CN105548999B - A kind of overboard container detecting and positioning method and system based on time-frequency addressing - Google Patents
A kind of overboard container detecting and positioning method and system based on time-frequency addressing Download PDFInfo
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- CN105548999B CN105548999B CN201610107788.5A CN201610107788A CN105548999B CN 105548999 B CN105548999 B CN 105548999B CN 201610107788 A CN201610107788 A CN 201610107788A CN 105548999 B CN105548999 B CN 105548999B
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses a kind of overboard container detecting and positioning method based on time-frequency addressing and system, its method to include：S1, launch water surface probe node；The address code of S2, the determination overboard container to be detected, water surface probe node send two frequency modulation on pulse underwater sound signals, time interval of the address code corresponding to two chirp signals and between the two according to address code order；S3, acoustic beacon are addressed whether the time interval between the frequency for first and second pulse signal for judging to be currently received and two pulse signals matches with address code according to corresponding address code；It is then to confirm to address successfully, sends location response underwater sound signal, otherwise confirm addressing failure, perform dormancy program；S4, water surface probe node receive location response underwater sound signal and complete to confirm the Detection location of the successful overboard container of addressing；S5, the Detection location for completing all overboard containers.The present invention is applicable carries out Detection location use to multiple overboard containers in a wide range of waters.
Description
Technical field
The present invention relates to time-frequency addressing technique, particularly relates to a kind of be applicable based on Underwater acoustic signal processing, big model
Enclose the method and system that the Detection location of multiple overboard containers in waters uses.
Background technology
Used with the popularization of container, in transporting on the water, dangerous cargo often occurs with container form.Due to severe
The originals such as meteorological condition, unfavorable Channel Condition, intensive vessel traffic flow distribution and the operational error of marine navigator
Cause, the overboard accident of container can be caused.In order to avoid destruction of the dangerous goods to marine environment, it is necessary to overboard dangerous material collection
Vanning is timely salvaged.The premise that Detection location is salvage is carried out to overboard container, often using at underwater sound signal
Reason technology carries out a wide range of Detection location to overboard dangerous material container, and specific method is installed on boat-carrying dangerous material container
Acoustic beacon is positioned, once overboard accident occurs for container, acoustic beacon is just started working, and is receiving water surface probe node
Positioning signal after, launch location response signal, the probe node of the water surface is according to the location response signal completion received to falling
The Detection location of water container.
But as a rule, the general more than one of number of overboard container, this relates to one kind to multiple overboard packagings
The detecting and positioning method of case, if the acoustic beacon on multiple overboard containers responds the positioning letter of water surface probe node simultaneously
Number, the conflict between response signal will be caused, the positioning to overboard container can not be realized.Therefore, for multiple overboard danger
For product container Detection location problem, it is necessary to design a set of container addressing mechanism, as each container distributes an ID number
As its address, after generation container overboard accident, water surface probe node sends the ID number of overboard container successively, so,
When acoustic beacon is receiving the positioning signal of probe node, match ID number first, if the ID number of positioning signal and oneself
ID number match, location response underwater sound signal could be sent.Needed simultaneously in view of Large-scale container water-borne transport a large amount of
Acoustic beacon, it is therefore very sensitive to the Costco Wholesale of acoustic beacon, should seek a kind of to use inexpensive underwater sound communication module
Technology complete communication work；Simultaneously it is found by the applicant that can be realized using incoherent frequency modulating technology in acoustic beacon
Addressing technique, incoherent frequency modulating technology are the conventional modulator approaches of inexpensive underwater sound communication unit, and it can be based on non-phase
Dry frequency modulation(PFM), communication frequencys are distributed for different acoustic beacons using frequency division multiple access technology, using the frequency values of the distribution as
The ID number of acoustic beacon, the underwater sound signal of water surface probe node transmitting different frequency detects each acoustic beacon, so as to keeping away
Exempt from the interference between different acoustic beacons.
