CN105004413B - Acoustic propagation path comprehensive speed assay method and device for submarine target positioning - Google Patents
Acoustic propagation path comprehensive speed assay method and device for submarine target positioning Download PDFInfo
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- CN105004413B CN105004413B CN201510317866.XA CN201510317866A CN105004413B CN 105004413 B CN105004413 B CN 105004413B CN 201510317866 A CN201510317866 A CN 201510317866A CN 105004413 B CN105004413 B CN 105004413B
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Abstract
The invention discloses a kind of acoustic propagation path comprehensive speed assay method and device for submarine target positioning, its method is to replace the traditional measurement velocity of sound with required comprehensive speed, improves the accuracy of submarine target positioning.Its device includes transmitter module, array received module, control module, memory module and central processing module, control module is connected with transmitter module, array received module, memory module and central processing module respectively, transmitter module is connected with array received module, control module, central processing module respectively, array received module is connected with transmitter module, control module respectively, central processing module is connected with control module, transmitter module, memory module respectively, and memory module is connected with control module, central processing module respectively.The present invention is different with traditional submarine target positioning measurement, employs sound velocity in seawater empirical equation and Doppler effect tests the speed, and has considered the environmental variances such as ocean temperature, salinity, depth and seawater velocity, and accuracy is high.
Description
Technical field
The present invention relates to the technical field of tachometric survey, refers in particular to a kind of acoustic propagation path for submarine target positioning
Comprehensive speed assay method and device.
Background technology
Underwater Detection is the basic means for obtaining marine information, and detection accuracy is the basic goal of Underwater Detection.The underwater sound
One key technology of detection is exactly submarine target positioning, and the information such as the distance and bearing of submarine target are obtained from positioning.
However, submarine target positioning by sonic velocity change caused by current, pressure, temperature, salinity etc., cause finally to position it is inaccurate
Property, these influence to detect in medium-long range or in short-range detecting all exist.
At present, various acoustic characteristics are measured mainly by sonar equipment in seawater, immersed body is detected, sentenced
Not, positioning and tracking.Sound velocity in seawater measuring method mainly has two kinds：Direct method and indirect method.Wherein, the direct method of measurement uses one
As be referred to as the equipment of " sound velocimeter ", the velocity of sound is generally measured in fixed distance using receiving and dispatching transducer, while with pressure sensing
Device and temperature compensation means sound the depth of the water, and according to the difference for the method for obtaining the velocity of sound, are generally divided into ring ring method, superimposed pulses again
Method, standing wave interferometric method and phase method etc.；Indirect method measurement sound velocity in seawater is based on the velocity of sound in seawater and temperature, salinity and quiet
The functional relation of pressure, temperature, salinity and the pressure for measuring seawater using CTD and then pass through empirical equation with the change of depth
To calculate the velocity of sound, main experiential sound speed formula has three, be respectively Del Grosso algorithm of sound speed, Wilson algorithm of sound speed,
Chen-Millero-Li algorithm of sound speed.Direct measurement sound velocity in seawater is with a high credibility, but equipment is not easy to minimize, and measurement takes efficiency
It is low, in actual ocean acoustic velocity measutement, commonly use indirect method.
In traditional submarine target positioning, for example near field direction of arrival is (referred to as：DOA) estimate, the velocity of sound is often with institute in measurement
Certain point value obtained introduces, then the frequency according to corresponding to the formula V=λ f of speed, wavelength and frequency obtain wavelength, substitutes into battle array
Row flow pattern matrix carries out orientation angles estimation.In recent years, also there is the sound that some scholar's research improve submarine target positioning precision
Fast modification method, such as Zhang little Feng et al. have studied the Bi-static sonar location algorithm based on weighting most young waiter in a wineshop or an inn estimation, poplar despot
Et al. have studied acoustic ray refraction modification method in submarine target positioning, but these methods are computationally intensive, and are surveyed in amendment
The influence of water flow field is not all accounted for when amount, this is so that sound wave produces the one side reason of frequency displacement, therefore equally gives
Measurement accuracy brings influence.
Accordingly, it is desirable to a kind of new velocity of sound propagation path comprehensive speed assay method for being used for submarine target positioning comes
Meet to require.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of acoustic propagation road for submarine target positioning
Footpath comprehensive speed assay method and device, the traditional measurement velocity of sound is replaced with required comprehensive speed, improves the essence of submarine target positioning
True property.
