CN105519262B - The passive real-time detecting method of airbound target - Google Patents

Abstract

The present invention relates to and adopt acoustics positioning principle to the method for testing of attacking the Small object such as cruise missile, miniature self-service operational aircraft and carry out Real-Time Monitoring, the method comprises: the time delay receiving the Small object same point acoustical signal such as cruise missile, miniature self-service operational aircraft by measuring each sonic transducer, then according to distance and the deflection of the calculated with mathematical model detected target described in its technical scheme.The signal parameter needed for several object models that the present invention adopts is easier to accurately record, thus method of the present invention is not subject to the impact of measured target shape and structural parameters, do not need calibration, and it is easy to use low with consumption costs, attack the Small object such as cruise missile, miniature self-service operational aircraft for monitoring, the real-time measurement reaching early warning object provides a kind of well measuring method.<pb pnum="1" />

Description

The passive real-time detecting method of airbound target

Technical field

The present invention relates to the localization method of airflight target, more particularly, the present invention relates to and adopt acoustics positioning principle to the detection method of attacking cruise missile, miniature self-service operational aircraft carries out Real-Time Monitoring.

Background technology

China is vast in territory, with a varied topography changeable, is the safety in territory of defending the motherland, and needs a kind of round-the-clock, the cruise missile of Real-Time Monitoring low latitude invasion, the early warning system of miniature self-service operational aircraft.In existing domestic and international pertinent literature, yet there are no relevant employing passive type three-dimensional array element acoustics positioning principle, Real-Time Monitoring attacks cruise missile, the method for early warning of miniature self-service operational aircraft and the public technology report of equipment.In prior art, radar early warning system is a kind of active detection system, its weakness be poor to the extreme low-altitude Detectability for Small Target in low latitude, electronic warfare is easily disturbed, radar beam is easily found by enemy and destroyed.Photoelectricity early warning system is a kind of passive detection device, but based on the passive detection device of thermal infrared imager and Visible-light CCD system, all weather operations difficulty, stream time is limited and equipment complicated, cost is high.Acoustics Passive Detention System of the present invention, the method of many cover passive detection devices networking is adopted to expand detection range, the networking early warning system be made up of probe microphone, not by strong electromagnetic, be suitable for the cruise missile, the miniature self-service operational aircraft that detect low latitude invasion, there is passive type, round-the-clock, uninterrupted, volume is little, cost is low, the not easily advantage such as under attack, to make up above-mentioned existing methodical deficiency.

Summary of the invention

The object of the invention is to propose a kind ofly to adopt three-dimensional array element acoustics positioning principle Real-Time Monitoring to attack the detection method of cruise missile, miniature self-service operational aircraft, to realize the object of real-time early warning.

The object of the invention is by following method realize.

Adopt three-dimensional array element acoustics positioning principle Real-Time Monitoring to attack a detection method for cruise missile, miniature self-service operational aircraft, it comprises the following steps:

(1) sensor setting step: at detector electronic cabinet base or directly arrange 1 seismic ground sensor on ground; On ground, buildings or body of rod thing place erection sound sensor array frame; The described each specified point of sound sensor array frame is furnished with 5 sonic transducers; With the center of sound sensor array for initial point sets up left-handed coordinate system, coordinate origin is O, location arrangements the 0th sonic transducer S0 away from Z axis is tried one's best from initial point O, Y-axis positive and negative both direction from initial point O as far as possible away from location arrangements the 2nd sonic transducer S2 and the 4th sonic transducer S4, X-axis positive and negative both direction from initial point O as far as possible away from location arrangements the 1st sonic transducer S1 and the 3rd sonic transducer S3, these 5 sonic transducers are equal to the distance of coordinate origin O;

