation signal, and the timing time of recording timer.Above-mentioned timing time is sent to data processing module by communication module.Received timing time, according to formula R=vt, is combined actual measurement acoustic propagation velocity by data processing module, calculates and demarcates sound source to the distance of each receiving hydrophone, can obtain 2N range equation:
Wherein, (x
01, y
01, z
01) and (x
02, y
02, z
02) for demarcating the coordinate of sound source, (x
i, y
i, z
i) be the coordinate of each nautical receiving set to be positioned,
for estimating each nautical receiving set of gained and the distance of demarcating sound source, the volume coordinate (x of N number of nautical receiving set
i, y
i, z
i) add up to unknown number 3N, wherein depth value residing for each nautical receiving set can directly be obtained by the depth transducer installed in cable, and actually only has 2N unknown number, and the above-mentioned 2N of simultaneous equation formation system of equations, can solve nautical receiving set coordinate, realize formation demarcation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and distortion, these improve and distortion also should be considered as protection scope of the present invention.
Claims (7)
1. towing line array formation caliberating device, is characterized in that, comprises and demarcates sound source, receiving hydrophone array, signals collecting transport module array and data processing module,
Described demarcation sound source is two transmitting transducers, is arranged on warship body head and afterbody respectively, with receiving hydrophone array operation under same system clock, launches formation demarcation underwater sound signal;
Described receiving hydrophone array, receives and propagates into respective demarcation underwater sound signal through underwater acoustic channel, and changed into electric signal, and each nautical receiving set is equipped with a depth transducer, obtains the depth information of each receiving hydrophone in real time;
Described signals collecting transport module array is started working while transmitting acoustical signal, and timer starts timing, and while collecting transmitting demarcation underwater sound signal, the timing time of recording timer, transfers to data processing module;
Described data processing module is according to the velocity of sound in water and timer timing time, the distance estimated each receiving hydrophone and demarcate between sound source, data processing unit, according to above-mentioned estimated result and in conjunction with depth transducer data, obtains the estimated coordinates of each nautical receiving set through computing, realize formation and demarcate.
2. towing line array formation caliberating device according to claim 1, is characterized in that, the underwater sound signal of described demarcation source emission adopts different GOLD sequential coding, has optimum distance estimations precision and user's recognition capability.
3. towing line array formation caliberating device according to claim 1, is characterized in that, the GOLD sequence of demarcating sound source and using is preset, to complete the judgement of Received signal strength in described signals collecting transport module array inside.
4. towing line array formation caliberating device according to claim 1, it is characterized in that, described data processing module is based on dragging the data processing platform (DPP) of linear array or being equipped with high-Speed Digital Signal Processing Platform separately, to meet real time signal processing requirement, realize real-time location position, and result is applied to linear array real time data processing.
5., based on the determination methods of towing line array formation caliberating device according to claim 1, it is characterized in that, comprise the following steps:
(1) under system synchronization clock, the demarcation underwater sound signal that source emission uses GOLD sequential coding is demarcated;
(2) under system synchronization clock, while launching acoustical signal, each collect and transmit module array is started working, and timer starts timing, image data;
(3), while collect and transmit module acquires demarcates underwater sound signal to transmitting, the timing time of recording timer, transfers to data processing module;
(4) according to the velocity of sound in water and timer timing time, the distance estimated each receiving hydrophone and demarcate between sound source;
(5) data processing unit is according to above-mentioned estimated result and depth transducer data, obtains the estimated coordinates of each nautical receiving set through computing, realizes formation and demarcates.
6. the determination methods based on towing line array formation caliberating device according to claim 5, it is characterized in that, the collect and transmit process of described collect and transmit module is: adopt AD acquisition chip, while supersonic source launches ultrasonic signal, MCU opens timer, control AD acquisition chip commencing signal collection under certain sample frequency simultaneously, while A/D chip collects transmitting demarcation signal, timer record timing index now, obtain each transmission time, and transmit it to data processing module.
