CN104614727A - Method for continuously accurately synchronizing time and ranging for acoustic beacon - Google Patents
Method for continuously accurately synchronizing time and ranging for acoustic beacon Download PDFInfo
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- CN104614727A CN104614727A CN201510056680.3A CN201510056680A CN104614727A CN 104614727 A CN104614727 A CN 104614727A CN 201510056680 A CN201510056680 A CN 201510056680A CN 104614727 A CN104614727 A CN 104614727A
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- cycle
- dsp
- pps
- sync level
- big dipper
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a method for continuously accurately synchronizing time and ranging for an acoustic beacon. The method is that a Beidou/ GPS pulse signal and a DSP clock counter are utilized for double control on the premise that the hardware is unchanged, and the priority and other conditions of the two control cycles are set, so as to ensure the precision of Beidou/ GPS outputting a timing pulse signal to effectively monitor an underground movement platform for a long time; the maximum number of sampling points is provided for achieving curve fitting of the movement track of the underground platform with a long time; an underground synchronizing beacon track and a position indicating system can stably and continuously work under the worst condition, namely, the outputted clock pulse signals are discontinuous due to weak Beidou/ GPS signal and the work is restarted after being suspended. With the adoption of the method, the underground movement platform can be accurately and continuously monitored for a long time under various conditions, which is beneficial for the long-term safe working of the underground movement platform.
Description
Technical field:
The present invention relates to a kind of method of acoustic marker trajectory measurement degree of accuracy, belong to Underwater Acoustics Engineering and field of sonar signal processing, be mainly used in the trajectory measurement device in acoustic marker motion process.
Background technology:
Sync beacon track and Position Indicator System are the important utility appliance of underwater operation under water, by this system be installed on acoustic marker on underwater platform and separate unit hang in acoustic marker measurement mechanism under water with the use of, can the motion process of Continuous Tracking underwater platform, indicate position in real time, draw its two dimensional motion track, and possess the position indicating function long-term to static platform.Object be to improve to underwater platform absence of information, enter water after the present situation of " blackening the name of for two ", improve the security of subsea equipment.
Acoustic marker is installed on the unobstructed position of underwater platform, enters water front by the hand-held Big Dipper/gps clock synchronous device synchronized transmissions pulse, and starts the work of acoustic marker signal source.The pressure transducer carried by acoustic marker after product enters water starts according to hydraulic pressure launches ping, when the depth of water is less than set depth, automatically closes acoustical signal and launches, to protect transmitting transducer injury-free.
Summary of the invention:
The technical matters solved
For being high-speed moving object under water, to realize continuously accurately location, many sample spaces obtaining more moving along multiple travels of can must trying one's best in its motion process, the continous-stable that could realize track is followed the tracks of.
In most of the cases, the PPS sync level that the Big Dipper/gps clock synchronous device exports effectively can stablize output, if but territory of use's Big Dipper/gps signal is unstable, occur that the Big Dipper/gps clock synchronous device exports the discontinuous situation of PPS sync level.Underwater platform whole voyage cycle relative time is short, and movement velocity is high, if in use occur that PPS sync level exports discontinuous situation, sync beacon Position Indicator System under water can be caused to lose multiple cycle data when measuring sub aqua sport platform track, cause the last movement locus measured truly can not reflect the actual motion track of motion platform, measurement falls flat.The present invention just for this situation, propose a kind of acoustic marker continuously accurate pair time distance-finding method, export the incomplete problem of measuring table movement locus in the discontinuous situation of PPS sync level to solve the Big Dipper/gps clock synchronous device.
Technical scheme:
Technical scheme of the present invention be a kind of acoustic marker continuously accurate pair time distance-finding method, comprise the following steps:
Step 1, transmission work order;
After sync beacon Position Indicator System powers on, wait for that display & control system starts life's work after sending work order under water;
Step 1 is continued when the work order that display & control system does not send;
If receive work order after system electrification first carry out step 2;
Receive work order first carry out step 3 if non-after system electrification;
The PPS sync level that step 2, the wait Big Dipper/gps clock synchronous device export;
The method adopts the Big Dipper/gps clock synchronous device to export the unified time standard of PPS sync level as two different local systems used, therefore, before beginning cycling, the Big Dipper/gps clock synchronous device has at least once PPS sync level accurately to export;
Step 2 is continued when not exporting PPS sync level;
Receive after exporting PPS sync level signal and carry out step 3;
Step 3, DSP clock counter reset;
Due to sync beacon track under water and Position Indicator System environment for use and condition unknown, if because building is blocked or the impact of the condition such as weather, the Big Dipper that the Big Dipper/gps clock synchronous device can be caused to receive/gps signal is unstable, and the PPS pulse signal that the now Big Dipper/gps clock synchronous device exports will there will be discontinuous situation.If when the Big Dipper/gps signal instability, the PPS sync level signal adopting separately the Big Dipper/gps clock synchronous device to export is as sync beacon track and Position Indicator System cycle opening flag will cause work period discontinuous situation to occur under water.