(2) data acquisition and pre-treatment step: the acoustical signal being gathered cruise missile, miniature self-service operational aircraft by sonic transducer continuous probe, and the electric signal after amplification, filtering, shaping sends A/D converter to; The electric signal of seismic ground sensor is also carried out A/D conversion after amplification, filtering, shaping simultaneously; Afterwards, signal after above-mentioned conversion is delivered to DSP signal processor together, after DSP signal processor carries out relevant treatment with the signal correction disposal route pre-seted to 5 tunnel acoustical signals, the delay inequality τ of cruise missile, miniature self-service operational aircraft same point acoustical signal can be obtained _ij, i=0,1,2,3,4; J=0,1,2,3,4; The electric signal that earthquake ground transaucer measures is analyzed, to judge whether the interference that automobile or other ground motion object bring; 5 described sonic transducers gather cruise missile, miniature self-service operational aircraft acoustical signal, ambient noise signal separately; Described seismic ground sensor gathers the vibration signal that other moving object is transmitted by ground; The Multiple Type cruise missile, miniature self-service operational aircraft and the ambient noise signal data that obtain according to ground experiment are stored in described DSP signal processor, received signal and stored signal data contrast by it, tentatively can judge the type of detected target, distance and the deflection at the relative sound sensor array center of detected target can be calculated by mathematical model and the correction model set in advance;

(3) target localization coordinate calculating process: calculate the position coordinates of measured target relative to described true origin θ and r, adopts following mathematical model:

In formula

R, the distance of measured target in described coordinate system, position angle and the angle of pitch is represented respectively with θ;

τ _i0, τ _i1, τ _i2, τ _i3, τ _i4be the time delay that the i-th sonic transducer and each sonic transducer receive measured target same point acoustical signal, i=0,1,2,3,4;

C is the aerial velocity of propagation of sound;

D is the distance of each sonic transducer to coordinate origin;

(4) power supply and communication setting step: because detection system adopts the method for work of passive type, long-term unattended duty, so, in situation with good conditionsi, first mains-supplied is selected, otherwise all adopt solar powered mode, solar electric power supply system is made up of crystalline silicon battery plate group, controller and accumulator; Wired, wireless various ways is selected in communication between detector and command centre, and described wireless communication mode adopts mobile phone communication mode or adopts other data-transmission mode, or adopts the mode of Internet Transmission;

(5) detection system deposition step: be that the pre-protection direction in the center of circle arranges that a series of list overlaps probe microphone with command centre, by rationally structuring the formation, form the region of investigative range mutual overlap between a node, co-ordination under command centre controls, thus reliably complete the monitoring task to cruise missile, miniature self-service operational aircraft; Described detector sends the positional information of cruise missile, miniature self-service operational aircraft immediately to command centre with the light velocity after finding target, command centre's process relevant data, must arrive and attack the flight path of cruise missile, miniature self-service operational aircraft, judge and decision-making.

Method of the present invention, its essence utilizes sound time delay localization principle, the time delay of cruise missile, miniature self-service operational aircraft same point acoustical signal is received, then according to distance and the deflection of the calculated with mathematical model detected target described in its technical scheme by measuring each sonic transducer.Signal parameter needed for several object models that the present invention adopts only relates to the timing signal that 5 acoustic sensors record, avoid the interference in other external world, and be easier to accurately record, thus method of the present invention is not subject to the impact of measured target shape and structural parameters, do not need calibration, and easy to use, and consumption costs is low, attack cruise missile, miniature self-service operational aircraft for monitoring, the real-time measurement reaching early warning object provides a kind of well detection method.

Accompanying drawing explanation

Fig. 1 adopts detection method system layout schematic diagram of the present invention;

Fig. 2 is the simplification geometric relationship figure between 5 sonic transducers;

Fig. 3 is the detector circuit schematic diagram that method of the present invention adopts.

Embodiment

Optimum implementation of the present invention is described in detail below in conjunction with each accompanying drawing.

As shown in Figure 1: attack cruise missile, miniature self-service operational aircraft 7 and fly here to monitored area, first its voice signal produced is detected device 4 and captures, and following detector 2, detector 5, detector 3 and detector 6 have also captured the voice signal of this target respectively; Through the computing of each detector, result is transferred to command centre 1 in the mode of arranging in advance, command centre 1 processes relevant data, must arrive and attack the flight path of cruise missile, miniature self-service operational aircraft 7, and makes corresponding judgement and decision-making.The measurement hardware that method of the present invention adopts can be selected in conjunction with ordinary skill in the art knowledge on the basis of the inventive method.