7. the determination methods based on towing line array formation caliberating device according to claim 5, it is characterized in that, the nautical receiving set calculating coordinate process of described data processing module is: according to three dimensions distance between two points formula, between demarcation sound source and N number of towing line array nautical receiving set, 2N range equation can be obtained:
Wherein, (x
01, y
01, z
01) and (x
02, y
02, z
02) for demarcating the coordinate of sound source, (x
i, y
i, z
i) be the coordinate of each nautical receiving set to be positioned,
for estimating each nautical receiving set of gained and the distance of demarcating sound source, the volume coordinate (x of N number of nautical receiving set
i, y
i, z
i) add up to unknown number 3N, wherein depth value residing for each nautical receiving set can directly be obtained by the depth transducer installed in cable, and actually only has 2N unknown number, and the above-mentioned 2N of simultaneous equation formation system of equations, can solve nautical receiving set coordinate, realize formation demarcation.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526577A (en) * | 2016-10-09 | 2017-03-22 | 中国船舶重工集团公司第七〇五研究所 | Array shape estimation method using cooperation sound source information |
| CN106568496A (en) * | 2016-11-09 | 2017-04-19 | 哈尔滨工程大学 | Real-time transmission multivariate vector hydrophone array subsurface buoy system |
| CN108169731A (en) * | 2017-12-26 | 2018-06-15 | 天津大学 | Towing line array array shape estimation method and apparatus based on single near field correction source |
| CN109031313A (en) * | 2018-06-28 | 2018-12-18 | 中国人民解放军国防科技大学 | Curve scalar hydrophone array capable of distinguishing port and starboard |
| CN109167667A (en) * | 2018-09-18 | 2019-01-08 | 武汉海晟科讯科技有限公司 | A kind of sensor data acquisition Transmission system and method based on PTP synchronization |
| CN109283513A (en) * | 2018-08-31 | 2019-01-29 | 中国船舶重工集团公司第七〇五研究所 | A kind of towing line array Lake trial static state array structure and method |
| CN109945967A (en) * | 2019-03-12 | 2019-06-28 | 中国人民解放军91388部队 | A kind of a burst of first sensitivity parallel test system of more dragging lines |
| CN110006516A (en) * | 2019-03-25 | 2019-07-12 | 中国船舶重工集团公司第七一五研究所 | A kind of the sensitivity fast calibration device and method of Scale Fiber-Optic Hydrophone Array |
| CN110703204A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Position calibration method for underwater acoustic unit of acoustic wave glider |
| CN111521973A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军国防科技大学 | Element space position active measurement system and method of hydrophone array |
| CN113109823A (en) * | 2021-03-09 | 2021-07-13 | 中国人民解放军海军工程大学 | Real-time measuring system for towed linear array formation |
| CN113589299A (en) * | 2021-07-05 | 2021-11-02 | 中国船舶重工集团公司第七一五研究所 | Optimization model-based towed linear array formation estimation method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526577A (en) * | 2016-10-09 | 2017-03-22 | 中国船舶重工集团公司第七〇五研究所 | Array shape estimation method using cooperation sound source information |
| CN106568496A (en) * | 2016-11-09 | 2017-04-19 | 哈尔滨工程大学 | Real-time transmission multivariate vector hydrophone array subsurface buoy system |
| CN108169731A (en) * | 2017-12-26 | 2018-06-15 | 天津大学 | Towing line array array shape estimation method and apparatus based on single near field correction source |
| CN109031313A (en) * | 2018-06-28 | 2018-12-18 | 中国人民解放军国防科技大学 | Curve scalar hydrophone array capable of distinguishing port and starboard |
| CN109283513A (en) * | 2018-08-31 | 2019-01-29 | 中国船舶重工集团公司第七〇五研究所 | A kind of towing line array Lake trial static state array structure and method |
| CN109167667A (en) * | 2018-09-18 | 2019-01-08 | 武汉海晟科讯科技有限公司 | A kind of sensor data acquisition Transmission system and method based on PTP synchronization |
| CN109167667B (en) * | 2018-09-18 | 2021-04-09 | 武汉海晟科讯科技有限公司 | Sensor data acquisition and transmission system and method based on PTP synchronization |
| CN109945967B (en) * | 2019-03-12 | 2021-03-23 | 中国人民解放军91388部队 | Multi-drag line array element sensitivity parallel test system |
| CN109945967A (en) * | 2019-03-12 | 2019-06-28 | 中国人民解放军91388部队 | A kind of a burst of first sensitivity parallel test system of more dragging lines |
| CN110006516A (en) * | 2019-03-25 | 2019-07-12 | 中国船舶重工集团公司第七一五研究所 | A kind of the sensitivity fast calibration device and method of Scale Fiber-Optic Hydrophone Array |
| CN110703204A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Position calibration method for underwater acoustic unit of acoustic wave glider |
| CN110703204B (en) * | 2019-10-22 | 2021-08-31 | 哈尔滨工程大学 | Position calibration method for underwater acoustic unit of acoustic wave glider |
| CN111521973A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军国防科技大学 | Element space position active measurement system and method of hydrophone array |
| CN113109823A (en) * | 2021-03-09 | 2021-07-13 | 中国人民解放军海军工程大学 | Real-time measuring system for towed linear array formation |
| CN113589299A (en) * | 2021-07-05 | 2021-11-02 | 中国船舶重工集团公司第七一五研究所 | Optimization model-based towed linear array formation estimation method |
| CN113589299B (en) * | 2021-07-05 | 2023-11-28 | 中国船舶重工集团公司第七一五研究所 | Towed line array shape estimation method based on optimization model |
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