It should be understood that because underwater acoustic channel bandwidth and inexpensive underwater acoustic transducer bandwidth of operation are very narrow, and examine
Consider the protection interval between different communication frequency, the communication frequency for being available for acoustic beacon to use obtained by frequency division multiple access technology
Number is less, can not still meet the needs of being addressed to a large amount of dangerous material containers, it is therefore desirable to further solve above-mentioned base
It is not enough in the overboard dangerous material container Detection location technology of Underwater acoustic signal processing present in acoustic beacon addressing technique
The defects of overcoming prior art.
The content of the invention
In view of defects in the prior art, the invention aims to provide a kind of overboard packaging based on time-frequency addressing
Case detecting and positioning method, this method can effectively solve the problem that during multiple overboard container Detection locations between acoustic beacon signal
Interference problem.
To achieve these goals, technical scheme：
A kind of overboard container detecting and positioning method based on time-frequency addressing, methods described are applied to be provided with water to multiple
The overboard container of acoustic marker carries out Detection location, it is characterised in that：
Comprise the following steps
S1, the enough water to be communicated with the acoustic beacon on each overboard container of the water surface upslide exoergic in region to be detected
Face probe node；
S2, the address code for determining the current overboard container to be carried out Detection location, the water surface probe node according to
Believed with the first pulse signal and the second pulse corresponding to the pulse interval generation that matches the address of the overboard container
Number, send the first pulse signal and send the second pulse signal after postponing the pulse interval；The address code is to pass through
In advance one and the container address code that uniquely corresponding mailing address is obtained, the address code are assigned to each container
The frequency modulation arteries and veins being in including two frequencies in the working band of the underwater acoustic transducer of the water surface probe node and acoustic beacon
Time interval corresponding between signal and two chirp signals is rushed, two chirp signals are referred to as the first pulse
Signal and the second pulse signal；
Acoustic beacon on S3, each overboard container is addressed according to each self-corresponding address code respectively, is judged current
Time interval between the first pulse signal, the second pulse signal and two pulse signals that receive whether with it is each self-corresponding
Location code matching；It is then to confirm to address successfully, sends location response underwater sound signal, the location response underwater sound signal is a frequency modulation arteries and veins
Bath acoustical signal, otherwise confirms addressing failure, performs dormancy program；
S4, the water surface probe node receive the location response underwater sound signal and complete based on the location response underwater sound signal
Into the Detection location for confirming the successful overboard container of addressing；
S5, S2-S4 is repeated until completing the Detection location of all overboard containers.
Further, the modulating frequency of the location response underwater sound signal sent in the S3 is the first pulse signal and the
The average value of frequency values corresponding to two pulse signals, to improve, to current matching, successfully overboard container carries out Detection location
Efficiency and accuracy.
Further, the S3 comprises the following steps：
Acoustic beacon on S31, each overboard container continues monitor channel by each self-corresponding underwater acoustic transducer respectively,
If listening to the first pulse signal transmitted by the water surface probe node, S32 is immediately performed；
S32, each acoustic beacon are respectively started each self-corresponding timer and start timing, and the first arteries and veins to receiving
Rush signal and carry out frequency measurement, frequency values corresponding to acquisition；
S33, each acoustic beacon judge respectively S32 obtain frequency values whether the address corresponding to each acoustic beacon
The frequency values of the first pulse signal in code are consistent, are then to control timer to continue timing, and perform S34, otherwise, control timing
Device stops timing and dormancy certain time, and dormancy returns to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal in corresponding address code；
If S35, not receiving the second pulse signal corresponding to address above mentioned code in time interval, confirm that it fails to match,
Then timer is controlled to stop timing and dormancy certain time, dormancy returns to S31 after terminating；
If S36, receiving the second pulse signal corresponding to address above mentioned code in time interval, proceed as follows：
(1) control timer to stop timing, and record timing time, the frequency values of the second pulse signal received by (2) measurement are simultaneously held
Row S37；
S37, judge S36 obtain timing time and frequency values whether respectively with the time interval in corresponding address code
It is consistent with the frequency values of the second pulse signal, it is that then, confirmation addresses successfully, sends location response underwater sound signal, otherwise confirms to seek
Location fails, and dormancy certain time, dormancy returns to S31 after terminating.
