CN105241459A - Delay estimation method and device used for indoor underwater target positioning - Google Patents
Delay estimation method and device used for indoor underwater target positioning Download PDFInfo
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- CN105241459A CN105241459A CN201510675318.4A CN201510675318A CN105241459A CN 105241459 A CN105241459 A CN 105241459A CN 201510675318 A CN201510675318 A CN 201510675318A CN 105241459 A CN105241459 A CN 105241459A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01S15/88—Sonar systems specially adapted for specific applications
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a delay estimation method and device used for indoor underwater target positioning. The device comprises a signal generating module, a signal acquiring and processing module, an ultrasonic transducer and hydrophones. The delay estimation method includes the steps that firstly, outlier removal and normalization are performed on acquired signal data; secondly, circulating relevant processing is performed on signals of the hydrophones and original signals of the transducer; thirdly, peak values of relevant signals are solved through a lead-lag method and a threshold method; if the two solved peak values are different, read-in data of a data acquisition card are wrong, data are re-read and used for calculation, and when the two solved peak values are the same, the peak values are corrected through a tracking envelop solving method, and final peak values and transverse coordinates corresponding to the peak values are obtained, and sound signal delay is obtained by multiplying transverse coordinate values by an AD sampling period. By means of the method and device, the delay estimation operation time can be shortened, accuracy is higher than the accuracy of a common cross-correlation method, and therefore underwater target positioning accuracy can be effectively improved.
Description
Technical field
The present invention relates to Underwater Navigation navigation field, specifically, relate to a kind of delay time estimation method for target localization under indoor water and device.
Background technology
In the through engineering approaches realizing Autonomous Underwater Vehicle (AUV) and practical process, the realization of underwater navigation location technology is a step of most critical.In order to the correct underwater particular location of instruction AUV, underwater positioning system must can provide the precise location information in Long time scale, thus guides further AUV to complete various complex task, historical facts or anecdotes now accurately location be a difficult task.
At present, the positioning system existed mainly is divided into ultra-short baseline, Short baseline, Long baselines three class, and for underwater positioning system many employings Short baseline principle that indoor are middle-size and small-size, one of existing pinpoint necessary condition of historical facts or anecdotes is exactly obtain accurate time delay to estimate.It is exactly the Theories and methods utilizing parameter estimation and signal transacting that time delay is estimated, the time difference that time and the signal of the ultrasonic transducer signal that each transponder receives produce is estimated and measured, adopt related algorithm more, easy related algorithm precision is not high, the method such as so-called generalized correlation algorithm or the estimation of weighting time delay of applying calculates more complicated, operation time is long, and the scope of application has certain limitation.
Summary of the invention
The present invention seeks to solve the problem, overcoming now methodical defect, propose a kind of delay time estimation method for target localization under indoor water and device.
The technical solution used in the present invention is: the device that a kind of time delay for target localization under indoor water is estimated, this device comprises signal generator module, Signal sampling and processing module, ultrasonic transducer and nautical receiving set;
Described signal generator module comprises single-chip microcomputer, power amplifier, DDS (Direct Digital Synthesizer) chip and impedance-matching transformer;
When system is in running order, use the generation of Single-chip Controlling DDS chip for the pumping signal of ultrasonic transducer, due to the weak output signal produced, by power amplifier amplifying signal, and due to power amplifier output impedance and be connected ultrasonic transducer impedance mismatch, for preventing producing obviously impact to ultrasonic transducer duty, therefore realize impedance matching with impedance-matching transformer, through calculating, impedance-matching transformer ratio n1:n2=1:5;
The directive property of described ultrasonic transducer and nautical receiving set is respectively theaomni-directional transmission (± 2dB) and omnidirectional receives (± 2dB), and all have highly sensitive, and nominal pulse operating voltage is high, the feature that instantaneous output is large;
Described Signal sampling and processing module comprises gain adjustable amplifier, bandpass filter, data collecting card and industry control PC;
The effect of described gain adjustable amplifier and bandpass filter filters the white noise in nautical receiving set Received signal strength, ensure that number adopts the accuracy of card collection signal, data collecting card is arranged in industry control PC, collection ultrasonic transducer transmits and No. three nautical receiving set Received signal strength are sent to industry control PC, and the four road signals that industry control PC is gathered by data collecting card carry out time delay estimation;
Also comprise multiple linear power supply in described device, be respectively:
+ 5V linear power supply is nautical receiving set, single-chip microcomputer, DDS chip power supply;
± 12V linear power supply, for gain adjustable amplifier and bandpass filter are powered;
The Switching Power Supply of ± 60V, for power amplifier is powered.