To achieve the above object, technical scheme provided by the present invention its be used for submarine target positioning acoustic propagation path it is comprehensive
Sum velocity assay method, comprises the following steps：
1) selected distance sea level h0At rice as a reference plane, pressure sensor senses h is passed through0Rice at pressure and from
In calculate h0Concrete numerical value, while using ultrasound emission position as the origin of coordinates, with vertical-horizontal downwards for Z-direction, build
Vertical 3 d space coordinate system, N number of wave beam linear array is evenly arranged in X-direction, and set between array element at intervals of Δ
X, the coordinate of i-th of array is (xi, 0,0), wherein, i=1,2,3 ..., N, Δ x=| xi-xi-1|；
2) it is f to build frequencys, wavelength λsSimple signal launched, while the N that wave beam linear array is received
Individual signal carries out Spatial signal processing, and submarine target object is obtained to each array element by near field direction of arrival DOA algorithm for estimating
Propagation path direction on azimuth angle thetaiAnd the angle of pitchUsing the 1st array element as reference array element, then array element i is received letter
Number delay received relative to reference array element signal delay be：
I-th of array element is respectively to the angle of pitch of target object and azimuth：
Here, matrix ΦiFor N × N diagonal matrix, pitching angle information is contained, is met：
Wherein
3) appoint in receiving array and take three m, n, l array elements (1≤m, n, l≤N), corresponding coordinate is (x respectivelym,0,
0), (xn, 0,0), (xl, 0,0), the angle of pitch according to corresponding to formula above (2) and formula (3) can obtain three array elements is respectivelyIf submarine target object coordinate is (xD,yD,zD), establish equation below group：
Submarine target object coordinate (x can be solvedD,yD,zD), obtain the depth residing for target object：
H=h0+zD (5)
4) using temperature T, the salinity S in temperature sensor, salinity sensor and pressure sensor senses location and
Depth h information, while sound velocity in seawater is calculated according to these information and experiential sound speed formula, and in the measurement range of shallow sea, it can recognize
Substantially constant for temperature, salinity, temperature and Salinity measurements that here can directly in take-away belt (conveyor) location be final to establish sea
Sound speed profile V between underwater sound speed and depth hSound(h), while derive that its bulk sound velocity size is：
Sound velocity in seawater size on each bar acoustic propagation path can be known by above-mentioned formula, wherein i-th acoustic propagation path
On,In X, Y, the size on Z axis is respectively：
5) the N roads signal received by wave beam linear array is subjected to Frequency Estimation respectively, obtains the frequency of reception signal
fi, wherein i=1,2,3 ..., N, and utilize the three-dimensional position (x of gained submarine target in the Doppler effect and step 3) of sound waveD,
yD,zD) current are calculated respectively in X, Y, the average speed size on three directions of Z axis
6) comprehensive above the data obtained, can calculate the comprehensive speed size on each bar acoustic propagation path, wherein i-th
Comprehensive speed size on acoustic propagation path is：
Acoustic propagation path comprehensive speed measure device of the present invention for submarine target positioning, including transmitting mould
Block, array received module, control module, memory module and central processing module, wherein：
The control module, it is connected respectively with transmitter module, array received module, memory module and central processing module,
For the control to modules；
The transmitter module, it is connected respectively with array received module, control module, central processing module, according to control mould
The instruction of block, measurement signal is obtained from the modulator in central processing module and carries out ultrasound emission；
The array received module, is connected with transmitter module, control module respectively, according to the instruction of control module, receives
The signal that surveyed target reflects, central processing module is sent to after received amplifier；
The central processing module, it is connected respectively with control module, transmitter module, memory module, according to control module
Instruction carries out data processing, and analyzes and obtain average sea velocity of sound size and water velocity size, and utilizes the position of immersed body
Confidence is ceased, and comprehensive speed is calculated and obtained a result；
The memory module, it is connected respectively with control module, central processing module, according to the instruction of control module, by
The comprehensive speed of heart processing module is stored.
The transmitter module includes a ultrasound emission and popped one's head in.
The array received module is popped one's head in including N number of ultrasonic reception, wherein N >=6.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the present invention is different with traditional submarine target positioning measurement, has considered ocean temperature, salinity, depth and sea
The environmental variances such as water flow velocity, accuracy are high.
2nd, present invention employs sound velocity in seawater empirical equation and Doppler effect to test the speed so that invention device cost is cheap,
Installation is simple.In addition, modern processors calculate the continuous improvement of disposal ability, calculating of the invention will not be problem, ensure that
The feasibility of the present invention.
