CN105292396B - A kind of drauht detection method based on parallel multi-beam sonar - Google Patents
A kind of drauht detection method based on parallel multi-beam sonar Download PDFInfo
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- CN105292396B CN105292396B CN201510363477.0A CN201510363477A CN105292396B CN 105292396 B CN105292396 B CN 105292396B CN 201510363477 A CN201510363477 A CN 201510363477A CN 105292396 B CN105292396 B CN 105292396B
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Abstract
The present invention relates to a kind of drauht detection method based on parallel multi-beam sonar, the parallel multi-beam sonar is separately installed with a set of in riverbank both sides；This method includes：It is the parallel multi-beam sonar setup parameter according to the detection range and measurement accuracy of the parallel multi-beam sonar, the parameter includes beam angle, the aperture length of basic matrix；The distribution of array element in the length and basic matrix of basic matrix in sonar system is determined by set parameter；Sonar system to through ship launching beam；Different array elements are selected in sonar system, multiple parallel beams are formed, reflected signal is received by parallel multi-beam；The intensity of reflected signal is received according to wave beam, the center of the parallel beam corresponding to hull bottom is measured, and then calculate the draft of ship.
Description
Technical field
The present invention relates to array signal processing field, more particularly to a kind of drauht inspection based on parallel multi-beam sonar
Survey method.
Background technology
In cruiseway, some ships are for economic interests so that the real draft depth of ship exceedes channel maintenance
The depth of water, without taking off-load measure, this behavior is referred to as ship " super drinking water ".These " super drinking water " ship risks pass through some shallow dangers
During leg, larger threat is brought to crewman, navigation channel and dam body building safety, causes dispute event, normal safety in navigation work is influenceed
The development of work, endangers extremely serious.
Sonar technique is with sonar technique to detect that ship is eaten outside current maximally effective undersea detection technology, Current Domestic
The common method of water depth has：Side wall fixation, water-bed fixation, double sounding instrument detection methods, transducer array detection method and side are swept
Sonar image processing detection method.But the above method has certain deficiency, such as side wall fixation requires signal projector and connect
Receiving utensil has higher sensitivity, and precision prescribed is high when being installed in water, and installation difficulty is big；Due to sonar in water-bed fixation
Installed in riverbed bottom, Sediment Siltation has to it to be had a certain impact；When ship distance signal is launched in double sounding instrument detection methods
When device is nearer, measurement error is larger etc..So, above-mentioned five kinds of methods have certain limitation in actual applications.
The content of the invention
It is an object of the invention to overcome existing shipping draft detection method existing office in actual applications
It is sex-limited, so that there is provided a kind of drauht detection method based on parallel multi-beam sonar.
To achieve these goals, the invention provides a kind of drauht detection side based on parallel multi-beam sonar
Method, the parallel multi-beam sonar is separately installed with a set of in riverbank both sides；This method includes：
Step 1), according to the detection range and measurement accuracy of the parallel multi-beam sonar, be the parallel multi-beam sound
Receive setup parameter, the parameter includes beam angle, the aperture length of basic matrix；
Step 2), as step 1) set by parameter determine in sonar system point of array element in the length and basic matrix of basic matrix
Cloth；
Step 3), sonar system to through ship launching beam；
Step 4), select different array elements in sonar system, form multiple parallel beams, reflected signal is by parallel many ripples
Beam is received；
Step 5), according to wave beam receive reflected signal intensity, measure the centre bit of the parallel beam corresponding to hull bottom
Put, and then calculate the draft of ship.
In above-mentioned technical proposal, the calculation formula of the beam angle is：
R=BW*X；
Wherein, BW is beam angle, and unit is radian；R is vertical linear resolution, and X is the maximum detectable range of ship；
The calculation formula of the aperture length of basic matrix is：
Wherein,For half beam width, λ is wavelength, and M is element number of array, and d is adjacent array element spacing,Biased for wave beam
Angle,The aperture length of basic matrix is element number of array M and adjacent array element spacing d product.
In above-mentioned technical proposal, the step 5) include：
If the 1st, 2 ..., n parallel beams can receive stronger echo-signal, and (n+1)th parallel beam is received
Echo signal intensity be far smaller than before n parallel beam echo strength, then it is assumed that (n+1)th wave beam has reached the bottom of ship
Portion；By the center position basic matrix top of (n+1)th wave beam apart from Zn+1Obtain height of the hull bottom apart from sonar transducer array top
H, with reference to sonar transducer array top apart from the height H of the water surface, calculate the draft H+h of ship.