Underwater receiver green end adopts DSP to process to received signal, the clock system carried is had in DSP, this method utilizes DSP to carry High Accuracy Clock to the timing of Signal reception cycle, and after exporting PPS sync level real-time synchronization with the Big Dipper/gps clock synchronous device, ensure that the precision of clock system cycle count.Using the spare marks signal of high-precision DSP clock counter as cycle opening flag, thus ensure that when the Big Dipper/gps signal instability, sync beacon track and Position Indicator System can continuously according to setting cycle work under water.
Because the PPS sync level of the Big Dipper/gps clock synchronous device output is the time reference of all devices, therefore after DSP judges to receive PPS sync level, need to carry out clear operation to DSP clock counter, and start new cycle count, guarantee the PPS sync level high level of synchronization that cycle length of DSP clock count and the Big Dipper/gps clock synchronous device export;
If DSP confiscates PPS sync level when the count cycle completes, then illustrate the Big Dipper/gps signal intensity causing this cycle Big Dipper/gps clock synchronous device to receive due to external environment reason more weak and fail to export PPS sync level, DSP clock signal starts to execute the task as back-up period opening flag signal, now DSP clock counter triggering system starts new cycling, clear operation is carried out to clock pulse counter simultaneously, and start new cycle timing;
Step 4, AD cycle data gather
DSP starts to carry out cycle data collection after counter O reset, is received in the underwater signal in this synchronous receiving cycle, and detects this cycle AD data.
Step 5, measurement mechanism are to the calculating of acoustic marker distance
The PPS sync level synchronous phonetic symbol signal x time that acoustic marker is exported by the Big Dipper/gps clock synchronous device before entering water conservancy project and doing, according to operation setup, acoustic marker launches phonetic symbol signal with fixing cycle and pulsewidth.The PPS sync level that measurement mechanism is exported by the Big Dipper/gps clock synchronous device equally before starting working synchronously triggers sampling, then according to operation setup, by detecting in one-period that the moment t of phonetic symbol signal calculates target range L, computing formula is following formula.
L＝t×c
Wherein c is the velocity of sound.
Start to wait for the work order of lower cycle after completing location, sub aqua sport position of platform.
Beneficial effect:
The method is keeping under the prerequisite that hardware is constant, utilize the Big Dipper/gps clock synchronous device output pulse signal and DSP clock counter two ore control, and set the conditions such as the priority of two control cycles, ensure that the Big Dipper/gps clock synchronous device exports the precision of timing pulse signal, achieve effective monitoring during sub aqua sport platform long.The curve that maximum sampling number realizes long-time interior track can be ensured to underwater platform movement locus.Achieve under the poorest condition, the i.e. Big Dipper/gps clock synchronous device receives that the Big Dipper/gps signal is more weak cause the discontinuous state of output clock pulse signal under and the state that starts again after suspending in work, under water sync beacon track and Position Indicator System can stablize, continuous working.Achieve under various conditions, sub aqua sport platform accurately, is continuously monitored for a long time, be conducive to the long-term safety work of sub aqua sport platform.
Accompanying drawing illustrates:
Fig. 1 is that sync beacon track and Position Indicator System form schematic diagram under water
Fig. 2 is that the Big Dipper in embodiment/gps clock synchronous device exports PPS sync level cycle schematic diagram
Fig. 3 be the acoustic marker that proposes of the present invention continuously accurate pair time distance-finding method process flow diagram
Embodiment
Below in conjunction with specific embodiment, the present invention is described:
Embodiment:
Step 1, transmission work order
After sync beacon Position Indicator System powers on, wait for that display & control system starts life's work after sending work order under water.Wait command state is in when the work order that display & control system does not send.
Step 2, the wait Big Dipper/gps clock synchronous device export PPS sync level
Adopt the Big Dipper/gps clock synchronous device to export the unified time standard of PPS sync level as two different local systems used, ensure that two equipment work under benchmark all at one time.Utilize the distance of Acoustic Wave Propagation distance and the relation determination target of time, according to the orientation of Detection Information determination target.Before beginning cycling, the Big Dipper/gps clock synchronous device has at least once PPS sync level accurately to export; When receiving work order upon power-up of the system first, just start formal periodic duty after the PPS sync level triggering that the Big Dipper/gps clock synchronous device exports must be waited for, if do not receive PPS sync level, be then in always wait for sync level state.
Step 3, DSP clock counter reset
If after DSP judges to receive PPS sync level, carry out clear operation to clock pulse counter, and start the cycle that count down to and need the time.PPS sync level triggered interrupts priority, higher than clock count interrupt priority level, ensures to reset the count cycle in time after PPS sync level triggers and restart counting, ensures time consistency and precision.
If DSP confiscates PPS sync level after the count cycle completes, then illustrate that this cycle Big Dipper/gps clock synchronous device does not export PPS sync level, now DSP clock counter triggering system starts new cycling, clear operation is carried out to clock pulse counter simultaneously, and start new cycle timing.