3rd, the present invention is using acoustic measurement, and the underwater decay of sound wave is smaller, therefore is adapted to underwater speed to survey
Amount.
Brief description of the drawings
Fig. 1 is the hardware knot that the acoustic propagation path comprehensive speed of the present invention for submarine target positioning determines device
Composition.
Fig. 2 is established by the acoustic propagation path comprehensive speed assay method of the present invention for submarine target positioning
3 d space coordinate system.
Fig. 3 is the azimuth angle theta on submarine target object to the acoustic propagation path direction of i-th of reception array elementiAnd the angle of pitchSchematic diagram.
Fig. 4 is to calculate the sea water advanced flow chart of submarine target object coordinate and target object position.
Fig. 5 is calculating seawater bulk sound velocity sizeAndVelocity of sound size flow chart on X, Y, Z coordinate axle.
Fig. 6 is the seawater sound that the present invention makes in the case where perceiving the environmental informations such as the pressure, temperature, salinity of target short range wireless
Fast diagrammatic cross-section.
Fig. 7 is to calculate comprehensive speed size on each bar acoustic propagation path with reference to azimuth information and seawater bulk sound velocity size
Flow chart.
Fig. 8 is that the relation of the average sea velocity of sound, average current velocity and comprehensive speed size on i-th acoustic propagation path is shown
It is intended to.
Embodiment
With reference to specific embodiment, the invention will be further described.
The acoustic propagation path comprehensive speed assay method for being used for submarine target positioning described in the present embodiment, with required synthesis
Speed replaces the traditional measurement velocity of sound, improves the accuracy of submarine target positioning.It includes step in detail below：
1) selected distance sea level h0At rice as a reference plane, pressure sensor senses h is passed through0Rice at pressure and from
In calculate h0Concrete numerical value, while using ultrasound emission position as the origin of coordinates, with vertical-horizontal downwards for Z-direction, build
Vertical 3 d space coordinate system, N number of wave beam linear array is evenly arranged in X-direction, and set between array element at intervals of Δ
X, the coordinate of i-th of array is (xi, 0,0), wherein, i=1,2,3 ..., N, Δ x=| xi-xi-1|；
2) it is f to build frequencys, wavelength λsSimple signal launched, while the N that wave beam linear array is received
Individual signal carries out Spatial signal processing, and water is obtained by traditional near field direction of arrival DOA algorithm for estimating (such as ESPRIT algorithms)
Azimuth angle theta on lower target object to the propagation path direction of each array elementiAnd the angle of pitchUsing the 1st array element as with reference to battle array
Member, then the signal delay that the signal delay that array element i is received receives relative to reference array element are：
I-th of array element is respectively to the angle of pitch of target object and azimuth：
Here, matrix ΦiFor N × N diagonal matrix, pitching angle information is contained, is met：
Wherein
3) appoint in receiving array and take three m, n, l array elements (1≤m, n, l≤N), corresponding coordinate is (x respectivelym,0,
0), (xn, 0,0), (xl, 0,0), the angle of pitch according to corresponding to formula above (2) and formula (3) can obtain three array elements is respectivelyIf submarine target object coordinate is (xD,yD,zD), establish equation below group：
Submarine target object coordinate (x can be solvedD,yD,zD), obtain the depth residing for target object：
H=h0+zD (5)
4) the temperature T (units in temperature sensor, salinity sensor and pressure sensor senses location are utilized：
DEG C), salinity S (units：And depth h (units ‰)：M) information, while according to these information and experiential sound speed formula (as common
Dell Grosso formula, Wilson exact formulas, Chen-Millero-Li formula etc.) calculate sound velocity in seawater.It is of the invention main
Measured for shallow sea, and in the measurement range of shallow sea, it is believed that temperature, salinity are substantially constant, here can directly take-away belt (conveyor) institute
Temperature and Salinity measurements in the range of, the Sound speed profile V finally established between sound velocity in seawater and depth hSound(h), push away simultaneously
Exporting its bulk sound velocity size is：
Sound velocity in seawater size on each bar acoustic propagation path can be known by above-mentioned formula, wherein i-th acoustic propagation path
On,In X, Y, the size on Z axis is respectively：
5) the N roads signal received by wave beam linear array is subjected to Frequency Estimation respectively, obtains the frequency of reception signal
fi, wherein i=1,2,3 ..., N, and utilize the three-dimensional position (x of gained submarine target in the Doppler effect and step 3) of sound waveD,
yD,zD) current are calculated respectively in X, Y, the average speed size on three directions of Z axis