As preferably, described ultrasonic transducer emission signal frequency is the ultrasonic pulse of 80kHz, and the burst length is 0.2ms, and the centre frequency of bandpass filter is 80kHz.
As preferably, described data collecting card adopts external trigger, namely single-chip microcomputer produces except pumping signal except for control DDS chip, also synchronizing signal is produced at the same time, by Transistor-Transistor Logic level rising edge 0 → 1 trigger data acquisition card image data, and terminate to gather by Transistor-Transistor Logic level 1 → 0 negative edge after a certain interval.
Use the delay time estimation method for target localization under indoor water of said apparatus, this delay time estimation method comprises the following steps:
Step one: elimination of burst noise and normalized are carried out to each nautical receiving set Received signal strength data of data collecting card collection and ultrasonic transducer original signal data;
Step 2: each hydrophone signals is done circular correlation process with ultrasonic transducer original signal respectively, obtains coherent signal;
Step 3: the rectangular window of definition two different in width, windowing process is carried out to the signal after normalization, its order is that the narrower window of 4 width is distributed in both sides, the window of wider width is positioned at centre, moving window from left to right, and respectively the data point in the narrower window of 4 width is sued for peace, after summation in adjacent two windows and ask ratio, if left side two window ratio is greater than 1 and right side two window ratio is less than 1, the relevant peaks then required is namely in the window of wider width, ask the maximal value of all data points in window, its horizontal ordinate is thick peak P1, the method of this step application is called lead and lag method,
Step 4: a pre-defined maximal value, and with 1/2 maximal value for threshold value, number of signals strong point after the normalization maximal value that language is preset one by one is compared, if be greater than maximal value, replace current maximum, and get new threshold value, if be less than current maximum and do not exceed threshold value with the difference of maximal value, then signal may be in of short duration downtrending, continue maximizing point, if data dot values is less than current maximum and exceed threshold value with the difference of maximal value, then think that signal maximum is current maximum, then now the horizontal ordinate of maximal value is thick peak P2, the method of this step application is called threshold method,
Step 5: if P1 ≠ P2, then number is adopted card to read in data wrong, again read data to calculate, if P1=P2, when two peakings are identical, then centered by the signal peak being undertaken calculating by lead and lag method and threshold method, with 7 step-lengths for interval, each side get ten data points, envelope is asked to carry out quadratic fit to required all data points, ask the horizontal ordinate on para-curve summit again, this horizontal ordinate is the arrival initial position that transmits of finally trying to achieve, this initial position was multiplied with the AD sampling period, acoustical signal time delay can be obtained, the method of this step application is called tracing, again time delay is multiplied by the velocity of sound in water, then can obtain the distance between nautical receiving set and transducer, for target localization under water.
Lower mask body introduces principle of work of the present invention and process:
The present invention is based on Short baseline principle, nautical receiving set as stated above with center, waters for basic point, be fixed in waters with the form of triangle battle array.When needing location, ultrasonic transducer outwards sends the ultrasonic pulse of 80kHz frequency, duration of pulse is very short is 0.2ms, the initial time single-chip microcomputer simultaneously sending ultrasonic pulse signal at ultrasonic transducer sends start trigger signal data collecting card and samples to the signal that each nautical receiving set receives, and the time of sample-duration is greater than ultrasonic pulse and arrives the distance travel-time needed for nautical receiving set farthest.Number is adopted the signal that card collects and is sent in industry control PC after collection terminates, analyzed by the sampled data of method to each nautical receiving set in conjunction with lead and lag method, threshold method, tracing, obtain the travel-time that ultrasonic pulse arrives each nautical receiving set needs, i.e. time delay.Arrive the velocity of sound in travel-time of each nautical receiving set and water according to ultrasonic signal, both can calculate the distance between target and each nautical receiving set.
Beneficial effect of the present invention: 1. ultrasonic transducer and nautical receiving set are all theaomni-directional transmission or reception is parallel acquisition during data acquisition, and outer synchronous signal trigger data acquisition card is unified to be gathered, accurately convenient and simple.
2. control is simple and reliable, stability is high.Time delay estimation unit inside of the present invention is integrated with the module such as gain amplifier, bandpass filter, ensures the accuracy of data collecting card collection signal.And nautical receiving set, transducer all use water-proof cable to be connected with cabinet, stability is high, is not subject to ectocine.
