CN105487077A - Position estimation method of underwater sounding object on the basis of laser multipoint coherent detection and device for implementing the method - Google Patents
Position estimation method of underwater sounding object on the basis of laser multipoint coherent detection and device for implementing the method Download PDFInfo
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- CN105487077A CN105487077A CN201511021900.5A CN201511021900A CN105487077A CN 105487077 A CN105487077 A CN 105487077A CN 201511021900 A CN201511021900 A CN 201511021900A CN 105487077 A CN105487077 A CN 105487077A
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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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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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
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Abstract
A position estimation method of an underwater sounding object on the basis of laser multipoint coherent detection and a device for implementing the method provided by the invention relate to the position detection technology of an underwater sounding object. The object of the invention is to solve the problem that a laser-sound joint detection means cannot realize the position detection of an underwater sounding object. Firstly, a laser coherent detection system is established, then the laser coherent detection system is configured to perform water surface sound wave detection of a plurality of positions of an interesting water area, the measurement of water surface sound wave amplitudes of each point is realized through adoption of spectral analysis, phase demodulation and the like, finally, according to the water surface sound wave amplitude distribution characteristics, the position having max amplitude is the optimal estimation of an underwater sound source center. The method and device provided by the invention are able to realize the aerial detection of an underwater sounding source position, two methods such as synchronous multipoint coherent detection or asynchronous multipoint coherent detection according to actual demands may be selected, therefore the flexibility and the mobility are very good, and the method and device provided by the invention are applicable to underwater sounding object detection and air-to-underwater communication.
Description
Technical field
The present invention relates to audible target position sensing technology under water.
Background technology
The sonar technology comprising hydrophone, sonobuoy and towed sound locator is still the mainstream technology means of current audible target under water detection, such as utilize sonar technology to the search of MH370 black box, sonar technology is that one utilizes the underwater propagation characteristic of sound wave, completed the electronic equipment of undersea detection and communication task by electroacoustic conversion and information processing, be divided into active and passive type two type.Boat-carrying sonar technology, due to maneuverability, dirigibility and disguised poor, receives many restrictions to the detection application of audible target under water.
People wish the remote measurement that can realize audible target under water, so propose " laser-sound " combined detection means, the potentiality of combined detection technology that current laboratory study shows " laser-sound ", laser coherence probe method is studied to be applied in the extraction of underwater signal, achieve certain effect, but " laser-sound " combined detection means still cannot realize the detection of audible target position under water at present.
Summary of the invention
The object of the invention is the problem that cannot realize audible target position sensing under water in order to solve " laser-sound " combined detection means, providing two kinds based on the location estimation method of audible target under water of laser multiple spot coherent detection and the device realizing above-mentioned two kinds of methods.
The first location estimation method of audible target under water based on laser multiple spot coherent detection of the present invention is synchronous Multi-point detection method, and the method comprises the following steps:
Step one, on water surface, choose arbitrarily four points as sensing point, and four sensing points form square;
Step 2, employing underwater signal laser coherence probe method detect four sensing points, obtain the detectable signal I of four sensing points respectively
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of four sensing points, obtain the water surface sonic wave amplitude value of four sensing points;
Step 3, judge that whether the water surface sonic wave amplitude value of four sensing points is identical, if identical, then the foursquare central point O formed in detection center, i.e. four sensing points, as the optimum estimate of Sound Source Center position, if not identical, then performs step 4;
The direction vector of step 4, the maximum and secondary large sensing point calculating detection system optic probe movement according to amplitude
Wherein, A
max1be the water surface sound wave peak swing value of four sensing points, A
max1corresponding position is sensing point S
max1, A
max2be the water surface sound wave time good amplitude of four sensing points, A
max2corresponding position is sensing point S
max2, O is the foursquare center that four sensing points are formed;
Step 5, the vector obtained according to step 4
move four optic probes, then return step 2.