6) comprehensive above the data obtained, can calculate the comprehensive speed size on each bar acoustic propagation path, wherein i-th
Comprehensive speed size on acoustic propagation path is：
It is the device that can realize the above-mentioned acoustic propagation path comprehensive speed assay method of the present embodiment below, including launches mould
Block, array received module, control module, memory module and central processing module.The control module respectively with transmitter module, battle array
Row receiving module, memory module are connected with central processing module, for the control to modules；The transmitter module respectively with
Array received module, control module, central processing module are connected, according to the instruction of control module, from central processing module
Measurement signal is obtained in modulator and carries out ultrasound emission；The array received module respectively with transmitter module, control module phase
Even, the signal that target reflects is surveyed, center processing is sent to after received amplifier according to the instruction of control module, reception
Module；The central processing module is connected with control module, transmitter module, memory module respectively, according to the instruction of control module
Data processing is carried out, and analyzes and obtains average sea velocity of sound size and water velocity size, and is believed using the position of immersed body
Breath, is calculated comprehensive speed and is obtained a result；The memory module is connected with control module, central processing module respectively,
According to the instruction of control module, the comprehensive speed of central processing module is stored；The transmitter module includes a ultrasound
Transmitting probe, array received module are popped one's head in including N number of ultrasonic reception, wherein N >=6.
The hardware structure of above-mentioned measurement apparatus is as shown in figure 1, mainly include ultrasonic wave transmitting probe, ultrasonic wave receiving transducer
Array, A/D converter, D/A converter, temperature sensor, salinity sensor, pressure sensor, power supply and USB interface.Wherein,
Processor can use the dsp chip of TMS320VC5509A models to realize, it mainly realizes that signal frequency estimation, direction of arrival are estimated
Meter, seawater bulk sound velocity calculate and water velocity size calculates, and final synthesis obtains the comprehensive speed on each bar acoustic propagation path
Size；Ocean temperature, salinity and the pressure that temperature sensor, salinity sensor and pressure sensor are used in the range of sensing device
Information, the calculating for sound velocity in seawater section.
Based on above-mentioned acoustic propagation path comprehensive speed assay method, the key step of device work of the present invention is as follows：
Step 1：As shown in Fig. 23 d space coordinate system is established, at 5 meters of selected distance sea level as a reference plane,
Using ultrasound emission position as the origin of coordinates, with vertical-horizontal downwards for Z-direction, meanwhile, it is evenly arranged 6 ripples in X-direction
Beam linear array, the interval delta x=2 rice between array element.
Step 2：Control module control ultrasound emission probe transmitting single-frequency ultrasonic signal S (t), the frequency of signal is fs=
34kHz, pulse length 5ms.
Step 3：Control module controls array received module receives echo-signal, is used herein as all six ultrasonic receptions
Probe, it is respectively R to receive obtained signal1(t), R2(t), R3(t), R4(t), R5(t), R6(t), the signal received is passed
Pass central processing module.
Step 4：Central processing module carries out array signal processing to the reception signal of each probe first, such as Fig. 5 institutes
Show, the azimuth angle theta on every acoustic propagation path is obtained by the ESPRIT algorithms in traditional DOA estimations1,θ2,θ3,θ4,θ5,θ6
And the angle of pitchInformation, submarine target object are received to i-th on the acoustic propagation path direction of array element
Azimuth angle thetaiAnd the angle of pitchSchematic diagram is as shown in Figure 3.
Step 5：Above three array element is taken, coordinate is respectively (x1, 0,0), (x2, 0,0), (x3, 0,0), if submarine target
Object coordinates are (xD,yD,zD), establish equation group with reference to the azimuth in step 4 and pitching angle information：
Target object coordinate (x under simultaneous solution water outletD,yD,zD) and target object sea water advanced H=5+zD, flow chart
With reference to figure 4.
Step 6：Flow chart as shown in Figure 5, in the range of 5 meters of horizontal plane off sea, that is, in device location, utilize
Temperature sensor, salinity sensor and pressure sensor measure temperature T, salinity S, depth h information.Present invention is mainly used for shallow sea
Measurement, and in the measurement range of shallow sea, it is believed that temperature, salinity are substantially constant, here can be directly in take-away belt (conveyor) location
Temperature and Salinity measurements.