Further, the acoustic beacon includes to be addressed according to corresponding address code, judges to be currently received
The first pulse signal, the second pulse signal and the first pulse signal and the second pulse signal corresponding to time interval whether with
The addressing process circuit of corresponding address code matching, the addressing process circuit include filtering and amplifying circuit, shaping pulse electricity
Road, timing module and frequency discriminator block；The filtering and amplifying circuit is used for the first pulse signal or the second arteries and veins to receiving
Rush signal and be amplified filtering process, to filter out signal out-of-band interference and noise；The pulse shaper is by amplified filtering
The first pulse signal or the second pulse signal of processing are converted into the corresponding square-wave signal with certain dutycycle；The meter
When module be used for the square-wave signal that monitors pulse shaper output, and monitoring first rising edge time control of square-wave signal
Timer processed starts timing；The frequency of square-wave signal of the frequency discriminator block for measuring pulse shaper output, and according to
The frequency of the first pulse signal or the second pulse signal in the frequency measurement of square-wave signal and corresponding address code
The comparative result of value, controls whether the timer of timing module continues timing or be confirmed whether to address successfully.
Based on the above-mentioned overboard container detecting and positioning method based on time-frequency addressing, when the present invention also provides one kind and is based on
The overboard container detecting and locating system of frequency addressing, it is characterised in that：
Including
It is invested on the water surface in region to be detected, the water surface that can be communicated with the acoustic beacon on each overboard container
Probe node, the water surface probe node are used to generate with the pulse interval to match according to the address of the overboard container
Corresponding first pulse signal and the second pulse signal, send the first pulse signal and sent after postponing the pulse interval
Second pulse signal；And receive and confirm location response underwater sound letter transmitted by acoustic beacon of the addressing successfully on overboard container
Number and complete the Detection location of the overboard container based on the location response underwater sound signal；Wherein, the address code is by pre-
First one and the container address code that uniquely corresponding mailing address is obtained, the address code bag are assigned to each container
Include the frequency modulation on pulse in the working band for the underwater acoustic transducer that two frequencies are in the water surface probe node and acoustic beacon
Time interval between signal, and two chirp signals, by two chirp signals be referred to as the first pulse signal and
Second pulse signal；First pulse signal and the second pulse signal are preferably believed using the frequency modulation on pulse of different frequency values
Number；
And the acoustic beacon on each overboard container is arranged on, the acoustic beacon can be carried out according to corresponding address code
Addressing, judges whether the first pulse signal for being currently received and the second pulse signal match with each self-corresponding address code；It is
Then confirm to address successfully, send location response underwater sound signal, otherwise confirm addressing failure, perform dormancy program.
Further, the modulating frequency of the location response underwater sound signal is the first pulse signal and the second pulse signal institute
The average value of respective frequencies value, to improve, to current matching, successfully overboard container carries out the efficiency of Detection location and accurate
Property.
Further, the acoustic beacon is addressed according to corresponding address code, judges the first arteries and veins being currently received
Rush signal, the second pulse signal and the first pulse signal and time interval corresponding to the second pulse signal whether with it is corresponding
Address code matching process comprises the following steps：
Acoustic beacon on S31, each overboard container continues monitor channel by each self-corresponding underwater acoustic transducer respectively,
If listening to the first pulse signal transmitted by the water surface probe node, S32 is immediately performed；
S32, each acoustic beacon are respectively started each self-corresponding timer and start timing, and the first arteries and veins to receiving
Rush signal and carry out frequency measurement, frequency values corresponding to acquisition；
S33, each acoustic beacon judge respectively S32 obtain frequency values whether the address corresponding to each acoustic beacon
The frequency values of the first pulse signal in code are consistent, are then to control timer to continue timing, and perform S34, otherwise, control timing
Device stops timing and dormancy certain time, and dormancy returns to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal in corresponding address code；
If S35, not receiving the second pulse signal corresponding to address above mentioned code in time interval, confirm that it fails to match,
Then timer is controlled to stop timing and dormancy certain time, dormancy returns to S31 after terminating；
If S36, receiving the second pulse signal corresponding to address above mentioned code in time interval, proceed as follows：
(1) control timer to stop timing, and record timing time, the frequency values of the second pulse signal received by (2) measurement are simultaneously held
Row S37；
S37, judge S36 obtain timing time and frequency values whether respectively with the time interval in corresponding address code
It is consistent with the frequency values of the second pulse signal, it is that then, confirmation addresses successfully, sends location response underwater sound signal, otherwise confirms to seek
Location fails, and dormancy certain time, dormancy returns to S31 after terminating.