3. the delay time estimation method that adopts of the present invention is higher relative to the simple decorrelation peak maximum precision generally applied, and effectively improves submarine target positioning accurate, and the peaking algorithm more complicated than generalized correlation algorithm etc. is more easy, and computing time is shorter.
Accompanying drawing explanation
Fig. 1 is time delay estimation unit schematic diagram in the present invention.
Fig. 2 is the schematic diagram of the lead and lag method in the present invention in delay time estimation method.
Fig. 3 is the schematic diagram of the tracing in the present invention in delay time estimation method.
Fig. 4 is delay time estimation method process flow diagram in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in Figure 1, the device that a kind of time delay for target localization under indoor water of the present invention is estimated, this device comprises signal generator module 5, Signal sampling and processing module 6, ultrasonic transducer 1 and nautical receiving set 2,3,4, ultrasonic transducer 1 and nautical receiving set 2,3,4, directive property is respectively theaomni-directional transmission (± 2dB) and omnidirectional receives (± 2dB), and all having highly sensitive, nominal pulse operating voltage is high, the feature that instantaneous output is large, signal generator module 5 inside comprises 51 series monolithics 9, DDS chip 10, power amplifier 11, impedance-matching transformer 12, when system is in running order, use the generation of single-chip microcomputer 9 control DDS chip 10 for the pumping signal of ultrasonic transducer 1, due to the weak output signal produced, by power amplifier 11 amplifying signal, and due to power amplifier 11 output impedance and be connected ultrasonic transducer 1 impedance mismatch, for preventing producing obviously impact to ultrasonic transducer 1 duty, therefore realize impedance matching with impedance-matching transformer 12, through calculating, impedance-matching transformer 12 ratio n1:n2=1:5, Signal sampling and processing module 6 inside comprises data collecting card 7, industry control PC 8, gain adjustable amplifier 13, 14, 15 and bandpass filter 16, 17, 18, wherein gain adjustable amplifier 13, 14, 15 and bandpass filter 16, 17, the effect of 18 filters the white noise in nautical receiving set Received signal strength, ensure that number adopts the accuracy of card collection signal, because ultrasonic transducer 1 emission signal frequency is 80kHz, therefore bandpass filter 16, 17, the centre frequency of 18 is 80kHz, data collecting card 7 is arranged in industry control PC 8, gather ultrasonic transducer 1 to transmit and No. three nautical receiving sets 2, 3, 4 Received signal strength are sent to industry control PC 8, the four road signals that industry control PC 8 is gathered by data collecting card 7 carry out time delay estimation.
The ultrasonic pulse of special frequency launched by described ultrasonic transducer 1 when locating, in this case 80kHz, the burst length is very short, is 0.2ms.Data collecting card 7 uses four passages altogether, the original signal that CH3 channel acquisition ultrasonic transducer 1 is launched, the signal that CH0, CH1, CH2 channel acquisition nautical receiving set gathers.Data collecting card 7 adopts external trigger, namely single-chip microcomputer 9 is except producing except pumping signal for control DDS chip 10, also synchronizing signal is produced at the same time, by Transistor-Transistor Logic level rising edge 0 → 1 trigger data acquisition card 7 image data, and terminate to gather by Transistor-Transistor Logic level 1 → 0 negative edge after a certain interval.
Also comprise multiple linear power supply in described device, be respectively+5V linear power supply 19, for nautical receiving set 2,3,4, single-chip microcomputer 9, DDS10, power supply; ± 12V linear power supply 20 is that gain adjustable amplifier 13,14,15 and bandpass filter 16,17,18 are powered; Also have in addition ± Switching Power Supply 21 of 60V powers for power amplifier 11.
Use the delay time estimation method for target localization under indoor water of said apparatus, this delay time estimation method comprises the following steps, as shown in Figure 4:
First to each nautical receiving set Received signal strength data CH0_Buffr that data collecting card gathers, CH1_Buffer, CH2_Buffer and raw transducer signals data CH3_Buffer carries out elimination of burst noise and normalized, and then each hydrophone signals is done circular correlation process with raw transducer signals respectively, obtain coherent signal, then the peak value of coherent signal is asked respectively by lead and lag method and threshold method, if two peaking differences, then number is adopted card to read in data wrong, TrackingFlag=0, again read data to calculate, when two peakings are identical, TrackingFlag=1, then enter next step, tracing is used to revise peak value, obtain final peak value horizontal ordinate corresponding thereto, this horizontal ordinate numerical value is the transducer signal arrival initial position Ch0Delay that nautical receiving set receives, Ch1Delay, Ch2Delay, be multiplied with the AD sampling period again and obtain each channel time delay Delay0, Delay1, Delay2, finally be multiplied with the velocity of sound in water thus obtain the distance s between nautical receiving set and transducer
0, s
1, s
2.