The advantage of the invention is that：
1st, method of the invention can measure the draft of ship in real time, be suitable for the measurement to various ship types；
2nd, method of the invention installs simple and convenient, and cost is relatively low, and is easy to repair maintenance.
Brief description of the drawings
Fig. 1 is the scheme of installation of sonar system；
The parallel reception wave beam schematic diagram that Fig. 2 (a) is formed for selection 1-10 array elements；
The parallel reception wave beam schematic diagram that Fig. 2 (b) is formed for selection 2-11 array elements.
Embodiment
In conjunction with accompanying drawing, the invention will be further described.
The drauht detection method based on parallel multi-beam sonar of the present invention passes through the riverbank near ship lock
On sonar equipment system to through ship launching beam, reflected in parallel of the acoustical signal through ship is used by sonar system device
Parallel multi-beam is received, and the intensity of reflected signal is received according to wave beam, the center of the wave beam corresponding to hull bottom is measured, enters
And calculate the draft of ship.
Fig. 1 is the scheme of installation of sonar system, as illustrated, being respectively mounted a set of sound in the riverbank both sides close to ship lock
Receive system, the top of the sonar transducer array in every suit sonar system is designated as H apart from the height of the water surface, and the height value can be according to daily
Water level monitoring obtain.
After sonar system is installed, method of the invention comprises the following steps：
Step 1), according to the detection range and measurement accuracy of sonar system, be sonar system setup parameter.
The parameter to be set in sonar system includes：The aperture length of beam angle, basic matrix；Wherein, the wave beam is wide
The calculation formula of degree is：
Wherein, BW is beam angle, and unit is radian, i.e. angular resolution；For half beam width, λ is wavelength, and M is
Element number of array, d is adjacent array element spacing,For wave beam offset angle.
In above-mentioned formula (1), wavelength X is given value, and sonar system is measured using parallel multi-beam, therefore wave beam
Offset angleTherefore beam angle BW and adjacent array element spacing d, element number of array M are unknown-value in the formula.
During the known measurement using parallel multi-beam, wave beam offset angle is zero, and now vertical linear resolution is (i.e. vertical with the water surface
Resolution ratio on direction) relation between beam angle, the maximum detectable range of ship is：
R=BW*X (2)
In formula, R is vertical linear resolution, and X is the maximum detectable range of ship.
In above-mentioned formula (2), vertical linear resolution R, the maximum detectable range X of ship are preset value, therefore by this
Formula can calculate beam angle BW.It is the aperture length Md that can obtain basic matrix in conjunction with formula (1).
Step 2), by step 1) in set parameter determine point of array element in the length and basic matrix of basic matrix in sonar system
Cloth；
Step 3), sonar system to through ship launching beam；
Step 4), select different array elements in sonar system, form multiple parallel beams, reflected signal is by parallel many ripples
Beam is received；
Step 5), according to wave beam receive reflected signal intensity, measure the centre bit of the parallel beam corresponding to hull bottom
Put, and then calculate the draft of ship.
Specifically, if there is N number of parallel reception wave beam in sonar system, numbering is 1,2,3 ..., n ..., N；Assuming that the 1st,
2 ..., n parallel beams can receive stronger echo-signal, and the echo signal intensity that (n+1)th parallel beam is received
The echo strength of far smaller than preceding n parallel beam, then it is assumed that (n+1)th wave beam has reached the bottom of ship (in order to which ship is logical
Capable security consideration, the shipping draft of measurement have to be larger than the real draft depth equal to ship).If (n+1)th wave beam
Center position basic matrix top apart from Zn+1, by distance value Zn+1As hull bottom apart from sonar transducer array top height h,
With reference to sonar transducer array top apart from the water surface height H, so that it may calculate the draft H+h of ship.
In order to make it easy to understand, being described further with reference to a specific embodiment to the method for the present invention.
In one embodiment, set in advance or known systematic parameter includes：The working frequency of system is 400kHz,
Velocity of sound c=1500m/s, maximum vessel detection distance is 30 meters, and drauht measurement accuracy is 0.1 meter.
Calculating beam angle according to formula (2) first by said system parameter is：
BW=0.1/30=0.0033 (rad)
Then according to formula (1), the aperture length for calculating basic matrix is：
The aperture length that can be calculated basic matrix is at least 0.9545 meter, can select basic matrix length be 2.4 meters, totally 24 array element
Even linear array.Adjacent array element spacing is 0.1 meter, meets the demand of system.