The device realizing said method comprises laser instrument (1), optoisolator (2), 1 × 4 fiber coupler (3), four optical fiber acousto-optic modulators (4), four optical circulators (5), four probes (6), four optical attenuators (7), four 2 × 1 coupling mechanisms (8), the photodetector (9) of 4 passages and the signal receiving modules (10) of 4 passages;
The laser that laser instrument (1) sends enters 1 × 4 fiber coupler (3) after optoisolator (2), and four output terminals of 1 × 4 fiber coupler (3) connect the input end of four optical fiber acousto-optic modulators (4) respectively;
Each optical fiber acousto-optic modulator (4) and an optical circulator (5), an optical attenuator (7), 2 × 1 coupling mechanism (8) and a probe (6) corresponding, an output terminal of each optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8),
The output terminal of four 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
The second of the present invention is asynchronous Multi-point detection method based on the location estimation method of audible target under water of laser multiple spot coherent detection, the method is: adopt underwater signal laser coherence probe method to carry out pointwise detection to waters to be detected, obtain the detectable signal I of each sensing point
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of each sensing point, obtain the water surface sonic wave amplitude value of each sensing point, using the optimum estimate of the position of sensing point maximum for water surface sonic wave amplitude value as Sound Source Center position.
The device realizing said method comprises laser instrument (1), optoisolator (2), optical fiber acousto-optic modulator (4), optical circulator (5), probe (6), optical attenuator (7), 2 × 1 coupling mechanisms (8), photodetector (9) and signal receiving module (10);
The laser that laser instrument (1) sends enters the input end of light fiber acousto-optic device (4) after optoisolator (2), an output terminal of optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8), the output terminal of 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
This problem of aerial reconnaissance that the present invention is directed to sound generation source position under water proposes solution.Two kinds of methods of the present invention can be sketched as following process: 1) build laser coherence detection system; 2) coherent detection system is utilized to carry out water surface acoustic sounding to multiple position, interested waters; 3) method such as spectrum analysis, phase demodulating is utilized to realize the measurement of each water surface sound wave wave amplitude; 4) according to water surface sound wave wave amplitude distribution characteristics, the maximum position of wave amplitude is considered as the optimal estimation at underwater sound source center.
According to the ultimate principle of the position of the audible target under water appraisal procedure of basic multiple spot coherent detection, its implementation can adopt two kinds of forms: 1) synchronous Multi-point detection; 2) asynchronous Multi-point detection.
Method and apparatus of the present invention can realize the aerial reconnaissance of sound generation source position under water, synchronous multiple spot coherent detection or asynchronous multiple spot coherent detection two kinds of methods can be selected according to the actual requirements, dirigibility and maneuverability are very good, be applicable to audible target detection under water, and sky are to latent communication.
Accompanying drawing explanation
Fig. 1 is the spatial shape figure of the water surface sound wave in embodiment one;
Fig. 2 is the basic principle schematic of the underwater signal laser coherence detection in embodiment one, and 11 represent spectroscope, and 12 represent plane mirror, 13 represent signal generator, 14 represent power amplifier, and 15 represent underwater sound source, and 16 represent data acquisition and processing system;
Fig. 3 is the initial position distribution plan of four sensing points in embodiment one;
Fig. 4 is Sound Source Center location schematic diagram in embodiment one;
Fig. 5 is the process flow diagram of method described in embodiment one;
Fig. 6 is the theory diagram obtaining water surface information of acoustic wave according to coherent signal in embodiment two;
Fig. 7 is the structural representation of device described in embodiment five;
Fig. 8 is the structural representation of device described in embodiment seven.
Embodiment
Embodiment one: composition graphs 1 to Fig. 5 illustrates present embodiment, the location estimation method of audible target under water based on laser multiple spot coherent detection described in present embodiment is synchronous Multi-point detection method, and the method is:
Step one, on water surface, choose arbitrarily four points as sensing point, and four sensing points form square;
Step 2, employing underwater signal laser coherence probe method detect four sensing points, obtain the detectable signal I of four sensing points respectively
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of four sensing points, obtain the water surface sonic wave amplitude value of four sensing points;
Step 3, judge that whether the water surface sonic wave amplitude value of four sensing points is identical, if identical, then the foursquare central point O formed in detection center, i.e. four sensing points, as the optimum estimate of Sound Source Center position, if not identical, then performs step 4;
The direction vector of step 4, the maximum and secondary large sensing point calculating detection system optic probe movement according to amplitude
Wherein, A
max1be the water surface sound wave peak swing value of four sensing points, A
max1corresponding position is sensing point S
max1, A
max2be the water surface sound wave time good amplitude of four sensing points, A
max2corresponding position is sensing point S
max2, O is the foursquare center that four sensing points are formed;
Step 5, the vector obtained according to step 4
move four optic probes, then return step 2.