Current empirical equation mainly has Dell Grosso formula, Wilson exact formulas, Chen-Millero-Li public
Formula etc., simplify formula from the Wilson in relatively suitable China sea area to determine Sound speed profile here：
V (C, T, h)=1449.2+4.6T-0.055T2+0.00029T3+(1.34-0.01T)(S-35)+0.016h
T is ocean temperature (unit in formula：DEG C), S is seawater salinity (unit：‰), h is sea water advanced (unit：M), T, S
Value takes value measured in the range of device, as shown in fig. 6, the Sound speed profile V established between sound velocity in seawater and depth hSound(h),
Derive that its bulk sound velocity size is with numerical integration：
Then the sound velocity in seawater on each bar acoustic propagation path is understood, wherein on i-th acoustic propagation path,In X, Y, Z axis
On size be respectively：
Wherein, i=1,2 ..., 6.
Step 7：Flow chart as shown in Figure 7, the 6 road signals that array received module is received carry out Frequency Estimation respectively,
The frequency f of reception signal is calculated1,f2,f3,f4,f5,f6, and it is resulting in the Doppler effect of utilization sound wave and step 5
Three-dimensional position (the x of submarine targetD,yD,zD) current are calculated respectively in X, Y, the average speed size on three directions of Z axisThe comprehensive speed size that last COMPREHENSIVE CALCULATING goes out on each bar acoustic propagation path, wherein i-th sound
Comprehensive speed size on propagation path is：
Wherein, i=1,2 ..., 6, on i-th acoustic propagation path, the average sea velocity of sound, average current velocity and synthesis
The relation schematic diagram of velocity magnitude is as shown in Figure 8.
Examples of implementation described above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.
Claims (2)
1. the acoustic propagation path comprehensive speed assay method for submarine target positioning, it is characterised in that comprise the following steps：
1) selected distance sea level h0At rice as a reference plane, pressure sensor senses h is passed through0Pressure at rice and from falling into a trap
Calculate h0Concrete numerical value, while using ultrasound emission position as the origin of coordinates, with vertical-horizontal downwards for Z-direction, establish empty
Between three-dimensional system of coordinate, be evenly arranged N number of wave beam linear array in X-direction, and set between array element at intervals of Δ x, i-th
The coordinate of individual array is (xi, 0,0), wherein, i=1,2,3 ..., N, Δ x=| xi-xi-1|；
2) it is f to build frequencys, wavelength λsSimple signal launched, while N number of letter that wave beam linear array is received
Number carry out Spatial signal processing, submarine target object is obtained to the biography of each array element by near field direction of arrival DOA algorithm for estimating
Broadcast the azimuth angle theta on path directioniAnd the angle of pitchUsing the 1st array element as reference array element, then the signal that array element i is received is delayed
The signal received relative to reference array element is delayed：
I-th of array element is respectively to the angle of pitch of target object and azimuth：
<mrow>
<msub>
<mi>&theta;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<msup>
<mi>cos</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>&lsqb;</mo>
<mfrac>
<mrow>
<mi>arg</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&Phi;</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mn>2</mn>
<mi>&pi;</mi>
<mrow>
<mo>|</mo>
<mrow>
<mi>&Delta;</mi>
<mi>x</mi>
</mrow>
<mo>|</mo>
</mrow>
<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
<mo>/</mo>
<msub>
<mi>&lambda;</mi>
<mi>s</mi>
</msub>
</mrow>
</mfrac>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Here, matrix ΦiFor N × N diagonal matrix, pitching angle information is contained, is met：
Wherein
3) appoint in receiving array and take three m, n, l array elements (1≤m, n, l≤N), corresponding coordinate is (x respectivelym, 0,0),
(xn, 0,0), (xl, 0,0), the angle of pitch according to corresponding to formula above (2) and formula (3) can obtain three array elements is respectivelyIf submarine target object coordinate is (xD,yD,zD), establish equation below group：
Submarine target object coordinate (x can be solvedD,yD,zD), obtain the depth residing for target object：
H=h0+zD (5)
4) temperature T, salinity S and the depth h in temperature sensor, salinity sensor and pressure sensor senses location are utilized
Information, while sound velocity in seawater is calculated according to these information and experiential sound speed formula, and in the measurement range of shallow sea, it is believed that temperature
Degree, salinity are substantially constant, temperature and Salinity measurements that here can directly in take-away belt (conveyor) location, finally establish seawater sound