Shown in Fig. 2 is simplification geometric relationship figure between 5 sonic transducers.Method of the present invention intends the voice signal that employing 5 sonic transducers S0, S1, S2, S3 and S4 detect cruise missile, miniature self-service operational aircraft 7 transmits.In the left-handed coordinate system set up for initial point with sound sensor array center, 0th sonic transducer S0 is arranged in z-axis, its coordinate is S0 (0,0, D), at positive and negative both direction location arrangements the 2nd sonic transducer S2 (0, D, 0) and the 4th sonic transducer S4 (0 of Y-axis,-D, 0), in positive and negative both direction location arrangements the 1st sonic transducer S1 (D, 0 of X-axis, 0) the and 3rd sonic transducer S3 (-D, 0,0), these 5 sonic transducers are equal to the distance of coordinate origin O.

For the 0th voice signal that sonic transducer S0 head meets cruise missile, miniature self-service operational aircraft 7 transmits in sound sensor array, in the t=0 moment, measured target acoustical signal passes to the 0th sonic transducer S0, and using this signal as the enabling signal of timing, to the target acoustic signal that the 1st sonic transducer S1, the 2nd sonic transducer S2, the 3rd sonic transducer S3 and the 4th sonic transducer S4 receive, as the pass gate signal of timing, their timing delay inequality is τ respectively ₀₁, τ ₀₂, τ ₀₃and τ ₀₄, then measured target acoustic signal propagation is respectively d to sonic transducer S1, S2, S3, S4 and the path difference that propagates into sonic transducer S0 ₀₁, d ₀₂, d ₀₃, d ₀₄, then have:

$\left\{\begin{array}{c}{d}_{01}={\mathrm{\&tau;}}_{01}c\\ d_{02}={\mathrm{\&tau;}}_{02}c\\ d_{03}={\mathrm{\&tau;}}_{03}c\\ d_{04}={\mathrm{\&tau;}}_{04}c\end{array}\right.---\left(1\right)$

In formula, c is the aerial velocity of propagation of sound;

If the distance of measured target and sonic transducer S0 is r ₀, and measured target acoustical signal is propagated with spherical wave, so sonic transducer S0, S1, S2, S3, S4 lay respectively at measured target acoustical signal for the centre of sphere, with r ₀, r ₀+ d ₀₁, r ₀+ d ₀₂, r ₀+ d ₀₃, r ₀+ d ₀₄for on five spheres of radius, thus, following system of equations can be listed by simultaneous:

$\left\{\begin{array}{c}{x}^2+y^2+z^2=r^2\\ x^2+y^2+{(z-D)}^2=r_0^2\\ {(x-D)}^2+y^2+z^2={(r_0+d_{01})}^2\\ x^2+{(y-D)}^2+z^2={(r_0+d_{02})}^2\\ {(x+D)}^2+y^2+z^2={(r_0+d_{03})}^2\\ x^2+{(y+D)}^2+z^2={(r_0+d_{04})}^2\end{array}\right.---\left(2\right)$

To separate equation simultaneous solution:

$\left\{\begin{array}{c}{r}_0=\frac{1}{2}\frac{d_{01}^2-d_{02}^2+d_{03}^2-d_{04}^2}{d_{02}-d_{01}+d_{04}-d_{03}}\\ x=\frac{1}{4D}\&lsqb;d_{03}^2-d_{01}^2+2r_0(d_{03}-d_{01})\&rsqb;\\ y=\frac{1}{4D}\&lsqb;d_{04}^2-d_{02}^2+2r_0(d_{04}-d_{02})\&rsqb;\\ z=\frac{1}{4D}\&lsqb;d_{01}^2+d_{03}^2+2r_0(d_{01}+d_{03})\&rsqb;\end{array}\right.---\left(3\right)$