Water surface sound wave is the horizontal small amplitude wave of one penetrating water air interface by underwateracoustic radiation and cause, if with water surface sound source center of disturbance for true origin, coordinate system is set up as Z coordinate axis in water surface method direction, so theoretical according to the horizontal small amplitude wave of liquid surface, the three-dimensional exact sodution of water surface sound wave can be expressed from the next:
In formula, η is the real-time wave amplitude of position (x, y) place water surface sound wave, j is imaginary symbols, and x is X-axis coordinate components, and y is Y-axis coordinate components, ω is the angular frequency (being also the angular frequency of underwater signal) of water surface sound wave, and e is the end of natural logarithm.
Due to the viscous effect of water, the wave amplitude of the horizontal small amplitude wave of water surface can not remain unchanged, namely the scope of the horizontal small amplitude wave of water surface is not unlimited yet, the amplitude of water surface small amplitude wave reduces along with the increase of propagation distance, namely the particle in water surface small amplitude wave region is the closer to disturbing source, and its amplitude is larger.Research shows, the wave amplitude of the horizontal small amplitude wave of water surface will be decayed with exponential form, therefore, above formula can be modified to:
In formula, τ is attenuation coefficient.Therefore, by the radiation-induced water surface sound wave of underwateracoustic spatial shape as shown in Figure 1.Whole waveform presents concentrically ringed structure, and center amplitude is large, and outer amplitude is little.Concentrically ringed home position is the position of underwateracoustic radiation center.Just because of the feature of the horizontal decay of wave amplitude a little of water surface, the method that we can utilize multiple spot wave amplitude to detect is to realize the estimation of submarine target sounding position.
As shown in Figure 2, this figure is the index path of typical laser coherence method detecting underwater acoustic signal to the principle of underwater signal laser coherence detection.The laser beam that laser instrument sends, after acousto-optic modulator (AOM) diffraction, is divided into two-beam, and a branch of as measuring light, another bundle is as reference light.Measure light and be directly incident on the tested water surface, the vibration of this water surface includes the vibration component of underwater sound source same frequency because receiving the modulation of underwater sound source, position is incident to spectroscope by the reflected light of these vibration modulation (actually appearing the hot spot that center light powerful surrounding light intensity is little), and through dichroic mirror; Reference light, after 45 degree of plane mirror reflections, is incident to spectroscope, and through spectroscope transmission, inner in spectroscope, measurement light and reference light converge, and there occurs relevant, coherent light is incident on the test surface of photodetector.Photoelectric detector coherent signal, and be translated into electric signal, this electric signal, after signal processing circuit and data acquisition and processing system process, is read by host computer, is done process further can demodulate the feature of underwater signal by the coherent signal that host computer reads.
4 sensing point S of synchronous multiple spot method of coherent detecting
1, S
2, S
3, S
4distribution as shown in Figure 3, entirety presents square, and its geometric center is O point.When putting into practice, utilize synchronous multiple spot coherent detection system to carry out Multi-point detection to interested waters, obtain 4 sensing point S
1, S
2, S
3, S
4the water surface information of acoustic wave at place, selects maximum and secondary two the large detecting locations of water surface sonic wave amplitude, is designated as S respectively
max1and S
max2, so Sound Source Center direction is then positioned at amplitude maximum probe point S
max1with secondary large sensing point S
max2within the scope of the subtended angle formed with central point O.For Fig. 3, the maximum sensing point of water surface sonic wave amplitude is S
1, secondary large sensing point is S
4, so Sound Source Center C is relative to the direction of detection system
then be positioned at vector
with
between. be the peak swing position of search water surface sound wave, detection system need according to direction
mobile, the constantly position of adjustment detection system, the water surface sound wave amplitude size that 4 sensing points are detected is basically identical, as shown in Figure 4, now thinks that detection central point O is the optimal estimation of Sound Source Center.
Embodiment two: composition graphs 6 illustrates present embodiment, present embodiment is the further restriction to a kind of location estimation method of audible target under water based on laser multiple spot coherent detection described in embodiment one, according to the measuring principle in embodiment one, the detectable signal I in step 2
dt the preparation method of () is:
The light amplitude E of reference light
bbeing distributed as of t in time:
E
b(t)＝A
bsin(ω
0t+kz
b+φ)(1)
In formula, A
bfor reference light light amplitude E
bamplitude;
ω
0for laser angular frequency;
K is laser wave number;
Z
bfor the light path of reference light;
φ is laser initial phase.