Further, the acoustic beacon includes to be addressed according to corresponding address code, judges to be currently received
The first pulse signal, the second pulse signal and the first pulse signal and the second pulse signal corresponding to time interval whether with
The addressing process circuit of corresponding address code matching, the addressing process circuit include filtering and amplifying circuit, shaping pulse electricity
Road, timing module and frequency discriminator block；The filtering and amplifying circuit is used for the first pulse signal or the second arteries and veins to receiving
Rush signal and be amplified filtering process, to filter out signal out-of-band interference and noise；The pulse shaper is by amplified filtering
The first pulse signal or the second pulse signal of processing are converted into the corresponding square-wave signal with certain dutycycle；The meter
When module be used for the square-wave signal that monitors pulse shaper output, and monitoring first rising edge time control of square-wave signal
Timer processed starts timing；The frequency of square-wave signal of the frequency discriminator block for measuring pulse shaper output, and according to
The frequency of the first pulse signal or the second pulse signal in the frequency measurement of square-wave signal and corresponding address code
The comparative result of value, controls whether the timer of timing module continues timing or be confirmed whether to address successfully.
Compared with prior art, beneficial effects of the present invention：
The present invention proposes a kind of side that can effectively solve the problem that overboard container and launch the interference problem between underwater sound signal
Case, first its be based on time frequency coding technological thought, the mode combined using different time intervals and different modulating frequencies come
The different coded address and coded address is uniquely corresponding with each container is represented, and then improves the band utilization of underwater sound communication
Rate；Secondly in view of spread speed of the acoustic signals in water is about 1500m/s, the two-way time that signal is propagated can be by high-precision
Spend timing unit to determine, and then time interval element is incorporated into addressing, and then effectively expand addressing space and improve addressing
Matching precision；The present invention also introduces the dormancy mechanism of acoustic beacon during Detection location simultaneously, to extend acoustic beacon
Normal working hours.
Brief description of the drawings
Fig. 1 container time-frequency addressing principles schematic diagrames of the present invention；
Fig. 2 overboard container detecting and positioning method flow chart of steps of the present invention；
Fig. 3 container acoustic beacon workflow schematic diagrams of the present invention；
Fig. 4 addressing process circuit theory diagrams of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered
Row is further described.
For existing multiple overboard dangerous material containers based on Underwater acoustic signal processing during Detection location, each water
The problem of acoustic marker signal interferes, the present invention are proposed a kind of overboard container designed based on time-frequency addressing technique and visited
Position method and system are determined, the working band for the underwater acoustic transducer of underwater sound communication is divided into N number of subcarrier by the present invention, and
One and the unique corresponding coding ground of the container are assigned to each container based on the frequency values corresponding to above-mentioned subcarrier
Location, water surface probe node are corresponding according to the coded address transmission to match with the current overboard container to be carried out Detection location
Chirp signal, while each acoustic beacon is monitored and measures the frequency of received pulse signal, is obtained by comparing
The pulse signal frequency value frequency values corresponding with coded address obtained judge whether to send location response underwater sound signal, more to avoid
Signal caused by individual acoustic beacon sends location response underwater sound signal simultaneously interferes, and then influences water surface probe node to falling
Water dangerous material container carries out the problem of accurate Detection location.