Step 4, AD cycle data gather
DSP starts to carry out cycle data collection after counter O reset, is received in the underwater signal in this synchronous receiving cycle.AD data according to receiving detected this cycle, judged whether the periodic pulse signal that acoustic marker sends.If the signal that acoustic marker sends detected, then analysis confirmation carried out to target information and resolve.
Step 5, measurement mechanism are to the calculating of acoustic marker distance
The PPS sync level synchronous phonetic symbol signal x time that acoustic marker is exported by the Big Dipper/gps clock synchronous device before entering water conservancy project and doing, according to operation setup, acoustic marker launches phonetic symbol signal with fixing cycle and pulsewidth.The PPS sync level that measurement mechanism is exported by the Big Dipper/gps clock synchronous device equally before starting working synchronously triggers sampling, then according to operation setup, measurement mechanism is a frame with 5ms, detect frame by frame, by detecting in one-period that the moment t of phonetic symbol signal calculates target range L, computing formula is following formula.
L＝t×c
Wherein c is the velocity of sound.
Start to wait for the work order of lower cycle after completing location, sub aqua sport position of platform.
Claims (1)
1. acoustic marker continuously accurate pair time a distance-finding method, it is characterized in that, comprise the following steps:
Step 1, transmission work order;
After sync beacon Position Indicator System powers on, wait for that display & control system starts life's work after sending work order under water;
Step 1 is continued when the work order that display & control system does not send;
If receive work order after system electrification first carry out step 2;
Receive work order first carry out step 3 if non-after system electrification;
The PPS sync level that step 2, the wait Big Dipper/gps clock synchronous device export;
Step 2 is continued when not exporting PPS sync level;
Receive after exporting PPS sync level signal and carry out step 3;
Step 3, DSP clock counter reset;
After DSP judges to receive PPS sync level, clear operation is carried out to DSP clock counter, and starts new cycle count, guarantee the PPS sync level high level of synchronization that cycle length of DSP clock count and the Big Dipper/gps clock synchronous device export;
If DSP confiscates PPS sync level when the count cycle completes, DSP clock counter triggering system starts new cycling, carries out clear operation to clock pulse counter simultaneously, and starts new cycle timing;
Step 4, AD cycle data gather
DSP starts to carry out cycle data collection after counter O reset, is received in the underwater signal in this synchronous receiving cycle, and detects this cycle AD data;
Step 5, measurement mechanism are to the calculating of acoustic marker distance
The PPS sync level synchronous phonetic symbol signal x time that acoustic marker is exported by the Big Dipper/gps clock synchronous device before entering water conservancy project and doing, according to operation setup, acoustic marker launches phonetic symbol signal with fixing cycle and pulsewidth; The PPS sync level that measurement mechanism is exported by the Big Dipper/gps clock synchronous device equally before starting working synchronously triggers sampling, then according to operation setup, by detecting in one-period that the moment t of phonetic symbol signal calculates target range L, computing formula is following formula:
L＝t×c
Wherein c is the velocity of sound.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510056680.3A CN104614727A (en) | 2014-10-22 | 2015-02-04 | Method for continuously accurately synchronizing time and ranging for acoustic beacon |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410567355 | 2014-10-22 | ||
| CN2014105673559 | 2014-10-22 | ||
| CN201510056680.3A CN104614727A (en) | 2014-10-22 | 2015-02-04 | Method for continuously accurately synchronizing time and ranging for acoustic beacon |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105323029A (en) * | 2015-11-12 | 2016-02-10 | 哈尔滨工程大学 | Dynamic clock synchronization method for underwater acoustic communication based on acoustic link distance measurement and speed measurement |
| CN108549053A (en) * | 2018-03-15 | 2018-09-18 | 中国人民解放军91388部队 | A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled |
| CN110645966A (en) * | 2019-10-30 | 2020-01-03 | 无锡市海鹰加科海洋技术有限责任公司 | GPS-based water depth synchronization method and equipment |
| CN113418710A (en) * | 2020-03-03 | 2021-09-21 | 丰田自动车株式会社 | Engine device and abnormal sound inspection system |
-
2015
- 2015-02-04 CN CN201510056680.3A patent/CN104614727A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105323029A (en) * | 2015-11-12 | 2016-02-10 | 哈尔滨工程大学 | Dynamic clock synchronization method for underwater acoustic communication based on acoustic link distance measurement and speed measurement |
| CN105323029B (en) * | 2015-11-12 | 2017-11-21 | 哈尔滨工程大学 | Based on the ranging of sound link, the underwater sound communication dynamic clock synchronous method to test the speed |
| CN108549053A (en) * | 2018-03-15 | 2018-09-18 | 中国人民解放军91388部队 | A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled |
| CN110645966A (en) * | 2019-10-30 | 2020-01-03 | 无锡市海鹰加科海洋技术有限责任公司 | GPS-based water depth synchronization method and equipment |
| CN110645966B (en) * | 2019-10-30 | 2021-06-18 | 无锡市海鹰加科海洋技术有限责任公司 | GPS-based water depth synchronization method and equipment |
| CN113418710A (en) * | 2020-03-03 | 2021-09-21 | 丰田自动车株式会社 | Engine device and abnormal sound inspection system |
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