Measure the light amplitude E of light
mbeing distributed as of t in time:
E
m(t)＝A
msin[(ω
0+ω
d)t+kz
m+φ](2)
In formula, A
mfor measuring light light amplitude E
bamplitude;
Z
mfor measuring the light path of light;
ω
dfor acousto-optic modulator modulating frequency.
Conjunction amplitude after reference light and measurement light converge is:
E(t)＝E
b(t)+E
m(t)＝A
msin(ω
0t+kz
m+φ)+A
bsin[(ω
0+ω
d)t+kz
b+φ](3)
Then coherent light light intensity I (t) is:
Light intensity is by photoelectric detector, and photodetector to the response of high frequency item, is not about to
and A
ma
bcos [(2 ω
0+ ω
d) t+kz
m+ kz
b+ 2 φ] change direct current signal into, therefore, remove the light intensity signal I after DC component
dbe expressed as:
I
d(t)＝KA
mA
bcos[k(z
m-z
b)]＝A
dcos[ω
dt+k(z
m-z
b)](5)
In formula, K is the enlargement ratio of photelectric receiver, note A
d=KA
ma
b,
From above formula, the signal of photoelectric detector is about reference light and the modulation signal measuring light optical path difference, the optical path difference of two bundle laser is vibrated relevant by the initial length of two arms with water surface, wherein water surface sound wave two parts of exciting containing the fluctuation on Natural Water surface and underwater signal of water surface vibration pack, therefore, optical path difference z
m-z
bbe expressed as:
z
m-z
b＝2(L
1-L
2)+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)(6)
In formula, A
nsin (2 π f
nt+ φ
n) be the vibration expression formula (A on Natural Water surface
nfor Natural Water surface amplitudes, f
nfor Natural Water surface vibration frequency, φ
nfor Natural Water surface vibration initial phase), A
ssin (2 π f
st+ φ
s) the water surface vibration expression formula (A that causes for underwater sound source
sfor water surface sonic wave amplitude, f
sfor water surface acoustic vibration frequency, φ
sfor water surface acoustic vibration initial phase), L
1for the water surface static time measure the initial light path of light, L
2for the water surface static time reference light light path, so, (L
1-L
2) for the water surface static time two-way light initial optical path difference, be designated as Δ L, then photoelectric detector to light intensity signal can be stated by following formula:
I
d(t)＝A
dcos{ω
dt+k[2ΔL+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)]}(7)
A
ssin (2 π f
st+ φ
s) information of water surface sound wave for being caused by underwater sound source.
From formula (7), contain the information of the water surface sound wave that underwater sound source causes in the phase place of the detectable signal obtained by photodetector: A
ssin (2 π f
st+ φ
s).Adopt conventional method (such as the method such as spectrum analysis or phase demodulating) to analyze detectable signal, the vibration amplitude A of water surface sound wave can be obtained
swith vibration frequency f
s.The principle shown in Fig. 6 can be adopted to obtain water surface information of acoustic wave: A
ssin (2 π f
st+ φ
s).
Embodiment three: the location estimation method of audible target under water based on laser multiple spot coherent detection described in present embodiment is asynchronous Multi-point detection method, the method is: adopt underwater signal laser coherence probe method to carry out pointwise detection to waters to be detected, obtain the detectable signal I of each sensing point
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of each sensing point, obtain the water surface sonic wave amplitude value of each sensing point, using the optimum estimate of the position of sensing point maximum for water surface sonic wave amplitude value as Sound Source Center position.
Embodiment four: present embodiment is the further restriction to the location estimation method of audible target under water based on laser multiple spot coherent detection described in embodiment three, detectable signal I
dt the preparation method of () is:
The light amplitude E of reference light
bbeing distributed as of t in time:
E
b(t)＝A
bsin(ω
0t+kz
b+φ)(1)
In formula, A
bfor reference light light amplitude E
bamplitude;
ω
0for laser angular frequency;
K is laser wave number;
Z
bfor the light path of reference light;
φ is laser initial phase.
Measure the light amplitude E of light
mbeing distributed as of t in time:
E
m(t)＝A
msin[(ω
0+ω
d)t+kz
m+φ](2)
In formula, A
mfor measuring light light amplitude E
bamplitude;
Z
mfor measuring the light path of light;
ω
dfor acousto-optic modulator modulating frequency.