The present invention will be used for the work of the underwater acoustic transducer of underwater sound communication based on time-frequency addressing principles as shown in Figure 1
Frequency band is divided into N number of frequency values, selects the time interval between two frequency values and two chirp signals as a certain collection
Address code corresponding to vanning is unique, unique correspond to refer to when selecting address code corresponding to each container so that any
The combination of frequency values and time interval value included by two address codes differs, even only two containers, then sets
The frequency values of first chirp signal corresponding to one container included by address code are f1,1, second frequency modulation on pulse
The frequency values of signal are f1,2With the time interval value Δ t of the two1, i.e., the address of first container is (f1,1,Δt1,f1,2),
The frequency values of first chirp signal corresponding to second container included by address code are f2,1, second frequency modulation on pulse
The frequency values of signal are f2,2With the time interval value Δ t of the two2, i.e., the address of second container is (f2,1,Δt2,f2,2),
Then (f1,1,Δt1,f1,2)≠(f2,1,Δt2,f2,2)；So that data of the water surface probe node corresponding to according to each address code data
Transmission condition detects each overboard container one by one, and water surface probe node is according to the ground corresponding to the overboard container currently to be detected
(this example sends the first pulse signal and the second pulse signal for first pulse signal and the second pulse signal corresponding to the code transmission of location
Time interval also serve as address code), for convenience of description and check, set detected container as No. m, it first
Pulse signal is that modulating frequency is fm,1Pulse signal, the second pulse signal is that modulating frequency is fm,2Pulse signal, both
The time interval Δ t of transmissionm；So that each acoustic beacon is addressed by each self-corresponding address code, that is, monitor above-mentioned the
The time interval Δ t of one pulse signal, the second pulse signal and both transmissionsm, so, each acoustic beacon is according to receiving
Interval time between the frequency values and two pulse signals of two pulse signals, it just may determine that whether oneself should send
Location response underwater sound signal the, if combination (f of modulating frequency and time intervalm,1,Δtm,fm,2) with the ground of some acoustic beacon
Location code-phase matching (m acoustic beacons), then it is (f that the acoustic beacon, which sends modulating frequency,m,1+fm,2The location response underwater sound of)/2
Signal, so as to cooperate with the Detection location for being distributed superincumbent probe node and completing overboard container, and other receive the detection
The acoustic beacon of signal, because address mismatches, and enter resting state, and after rest period terminates, continue monitor channel.
Using the present invention time-frequency addressing scheme, if by the working band of underwater acoustic transducer can be divided into it is N number of i.e.
Modulating frequency number is N, and time interval number is M, then the size of addressing space is N2M, underwater sound communication can be effectively improved
Band efficiency.
Based on above-mentioned principle and design, the corresponding overboard container Detection location of the present invention based on time-frequency addressing
Method：
Such as Fig. 2, comprise the following steps
S1, after container overboard accident occurs, be in accident waters region to be detected water surface upslide exoergic it is enough with it is each
The water surface probe node that acoustic beacon on overboard container is communicated；The water surface probe node quantity is multiple, specifically
Determine according to used detecting and positioning method, calculated according to trilateration, then quantity can not be less than 3.
S2, the address code for determining the current overboard container to be carried out Detection location, the water surface probe node according to
The address of the overboard container is using modulating frequency corresponding to the pulse interval generation to match as f1The first pulse letter
Number and modulating frequency be f2The second pulse signal, send the first pulse signal and the second pulse letter sent after postponing the Δ t times
Number；The address code is that uniquely corresponding mailing address is obtained with the container by assigning one to each container in advance
Mailing address code；The address code includes the underwater sound transducing that two frequencies are in the water surface probe node and acoustic beacon
Time interval between chirp signal in the working band of device, and two chirp signals, two frequency modulation on pulses are believed
Number it is referred to as the first pulse signal and the second pulse signal；
Acoustic beacon on S3, each overboard container is addressed according to each self-corresponding address code respectively, is judged current
The the first pulse signal s received1(t) frequency f1, the second pulse signal s2(t) frequency f2With the first pulse signal and
Whether the time interval between two pulse signals matches with each self-corresponding address code；It is then to confirm to address successfully, sends positioning
Underwater sound signal is responded, otherwise confirms addressing failure, performs dormancy program；
S4, the water surface probe node receive the location response underwater sound signal and complete based on the location response underwater sound signal
Into the Detection location for confirming the successful overboard container of addressing；
S5, S2-S4 is repeated until the Detection location of all overboard containers is completed, so as to realize to multiple overboard containers
Detection location.