Described lead and lag method as shown in Figure 2, is rectangular window W1, the W2 by defining two different in width.Windowing process is carried out to the signal after normalization, from left to right moving window, and to the data point summation in window W1, from left to right the summed result of 4 W1 windows is respectively S1, S2, S3, S4.In moving process, if S2/S1 is greater than 1 and S4/S3 is less than 1, then illustrate that the relevant peaks of requirement is in window W2.Ask the maximal value of all data points in window W2, its horizontal ordinate is peak.
Described threshold method is a pre-defined maximal value, and with 1/2 maximal value for threshold value, number of signals strong point after the normalization maximal value that language is preset one by one is compared, if be greater than maximal value, replace current maximum, and get new threshold value, if be less than current maximum and do not exceed threshold value with the difference of maximal value, then signal may be in of short duration downtrending, continue maximizing point, if data dot values is less than current maximum and exceed threshold value with the difference of maximal value, then think that signal maximum is current maximum, then now the horizontal ordinate of maximal value is peak.
Described tracing as shown in Figure 3, be centered by the signal maximum of being undertaken calculating by lead and lag method and threshold method, with 7 step-lengths for interval, each side get ten data points, envelope is asked to carry out quadratic fit to required all data points, ask the horizontal ordinate on para-curve summit again, this horizontal ordinate is the initial position of finally trying to achieve.
Below by reference to the accompanying drawings embodiments of the present invention are described in detail, but the present invention is not limited to described embodiment.For those of ordinary skill in the art, in the scope of principle of the present invention and technological thought, embodiment is carried out to these embodiments and carries out multiple change, amendment, replacement and distortion and still fall within the scope of protection of the present invention.
Claims (4)
1. for the device that the time delay of target localization under indoor water is estimated, it is characterized in that: this device comprises signal generator module, Signal sampling and processing module, ultrasonic transducer and nautical receiving set;
Described signal generator module comprises single-chip microcomputer, power amplifier, DDS chip and impedance-matching transformer; Use the generation of Single-chip Controlling DDS chip for the pumping signal of ultrasonic transducer, by power amplifier amplifying signal, realize impedance matching with impedance-matching transformer;
The directive property of described ultrasonic transducer and nautical receiving set is respectively theaomni-directional transmission and omnidirectional receives;
Described Signal sampling and processing module comprises gain adjustable amplifier, bandpass filter, data collecting card and industry control PC; Described gain adjustable amplifier and bandpass filter filter the white noise in nautical receiving set Received signal strength, data collecting card is arranged in industry control PC, collection ultrasonic transducer transmits and No. three nautical receiving set Received signal strength are sent to industry control PC, and the four road signals that industry control PC is gathered by data collecting card carry out time delay estimation;
Also comprise multiple linear power supply in described device, be respectively:
+ 5V linear power supply is nautical receiving set, single-chip microcomputer, DDS chip power supply;
± 12V linear power supply, for gain adjustable amplifier and bandpass filter are powered;
The Switching Power Supply of ± 60V, for power amplifier is powered.
2. the device of a kind of estimation of the time delay for target localization under indoor water according to claim 1, it is characterized in that: described ultrasonic transducer emission signal frequency is the ultrasonic pulse of 80kHz, burst length is 0.2ms, and the centre frequency of bandpass filter is 80kHz.
3. the device of a kind of estimation of the time delay for target localization under indoor water according to claim 1, it is characterized in that: described data collecting card adopts external trigger, namely single-chip microcomputer produces except pumping signal except for control DDS chip, also synchronizing signal is produced at the same time, by Transistor-Transistor Logic level rising edge 0 → 1 trigger data acquisition card image data, and terminate to gather by Transistor-Transistor Logic level 1 → 0 negative edge behind free interval.