Conjunction amplitude after reference light and measurement light converge is:
E(t)＝E
b(t)+E
m(t)＝A
msin(ω
0t+kz
m+φ)+A
bsin[(ω
0+ω
d)t+kz
b+φ](3)
Then coherent light light intensity I (t) is:
Light intensity is by photoelectric detector, and photodetector will
and A
ma
bcos [(2 ω
0+ ω
d) t+kz
m+ kz
b+ 2 φ] change direct current signal into, therefore, remove the light intensity signal I after DC component
dbe expressed as:
I
d(t)＝KA
mA
bcos[k(z
m-z
b)]＝A
dcos[ω
dt+k(z
m-z
b)](5)
In formula, K is the enlargement ratio of photelectric receiver, note A
d=KA
ma
b,
Optical path difference z
m-z
bbe expressed as:
z
m-z
b＝2(L
1-L
2)+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)(6)
In formula, A
nsin (2 π f
nt+ φ
n) be the vibration expression formula (A on Natural Water surface
nfor Natural Water surface amplitudes, f
nfor Natural Water surface vibration frequency, φ
nfor Natural Water surface vibration initial phase), A
ssin (2 π f
st+ φ
s) the water surface vibration expression formula (A that causes for underwater sound source
sfor water surface sonic wave amplitude, f
sfor water surface acoustic vibration frequency, φ
sfor water surface acoustic vibration initial phase), L
1for the water surface static time measure the initial light path of light, L
2for the water surface static time reference light light path, so, (L
1-L
2) for the water surface static time two-way light initial optical path difference, be designated as Δ L, then photoelectric detector to light intensity signal can be stated by following formula:
I
d(t)＝A
dcos{ω
dt+k[2ΔL+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)]}(7)
A
ssin (2 π f
st+ φ
s) information of water surface sound wave for being caused by underwater sound source.
Embodiment five: composition graphs 6 and Fig. 7 illustrate present embodiment, present embodiment is the device of the location estimation method of audible target under water based on laser multiple spot coherent detection realized described in embodiment two, described device comprises laser instrument (1), optoisolator (2), 1 × 4 fiber coupler (3), four optical fiber acousto-optic modulators (4), four optical circulators (5), four probes (6), four optical attenuators (7), four 2 × 1 coupling mechanisms (8), the photodetector (9) of 4 passages and the signal receiving module (10) of 4 passages,
The laser that laser instrument (1) sends enters 1 × 4 fiber coupler (3) after optoisolator (2), and four output terminals of 1 × 4 fiber coupler (3) connect the input end of four optical fiber acousto-optic modulators (4) respectively;
Each optical fiber acousto-optic modulator (4) and an optical circulator (5), an optical attenuator (7), 2 × 1 coupling mechanism (8) and a probe (6) corresponding, an output terminal of each optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8),
The output terminal of four 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
Figure 7 shows that the structural representation of the device realizing synchronous Multi-point detection method: the laser instrument (1) of band tail optical fiber exports single-frequency laser bundle, be input in 1 × 4 fiber coupler (3) after optoisolator (2), this 1 × 4 fiber coupler (3) exports 4 road laser by isocandela, 4 road laser are input to optical fiber acousto-optic modulator (4) separately, 0 grade of light that optical fiber acousto-optic modulator (4) exports is as reference light, its 1 grade of light exported is as detection light: 4 tunnel detection light output to 4 probes (6) through optical circulator (5), exploring laser light is shone waters to be detected by 4 probes (6), and receive the water surface and return the laser beam of penetrating back, i.e. reflection lasering beam, the phase place of reflection lasering beam receives the modulation of water surface fluctuation, reflection lasering beam is input to 2 × 1 coupling mechanisms (8) after circulator, on the other hand, reference light is also input to 2 × 1 coupling mechanisms (8) after optical attenuator (7), coherent signal is created after two-beam converges, 4 tunnel coherent signals are received by the photodetector (9) of 4 passages, coherent signal is converted to electric signal by photodetector (9), enter the signal receiving module (10) of 4 passages, signal receiving module (10) adopts the principle shown in Fig. 6 to process to the received signal, obtains water surface information of acoustic wave A
ssin (2 π f
st+ φ
s), this information is sent to host computer, and host computer can obtain the information of 4 sensing point water surface sound waves.
Embodiment six: composition graphs 7 illustrates present embodiment, present embodiment is the further restriction to device described in embodiment five, in present embodiment, described probe (6) comprises many eyeglasses photo-coupler (6-1) and fix-focus lens (6-2), the optical fiber interface of many eyeglasses photo-coupler (6-1) is as the optical fiber interface of probe (6), detection light incides water surface successively after too much eyeglass photo-coupler (6-1) and fix-focus lens (6-2), the laser returned through water surface successively through fix-focus lens (6-2) and many eyeglasses photo-coupler (6-1) laggard enter No. two ports of optical circulator (5).