Further, the modulating frequency of the location response underwater sound signal sent in the S3 is the first pulse signal s1
And the second pulse signal s (t)2(t) average value of frequency values corresponding to, i.e. (f1+f2)/2, it is successful to current matching to improve
Overboard container carries out the efficiency and accuracy of Detection location.
Further, as Fig. 3, the S3 comprise the following steps：
S31, the acoustic beacon on dangerous material container detect it is overboard after, the underwater sound on each overboard container
Beacon monitors positioning underwater sound signal (i.e. the first described pulse signal s for coming from water surface probe node by underwater acoustic transducer1
And the second pulse signal s (t)2(t)), if listening to the first pulse signal transmitted by the water surface probe node, hold immediately
Row S32；
S32, each acoustic beacon are respectively started each self-corresponding timer and start timing, and the first arteries and veins to receiving
Rush signal s1(t) frequency measurement, frequency values f corresponding to acquisition are carried out1；
S33, each acoustic beacon judge that S32 obtains frequency values f respectively1Whether the ground corresponding to each acoustic beacon
The first pulse signal s in the code of location1(t) frequency values are consistent, are then to control timer to continue timing, and perform S34, otherwise,
Timer is controlled to stop timing and dormancy certain time, dormancy returns to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal s in corresponding mailing address code data2(t)；
If S35, the second pulse signal s is not received in the predetermined time interval of address code2(t), confirm that matching is lost
Lose, then control timer to stop timing and dormancy certain time, dormancy returns to S31 after terminating；
If the second pulse signal s is received in the predetermined time interval of S36, address code2(t), then proceed as follows：
(1) control timer to stop timing, and record timing time Δ t, the second pulse signal s received by (2) measurement2(t) frequency
Rate value, frequency values f corresponding to acquisition2And perform S37；
S37, judge that S36 obtains timing time Δ t and frequency values f2Whether respectively with corresponding address code when
Between interval it is consistent with the frequency values of the second pulse signal, be then, confirm address successfully, transmission frequency value is (f1+f2The positioning of)/2
Underwater sound signal is responded, otherwise confirms addressing failure, dormancy certain time, dormancy returns to S31 after terminating；
The water surface probe node can be by changing combination and its time of two pulse signal frequencies successively simultaneously
The data such as interval, realize the Detection location process to multiple overboard containers.
Further, as Fig. 4, the acoustic beacon include to be addressed according to corresponding address code, judged currently
The the first pulse signal s received1(t), the second pulse signal s2(t) frequency values f1、f2And time interval of delta t whether with institute
The addressing process circuit of corresponding address code matching, the addressing process circuit include filtering and amplifying circuit, pulse shaper,
Timing module and frequency discriminator block；The filtering and amplifying circuit is used for the first pulse signal s to receiving1Or second (t)
Pulse signal s2(t) filtering process is amplified, to filter out signal out-of-band interference and noise；The pulse shaper will be through putting
First pulse signal s of big filtering process1Or the second pulse signal s (t)2With certain dutycycle corresponding to (t) being converted into
Square-wave signal；The timing module is used for the square-wave signal for monitoring pulse shaper output, and is monitoring square-wave signal
Timer is controlled to start timing during first rising edge；The frequency discriminator block is used for the square wave letter for measuring pulse shaper output
Number frequency, and the first pulse signal in the frequency measurement of square-wave signal and corresponding mailing address code data
s1Or the second pulse signal s (t)2(t) comparative result of frequency values, controls whether the timer of timing module continues timing
Or it is confirmed whether to address successfully.