In formula, D is the distance of each sonic transducer to coordinate origin;

The position coordinates (x, y, z) of measured target and the position coordinates under spherical co-ordinate under rectangular coordinate relational expression as follows:

The position angle at the measured target distance sound sensor array center represented by rectangular coordinate (x, y, z) can be solved by system of equations (4) pitching angle theta and distance r as follows:

Due to r ₀> > d _0i, i=1,2,3,4, so above formula abbreviation is:

By various for system of equations (1) substitution above formula:

Obtained by system of equations (2):

$\begin{array}{c}-2Dz+D^2=r_0^2-r^2\\ r^2=r_0^2+(d_{01}+d_{03})r_0+\frac{1}{2}(d_{01}^2+d_{03}^2)-D^2\end{array}$

Again $cos\mathrm{\&theta;}=\frac{z}{r},$ Then:

$\cos \mathrm{\&theta;}=\frac{\frac{1}{4D}\&lsqb;d_{01}^2+d_{03}^2+2r_0(d_{01}+d_{03})\&rsqb;}{\sqrt{r_0^2+(d_{01}+d_{03})r_0+\frac{1}{2}(d_{01}^2+d_{03}^2)-D^2}}$

Molecule, denominator is same divided by r ₀, and r ₀> > D, r ₀> > d _0i, i=1,2,3,4, then above formula abbreviation is:

$cos\mathrm{\&theta;}=\frac{1}{2D}(d_{01}+d_{03})$

After system of equations (1) is substituted into above formula:

$\mathrm{\&theta;}=\arccos \&lsqb;\frac{c}{2D}({\mathrm{\&tau;}}_{01}+{\mathrm{\&tau;}}_{03})\&rsqb;---\left(6\right)$

Because measured target is away from sound sensor array, i.e. r ₀> > D, r ₀> > d _0i, i=1,2,3,4, then can suppose r=r ₀

$r=r_0=\frac{1}{2}\frac{d_{01}^2-d_{02}^2+d_{03}^2-d_{04}^2}{d_{02}-d_{01}+d_{04}-d_{03}}$

System of equations (1) is substituted into formula, arranges as follows:

$r=\frac{c}{2}\frac{{\mathrm{\&tau;}}_{01}^2-{\mathrm{\&tau;}}_{02}^2+{\mathrm{\&tau;}}_{03}^2-{\mathrm{\&tau;}}_{04}^2}{{\mathrm{\&tau;}}_{02}-{\mathrm{\&tau;}}_{01}+{\mathrm{\&tau;}}_{04}-{\mathrm{\&tau;}}_{03}}---\left(7\right)$

Therefore, by difference τ estimated time ₀₁, τ ₀₂, τ ₀₃, τ ₀₄, the position of measured target can be determined.

Computing method when meeting headed by other 4 sonic transducers in sound sensor array are identical with said method.

Comprehensive above-mentioned computing method, obtain the position coordinates of measured target relative to described true origin the mathematical model of θ and r:

In formula: r, the distance of measured target in described coordinate system, position angle and the angle of pitch is represented respectively with θ.

Shown in Fig. 3 is the detector circuit schematic diagram that method of the present invention adopts.Attack cruise missile, miniature self-service operational aircraft 7 produce voice signal receive by detector sonic transducer array element 21 and be converted to electric signal, this electric signal is given wave filter 23, wave filter 25 after amplifying by amplifier 22, amplifier 24, then is given multi-channel a/d converter 29; Equally, seismic ground sensor 26 receives vibration that automobile or other ground motion object cause and is converted to electric signal, then through amplifier 27, gives multi-channel a/d converter 29 after wave filter 28; After A/D converter 29, digital signal is transported to DSP signal processor 31, sent to command centre 1 by transmitter 32 after collection, identification, extraction, overall treatment, command centre 1 receives and overall treatment relevant data, must arrive and attack the flight path of cruise missile, miniature self-service operational aircraft 7, judge and decision-making.