Sound speed profile V between speed and depth hSound(h), while derive that its bulk sound velocity size is：
Sound velocity in seawater size on each bar acoustic propagation path can be known by above-mentioned formula, wherein on i-th acoustic propagation path,
In X, Y, the size on Z axis is respectively：
5) the N roads signal received by wave beam linear array is subjected to Frequency Estimation respectively, obtains the frequency f of reception signali, its
Middle i=1,2,3 ..., N, and utilize the three-dimensional position (x of gained submarine target in the Doppler effect and step 3) of sound waveD,yD,
zD) current are calculated respectively in X, Y, the average speed size on three directions of Z axis
6) comprehensive above the data obtained, can calculate the comprehensive speed size on each bar acoustic propagation path, wherein i-th sound passes
The comprehensive speed size broadcast on path is：
A kind of 2. acoustic propagation path comprehensive speed measure device for submarine target positioning, it is characterised in that：Including launching mould
Block, array received module, control module, memory module and central processing module, wherein：
The control module, it is connected respectively with transmitter module, array received module, memory module and central processing module, is used for
Control to modules；
The transmitter module, it is connected respectively with array received module, control module, central processing module, according to control module
Instruction, measurement signal is obtained from the modulator in central processing module and carries out ultrasound emission；Wherein, the transmitter module bag
Popped one's head in containing a ultrasound emission, the transmitter module is to pop one's head in carry out ultrasound emission by ultrasound emission；
The array received module, is connected with transmitter module, control module respectively, and according to the instruction of control module, reception is surveyed
The signal that target reflects, central processing module is sent to after received amplifier；Wherein, the array received module includes
There is N number of ultrasonic reception to pop one's head in, N >=6, the array received module is to receive surveyed target by ultrasonic reception probe to reflect
Signal；
The central processing module, it is connected respectively with control module, transmitter module, memory module, according to the instruction of control module
Data processing is carried out, and analyzes and obtains average sea velocity of sound size and water velocity size, and is believed using the position of immersed body
Breath, is calculated comprehensive speed and is obtained a result；
The memory module, it is connected respectively with control module, central processing module, according to the instruction of control module, at center
The comprehensive speed of reason module is stored.
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| CN105607033B (en) * | 2016-03-07 | 2019-01-18 | 华南理工大学 | Underwater Wave arrival direction estimating method and system based on qaudrature-homogeneous linear array |
| CN106500820B (en) * | 2016-10-13 | 2019-08-20 | 华南理工大学 | A kind of sonic velocity measurement method and device for estimating two-dimensional direction-of-arrival |
| CN106441543A (en) * | 2016-12-09 | 2017-02-22 | 华南理工大学 | Underwater detection path acoustic velocity measurement method based on three-dimensional orthogonal array and underwater detection path acoustic velocity measurement device thereof |
| CN108007549A (en) * | 2017-12-14 | 2018-05-08 | 济南希声计量技术有限公司 | The device and its application process of the static velocity of sound of measurement in real time in flow media environment |
| CN108802735B (en) * | 2018-06-15 | 2020-08-18 | 华南理工大学 | Underwater target positioning and speed measuring method and device for unknown sound velocity environment |
| CN109725053B (en) * | 2019-01-22 | 2021-03-12 | 中国人民解放军国防科技大学 | Method for acquiring water sound field characteristic data based on high-resolution ocean re-analysis product |
| CN112433218B (en) * | 2020-11-17 | 2024-02-13 | 海鹰企业集团有限责任公司 | Method for realizing ship conformal array virtual baffle |
| CN116628396B (en) * | 2023-07-25 | 2024-02-02 | 浙江大学海南研究院 | Underwater equipment sound ray bending correction method based on smooth interpolation |
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| KR20120033532A (en) * | 2010-09-30 | 2012-04-09 | 경북대학교 산학협력단 | Underwater traversing velocity field measurement system |
| DE102013106359A1 (en) * | 2013-06-18 | 2014-12-18 | Atlas Elektronik Gmbh | Method for determining an optimal subsonic sound velocity and apparatus for carrying out the method |
| CN203772405U (en) * | 2014-04-10 | 2014-08-13 | 内蒙古民族大学 | Acoustic velocity measuring device |
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| CN105004413A (en) | 2015-10-28 |
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