Then, different array elements are selected, parallel multi-beam is formed, for receiving wave beam, 1-10,2-11,3-13 are selected
Deng N number of parallel beam is produced, as shown in Fig. 2 receiving wave beam is oriented to 0 °, Fig. 2 (a) selections 1-10 array elements are formed
Parallel reception wave beam schematic diagram, the parallel reception wave beam schematic diagram that Fig. 2 (b) is formed for selection 2-11 array elements.If 1-n
Individual wave beam can receive stronger reflection echo energy, and the reflection echo signal energy that (n+1)th wave beam is received is very weak, then
Think that (n+1)th beam has arrived the bottom of ship, the center position basic matrix top that calculating obtains (n+1)th wave beam is
Zn+1Rice, and then show that distance of the hull bottom apart from basic matrix top is h meters.According to monitoring water level height, calculate basic matrix top away from
From H meters of the height of the water surface, then the draft that can draw ship is (H+h) rice.
It should be noted last that, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted.Although ginseng
The present invention is described in detail according to embodiment, it will be understood by those within the art that, to the technical side of the present invention
Case is modified or equivalent substitution, and without departure from the spirit and scope of technical solution of the present invention, it all should cover in the present invention
Right among.
Claims (3)
1. a kind of drauht detection method based on parallel multi-beam sonar, the parallel multi-beam sonar is in riverbank both sides point
It is not provided with a set of；This method includes：
Step 1), according to the detection range and measurement accuracy of the parallel multi-beam sonar, be that the parallel multi-beam sonar is set
Determine parameter, the parameter includes beam angle, the aperture length of basic matrix；
Step 2), as step 1) set by parameter determine the distribution of array element in the length and basic matrix of basic matrix in sonar system；
Step 3), sonar system to through ship launching beam；
Step 4), select different array elements in sonar system, form multiple parallel beams, reflected signal is by parallel multi-beam institute
Receive；
Step 5), according to wave beam receive reflected signal intensity, measure the center of the parallel beam corresponding to hull bottom, enter
And calculate the draft of ship.
2. the drauht detection method according to claim 1 based on parallel multi-beam sonar, it is characterised in that described
The calculation formula of beam angle is：
R=BW*X；
Wherein, BW is beam angle, and unit is radian；R is vertical linear resolution, and X is the maximum detectable range of ship；
The calculation formula of the aperture length of basic matrix is：
Wherein,For half beam width, λ is wavelength, and M is element number of array, and d is adjacent array element spacing,For wave beam offset angle,The aperture length of basic matrix is element number of array M and adjacent array element spacing d product.
3. the drauht detection method according to claim 1 based on parallel multi-beam sonar, it is characterised in that described
Step 5) include：
If the 1st, 2 ..., n parallel beams can receive stronger echo-signal, and (n+1)th parallel beam is received returns
The echo strength of n parallel beam before ripple signal intensity is far smaller than, then it is assumed that (n+1)th wave beam has reached the bottom of ship；
By the center position basic matrix top of (n+1)th wave beam apart from Zn+1Height h of the hull bottom apart from sonar transducer array top is obtained,
With reference to sonar transducer array top apart from the height H of the water surface, calculate the draft H+h of ship.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4873523A (en) * | 1987-10-08 | 1989-10-10 | Jones Harry E | Shallow water indicator for a boat |
| CN102285431A (en) * | 2011-04-29 | 2011-12-21 | 大连海事大学 | Navigable ship draft real-time measuring device and measuring method |
| CN104590502A (en) * | 2014-12-31 | 2015-05-06 | 大连海事大学 | Side-scanning ship draught detection system and method |
| CN104627334A (en) * | 2015-03-04 | 2015-05-20 | 大连海事大学 | Side-mounted draft detection system and operating method thereof |
-
2015
- 2015-06-26 CN CN201510363477.0A patent/CN105292396B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4873523A (en) * | 1987-10-08 | 1989-10-10 | Jones Harry E | Shallow water indicator for a boat |
| CN102285431A (en) * | 2011-04-29 | 2011-12-21 | 大连海事大学 | Navigable ship draft real-time measuring device and measuring method |
| CN104590502A (en) * | 2014-12-31 | 2015-05-06 | 大连海事大学 | Side-scanning ship draught detection system and method |
| CN104627334A (en) * | 2015-03-04 | 2015-05-20 | 大连海事大学 | Side-mounted draft detection system and operating method thereof |
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