This fiber coupler (6-1), for exploring laser light is shone waters to be detected, coordinates fix-focus lens (6-2) to realize the reception of reflection lasering beam simultaneously.
Embodiment seven: composition graphs 8 illustrates present embodiment, present embodiment is the device of the location estimation method of audible target under water based on laser multiple spot coherent detection realized described in embodiment four, and described device comprises laser instrument (1), optoisolator (2), optical fiber acousto-optic modulator (4), optical circulator (5), probe (6), optical attenuator (7), 2 × 1 coupling mechanisms (8), photodetector (9) and signal receiving module (10);
The laser that laser instrument (1) sends enters the input end of light fiber acousto-optic device (4) after optoisolator (2), an output terminal of optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8), the output terminal of 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
This device utilizes an optic probe to the water surface acoustic sounding carrying out pointwise in interested waters, with the optimal estimation of peak swing place for Sound Source Center position.
Embodiment eight: composition graphs 8 illustrates present embodiment, present embodiment is the further restriction to device described in embodiment seven, in present embodiment, described probe (6) comprises many eyeglasses photo-coupler (6-1) and fix-focus lens (6-2), the optical fiber interface of many eyeglasses photo-coupler (6-1) is as the optical fiber interface of probe (6), detection light incides water surface successively after too much eyeglass photo-coupler (6-1) and fix-focus lens (6-2), the laser returned through water surface successively through fix-focus lens (6-2) and many eyeglasses photo-coupler (6-1) laggard enter No. two ports of optical circulator (5).
This fiber coupler (6-1), for exploring laser light is shone waters to be detected, coordinates fix-focus lens (6-2) to realize the reception of reflection lasering beam simultaneously.
Claims (8)
1., based on the location estimation method of audible target under water of laser multiple spot coherent detection, it is characterized in that, the method is:
Step one, on water surface, choose arbitrarily four points as sensing point, and four sensing points form square;
Step 2, employing underwater signal laser coherence probe method detect four sensing points, obtain the detectable signal I of four sensing points respectively
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of four sensing points, obtain the water surface sonic wave amplitude value of four sensing points;
Step 3, judge that whether the water surface sonic wave amplitude value of four sensing points is identical, if identical, then the foursquare central point O formed in detection center, i.e. four sensing points, as the optimum estimate of Sound Source Center position, if not identical, then performs step 4;
The direction vector of step 4, the maximum and secondary large sensing point calculating detection system optic probe movement according to amplitude
Wherein, A
max1be the water surface sound wave peak swing value of four sensing points, A
max1corresponding position is sensing point S
max1, A
max2be the water surface sound wave time good amplitude of four sensing points, A
max2corresponding position is sensing point S
max2, O is the foursquare center that four sensing points are formed;
Step 5, the vector obtained according to step 4
move four optic probes, then return step 2.
2. the location estimation method of audible target under water based on laser multiple spot coherent detection according to claim 1, is characterized in that, the detectable signal I in step 2
dt the preparation method of () is:
The light amplitude E of reference light
bbeing distributed as of t in time:
E
b(t)＝A
bsin(ω
0t+kz
b+φ)(1)
In formula, A
bfor reference light light amplitude E
bamplitude;
ω
0for laser angular frequency;
K is laser wave number;
Z
bfor the light path of reference light;
φ is laser initial phase.
Measure the light amplitude E of light
mbeing distributed as of t in time:
E
m(t)＝A
msin[(ω
0+ω
d)t+kz
m+φ](2)
In formula, A
mfor measuring light light amplitude E
bamplitude;
Z
mfor measuring the light path of light;
ω
dfor acousto-optic modulator modulating frequency.