More than describe the present invention in detail and adopt three-dimensional array element acoustics positioning principle, Real-Time Monitoring attacks the detection method of cruise missile, miniature self-service operational aircraft, and the principle of its foundation and the equipment that adopts.

Claims (1)

1. adopt three-dimensional array element acoustics positioning principle Real-Time Monitoring to attack a detection method for cruise missile, miniature self-service operational aircraft, it comprises the following steps:

(1) sensor setting step: at detector electronic cabinet base or directly arrange 1 seismic ground sensor on ground; On ground, buildings or body of rod thing place erection sound sensor array frame; The described each specified point of sound sensor array frame is furnished with 5 sonic transducers; With the center of sound sensor array for initial point sets up left-handed coordinate system, coordinate origin is 0, location arrangements the 0th sonic transducer S0 away from Z axis is tried one's best from initial point 0, Y-axis positive and negative both direction from initial point 0 as far as possible away from location arrangements the 2nd sonic transducer S2 and the 4th sonic transducer S4, X-axis positive and negative both direction from initial point 0 as far as possible away from location arrangements the 1st sonic transducer S1 and the 3rd sonic transducer S3, these 5 sonic transducers are equal to the distance of coordinate origin 0;

(2) data acquisition and pre-treatment step: the acoustical signal being gathered cruise missile, miniature self-service operational aircraft by sonic transducer continuous probe, and the electric signal after amplification, filtering, shaping sends A/D converter to; The electric signal of seismic ground sensor is also carried out A/D conversion after amplification, filtering, shaping simultaneously; Afterwards, signal after above-mentioned conversion is delivered to DSP signal processor together, after DSP signal processor carries out relevant treatment with the signal correction disposal route pre-seted to 5 tunnel acoustical signals, the delay inequality τ of cruise missile, miniature self-service operational aircraft same point acoustical signal can be obtained _ij, i=0,1,2,3,4; J=0,1,2,3,4; The electric signal that earthquake ground transaucer measures is analyzed, to judge whether the interference that automobile or other ground motion object bring; 5 described sonic transducers gather cruise missile, miniature self-service operational aircraft acoustical signal, ambient noise signal separately; Described seismic ground sensor gathers the vibration signal that other moving object is transmitted by ground; The Multiple Type cruise missile, miniature self-service operational aircraft and the ambient noise signal data that obtain according to ground experiment are stored in described DSP signal processor, received signal and stored signal data contrast by it, tentatively can judge the type of detected target, distance and the deflection at the relative sound sensor array center of detected target can be calculated by mathematical model and the correction model set in advance;

(3) target localization coordinate calculating process: calculate the position coordinates of measured target relative to described true origin θ and r, adopts following mathematical model:

In formula

R, the distance of measured target in described coordinate system, position angle and the angle of pitch is represented respectively with θ;

τ _i0, τ _i1, τ _i2, τ _i3, τ _i4be the time delay that the i-th sonic transducer and each sonic transducer receive measured target same point acoustical signal, i=0,1,2,3,4;

C is the aerial velocity of propagation of sound;

D is the distance of each sonic transducer to coordinate origin;

(4) power supply and communication setting step: because detection system adopts the method for work of passive type, long-term unattended duty, so, in situation with good conditionsi, first mains-supplied is selected, otherwise all adopt solar powered mode, solar electric power supply system is made up of crystalline silicon battery plate group, controller and accumulator; Wired, wireless various ways is selected in communication between detector and command centre, and described wireless communication mode adopts mobile phone communication mode or adopts other data-transmission mode, or adopts the mode of Internet Transmission;

(5) detection system deposition step: be that the pre-protection direction in the center of circle arranges that a series of list overlaps probe microphone with command centre, by rationally structuring the formation, form the region of investigative range mutual overlap between a node, co-ordination under command centre controls, thus reliably complete the monitoring task to cruise missile, miniature self-service operational aircraft; Described detector sends the positional information of cruise missile, miniature self-service operational aircraft immediately to command centre with the light velocity after finding target, command centre's process relevant data, must arrive and attack the flight path of cruise missile, miniature self-service operational aircraft, judge and decision-making.