4. use the delay time estimation method for target localization under indoor water of claim 1,2 or 3 device, it is characterized in that: this delay time estimation method comprises the following steps:
Step one: elimination of burst noise and normalized are carried out to each nautical receiving set Received signal strength data of data collecting card collection and ultrasonic transducer original signal data;
Step 2: each hydrophone signals is done circular correlation process with ultrasonic transducer original signal respectively, obtains coherent signal;
Step 3: the rectangular window of definition two different in width, windowing process is carried out to the signal after normalization, its order is that the narrower window of 4 width is distributed in both sides, the window of wider width is positioned at centre, moving window from left to right, and respectively the data point in the narrower window of 4 width is sued for peace, after summation in adjacent two windows and ask ratio, if left side two window ratio is greater than 1 and right side two window ratio is less than 1, the relevant peaks then required is namely in the window of wider width, ask the maximal value of all data points in window, its horizontal ordinate is thick peak P1, the method of this step application is called lead and lag method,
Step 4: a pre-defined maximal value, and with 1/2 maximal value for threshold value, number of signals strong point after the normalization maximal value that language is preset one by one is compared, if be greater than maximal value, replace current maximum, and get new threshold value, if be less than current maximum and do not exceed threshold value with the difference of maximal value, then signal may be in of short duration downtrending, continue maximizing point, if data dot values is less than current maximum and exceed threshold value with the difference of maximal value, then think that signal maximum is current maximum, then now the horizontal ordinate of maximal value is thick peak P2, the method of this step application is called threshold method,
Step 5: if P1 ≠ P2, then number is adopted card to read in data wrong, again read data to calculate, if P1=P2, when two peakings are identical, then centered by the signal peak being undertaken calculating by lead and lag method and threshold method, with 7 step-lengths for interval, each side get ten data points, envelope is asked to carry out quadratic fit to required all data points, ask the horizontal ordinate on para-curve summit again, this horizontal ordinate is the arrival initial position that transmits of finally trying to achieve, this initial position was multiplied with the AD sampling period, acoustical signal time delay can be obtained, the method of this step application is called tracing, again time delay is multiplied by the velocity of sound in water, then can obtain the distance between nautical receiving set and transducer, for target localization under water.
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| CN106680823A (en) * | 2017-02-09 | 2017-05-17 | 天津大学 | Target distance and velocity detection method of utilizing sperm whale cry pulse |
| CN107764369A (en) * | 2016-08-23 | 2018-03-06 | 北京清控人居环境研究院有限公司 | Ultrasonic Liquid Level Measurement |
| CN109174561A (en) * | 2018-10-25 | 2019-01-11 | 威准（厦门）自动化科技有限公司 | A kind of the base position automatic aligning method and device of the point plastic pin of dispenser |
| CN109507675A (en) * | 2019-01-07 | 2019-03-22 | 中国科学院声学研究所东海研究站 | The method for realizing the estimation processing of underwater multi-target time delay based on frequency division systems |
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| CN106680823B (en) * | 2017-02-09 | 2023-08-08 | 天津大学 | Method and device for detecting target distance and speed by using sound pulse of sperm whale |
| CN106680823A (en) * | 2017-02-09 | 2017-05-17 | 天津大学 | Target distance and velocity detection method of utilizing sperm whale cry pulse |
| CN109963117A (en) * | 2017-12-26 | 2019-07-02 | 中船重工（昆明）灵湖科技发展有限公司 | A kind of autonomous track up system of submarine navigation device |
| CN109963117B (en) * | 2017-12-26 | 2023-09-01 | 中船重工（昆明）灵湖科技发展有限公司 | Autonomous tracking shooting system of underwater vehicle |
| CN109174561A (en) * | 2018-10-25 | 2019-01-11 | 威准（厦门）自动化科技有限公司 | A kind of the base position automatic aligning method and device of the point plastic pin of dispenser |
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| CN109507675B (en) * | 2019-01-07 | 2020-10-16 | 中国科学院声学研究所东海研究站 | Method for realizing underwater multi-target time delay estimation processing based on frequency division system |
| WO2020191804A1 (en) * | 2019-03-28 | 2020-10-01 | 广东志成冠军集团有限公司 | High-precision long-distance underwater acoustic ranging method based on low-frequency continuous sound wave peak capture |
| CN110412546B (en) * | 2019-06-27 | 2022-09-16 | 厦门大学 | Positioning method and system for underwater target |
| CN110412546A (en) * | 2019-06-27 | 2019-11-05 | 厦门大学 | A kind of localization method and system for submarine target |
| CN113721190A (en) * | 2021-10-28 | 2021-11-30 | 深圳市海豚科技创新有限公司 | Signal processing method and device for terminal, computer equipment and medium |
| CN113721190B (en) * | 2021-10-28 | 2022-02-15 | 深圳市海豚科技创新有限公司 | Signal processing method and device for terminal, computer equipment and medium |
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