Conjunction amplitude after reference light and measurement light converge is:
E(t)＝E
b(t)+E
m(t)＝A
msin(ω
0t+kz
m+φ)+A
bsin[(ω
0+ω
d)t+kz
b+φ](3)
Then coherent light light intensity I (t) is:
I(t)＝|E(t)|
2＝A
m 2cos
2(ω
0t+kz
m+φ)+A
b 2cos
2[(ω
0+ω
d)t+kz
b+φ](4)
+A
mA
bcos[(2ω
0+ω
d)t+kz
m+kz
b+2φ]+A
mA
bcos[ω
dt+k(z
m-z
b)]
Light intensity is by photoelectric detector, and photodetector is by A
m 2cos
2(ω
0t+kz
m+ φ), A
b 2cos
2[(ω
0+ ω
d) t+kz
b+ φ] and A
ma
bcos [(2 ω
0+ ω
d) t+kz
m+ kz
b+ 2 φ] change direct current signal into, therefore, remove the light intensity signal I after DC component
dbe expressed as:
I
d(t)＝KA
mA
bcos[k(z
m-z
b)]＝A
dcos[ω
dt+k(z
m-z
b)](5)
In formula, K is the enlargement ratio of photelectric receiver, note A
d=KA
ma
b,
Optical path difference z
m-z
bbe expressed as:
z
m-z
b＝2(L
1-L
2)+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)(6)
In formula, A
nsin (2 π f
nt+ φ
n) be the vibration expression formula (A on Natural Water surface
nfor Natural Water surface amplitudes, f
nfor Natural Water surface vibration frequency, φ
nfor Natural Water surface vibration initial phase), A
ssin (2 π f
st+ φ
s) the water surface vibration expression formula (A that causes for underwater sound source
sfor water surface sonic wave amplitude, f
sfor water surface acoustic vibration frequency, φ
sfor water surface acoustic vibration initial phase), L
1for the water surface static time measure the initial light path of light, L
2for the water surface static time reference light light path, so, (L
1-L
2) for the water surface static time two-way light initial optical path difference, be designated as Δ L, then photoelectric detector to light intensity signal can be stated by following formula:
I
d(t)＝A
dcos{ω
dt+k[2△L+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)]}(7)
A
ssin (2 π f
st+ φ
s) information of water surface sound wave for being caused by underwater sound source.
3. based on the location estimation method of audible target under water of laser multiple spot coherent detection, it is characterized in that, the method is: adopt underwater signal laser coherence probe method to carry out pointwise detection to waters to be detected, obtain the detectable signal I of each sensing point
d(t), the i.e. signal that arrives of photoelectric detector, and spectrum analysis or phase demodulating are carried out to the detectable signal of each sensing point, obtain the water surface sonic wave amplitude value of each sensing point, using the optimum estimate of the position of sensing point maximum for water surface sonic wave amplitude value as Sound Source Center position.
4. the location estimation method of audible target under water based on laser multiple spot coherent detection according to claim 3, is characterized in that, detectable signal I
dt the preparation method of () is:
The light amplitude E of reference light
bbeing distributed as of t in time:
E
b(t)＝A
bsin(ω
0t+kz
b+φ)(1)
In formula, A
bfor reference light light amplitude E
bamplitude;
ω
0for laser angular frequency;
K is laser wave number;
Z
bfor the light path of reference light;
φ is laser initial phase.
Measure the light amplitude E of light
mbeing distributed as of t in time:
E
m(t)＝A
msin[(ω
0+ω
d)t+kz
m+φ](2)
In formula, A
mfor measuring light light amplitude E
bamplitude;
Z
mfor measuring the light path of light;
ω
dfor acousto-optic modulator modulating frequency.
Conjunction amplitude after reference light and measurement light converge is:
E(t)＝E
b(t)+E
m(t)＝A
msin(ω
0t+kz
m+φ)+A
bsin[(ω
0+ω
d)t+kz
b+φ](3)
Then coherent light light intensity I (t) is:
I(t)＝|E(t)|
2＝A
m 2cos
2(ω
0t+kz
m+φ)+A
b 2cos
2[(ω
0+ω
d)t+kz
b+φ](4)
+A
mA
bcos[(2ω
0+ω
d)t+kz
m+kz
b+2φ]+A
mA
bcos[ω
dt+k(z
m-z
b)]
Light intensity is by photoelectric detector, and photodetector is by A
m 2cos
2(ω
0t+kz
m+ φ), A
b 2cos
2[(ω
0+ ω
d) t+kz
b+ φ] and A
ma
bcos [(2 ω
0+ ω
d) t+kz
m+ kz
b+ 2 φ] change direct current signal into, therefore, remove the light intensity signal I after DC component
dbe expressed as:
I
d(t)＝KA
mA
bcos[k(z
m-z
b)]＝A
dcos[ω
dt+k(z
m-z
b)](5)
In formula, K is the enlargement ratio of photelectric receiver, note A
d=KA
ma
b,
Optical path difference z
m-z
bbe expressed as:
z
m-z
b＝2(L
1-L
2)+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)(6)
In formula, A
nsin (2 π f
nt+ φ
n) be the vibration expression formula (A on Natural Water surface
nfor Natural Water surface amplitudes, f
nfor Natural Water surface vibration frequency, φ
nfor Natural Water surface vibration initial phase), A
ssin (2 π f
st+ φ
s) the water surface vibration expression formula (A that causes for underwater sound source
sfor water surface sonic wave amplitude, f
sfor water surface acoustic vibration frequency, φ
sfor water surface acoustic vibration initial phase), L
1for the water surface static time measure the initial light path of light, L
2for the water surface static time reference light light path, so, (L
1-L
2) for the water surface static time two-way light initial optical path difference, be designated as Δ L, then photoelectric detector to light intensity signal can be stated by following formula:
I
d(t)＝A
dcos{ω
dt+k[2△L+2A
nsin(2πf
nt+φ
n)+2A
ssin(2πf
st+φ
s)]}(7)
A
ssin (2 π f
st+ φ
s) information of water surface sound wave for being caused by underwater sound source.
5. realize the device of the location estimation method of audible target under water based on laser multiple spot coherent detection according to claim 2, it is characterized in that, described device comprises laser instrument (1), optoisolator (2), 1 × 4 fiber coupler (3), four optical fiber acousto-optic modulators (4), four optical circulators (5), four probes (6), four optical attenuators (7), four 2 × 1 coupling mechanisms (8), the photodetector (9) of 4 passages and the signal receiving modules (10) of 4 passages;
The laser that laser instrument (1) sends enters 1 × 4 fiber coupler (3) after optoisolator (2), and four output terminals of 1 × 4 fiber coupler (3) connect the input end of four optical fiber acousto-optic modulators (4) respectively;
Each optical fiber acousto-optic modulator (4) and an optical circulator (5), an optical attenuator (7), 2 × 1 coupling mechanism (8) and a probe (6) corresponding, an output terminal of each optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8),
The output terminal of four 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
6. realization according to claim 5 is based on the device of the location estimation method of audible target under water of laser multiple spot coherent detection, it is characterized in that, described probe (6) comprises many eyeglasses photo-coupler (6-1) and fix-focus lens (6-2), the optical fiber interface of many eyeglasses photo-coupler (6-1) is as the optical fiber interface of probe (6), detection light incides water surface successively after too much eyeglass photo-coupler (6-1) and fix-focus lens (6-2), the laser returned through water surface successively through fix-focus lens (6-2) and many eyeglasses photo-coupler (6-1) laggard enter No. two ports of optical circulator (5).
7. realize the device of the location estimation method of audible target under water based on laser multiple spot coherent detection according to claim 4, it is characterized in that, described device comprises laser instrument (1), optoisolator (2), optical fiber acousto-optic modulator (4), optical circulator (5), probe (6), optical attenuator (7), 2 × 1 coupling mechanisms (8), photodetector (9) and signal receiving module (10);
The laser that laser instrument (1) sends enters the input end of light fiber acousto-optic device (4) after optoisolator (2), an output terminal of optical fiber acousto-optic modulator (4) connects an input end of 2 × 1 coupling mechanisms (8) by optical attenuator (7), another output terminal of this optical fiber acousto-optic modulator (4) connects a port of optical circulator (5), No. two ports of this optical circulator (5) connect the optical fiber interface of probe (6), No. three ports of this optical circulator (5) connect another input end of 2 × 1 coupling mechanisms (8), the output terminal of 2 × 1 coupling mechanisms (8) connects the signal input part of photodetector (9), the signal input part of the output terminal connection signal demodulation module (10) of photodetector (9), the output terminal of signal receiving module (10) is for connecting host computer.
8. realization according to claim 7 is based on the device of the location estimation method of audible target under water of laser multiple spot coherent detection, it is characterized in that, described probe (6) comprises many eyeglasses photo-coupler (6-1) and fix-focus lens (6-2), the optical fiber interface of many eyeglasses photo-coupler (6-1) is as the optical fiber interface of probe (6), detection light incides water surface successively after too much eyeglass photo-coupler (6-1) and fix-focus lens (6-2), the laser returned through water surface successively through fix-focus lens (6-2) and many eyeglasses photo-coupler (6-1) laggard enter No. two ports of optical circulator (5).
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