Based on the above-mentioned overboard container detecting and positioning method based on time-frequency addressing, when the present invention also provides one kind and is based on
The overboard container detecting and locating system of frequency addressing, it is characterised in that：
It is invested on the water surface in region to be detected, can be led to the acoustic beacon on each overboard container including multiple
The water surface probe node of letter, each water surface probe node be used for according to the current overboard container to be carried out Detection location
The address address to match with match pulse interval generation corresponding to the first pulse signal s1(t) and the second pulse is believed
Number s2(t) the first pulse signal s, is sent1(t) and after postponing the pulse interval the second pulse signal s is sent2(t)；With
And receive and confirm location response underwater sound signal transmitted by acoustic beacon of the addressing successfully on overboard container and be based on the positioning
Response underwater sound signal completes the Detection location of the overboard container；Wherein, the address code is by advance to each container
One is assigned with the container address code that uniquely corresponding mailing address is obtained, the address code including two frequencies to locate
Chirp signal in the working band of the water surface probe node and the underwater acoustic transducer of acoustic beacon, and two frequency modulation
Specific time interval between pulse signal, two chirp signals are referred to as the first pulse signal s1And the second arteries and veins (t)
Rush signal s2(t)；
And the acoustic beacon on each overboard container is arranged on, the acoustic beacon can be according to corresponding mailing address code
Data are addressed, judge the first pulse signal s being currently received1(t), the second pulse signal s2And s (t)1And s (t)2(t)
Between time interval whether with each self-corresponding mailing address code Data Matching；It is then to confirm to address successfully, sends positioning and ring
Underwater sound signal is answered, otherwise confirms addressing failure, performs dormancy program.
Further, the modulating frequency of the location response underwater sound signal is the first pulse signal s1And the second pulse (t)
Signal s2(t) average value of frequency values corresponding to, to improve, to current matching, successfully overboard container carries out Detection location
Efficiency and accuracy.
Further, the acoustic beacon is addressed according to corresponding address code, judges the first arteries and veins being currently received
Rush signal s1(t), the second pulse signal s2(t) and corresponding time interval whether with each self-corresponding mailing address code data
Matching process comprises the following steps：
S31, by underwater acoustic transducer continue monitor channel, if listening to first transmitted by the water surface probe node
Pulse signal s1(t), it is immediately performed S32；
S32, startup timer start timing, and the first pulse signal s to receiving1(t) frequency measurement is carried out, is obtained
Corresponding frequency values f1；
S33, judge that S32 obtains frequency values f1Whether with the first pulse signal in corresponding mailing address code data
Frequency values it is consistent, be then to control timer to continue timing, and perform S34, otherwise, control timer stops timing and dormancy one
Fix time, dormancy returns to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal s in corresponding mailing address code data2(t)；
If S35, the second pulse signal s is not being received corresponding to address above mentioned code in time interval2(t) matching, is confirmed
Failure, then control timer to stop timing and dormancy certain time, and dormancy returns to S31 after terminating；
If S36, the second pulse signal s is being received corresponding to address above mentioned code in time interval2(t), confirm matching into
Work(, then proceed as follows：(1) control timer to stop timing, and record timing time Δ t, second received by (2) measurement
Pulse signal s2(t) frequency values f2And perform S37；
S37, judge that S36 obtains timing time Δ t and frequency values f2Whether respectively with corresponding address code when
Between interval it is consistent with the frequency values of the second pulse signal, be then, confirm address successfully, transmission frequency value is (f1+f2The positioning of)/2
Underwater sound signal is responded, otherwise confirms addressing failure, dormancy certain time, dormancy returns to S31 after terminating；
Further, acoustic beacon on container set it is as shown in Figure 4 can be according to corresponding address code
It is addressed, judges the first pulse signal s being currently received1(t) frequency f1, the second pulse signal s2(t) frequency f2With
And s1And s (t)2(t) time interval Δ t between whether the addressing process circuit matched with corresponding address code, the addressing
Process circuit includes filtering and amplifying circuit, pulse shaper, timing module and frequency discriminator block；The filtering and amplifying circuit is used
In the first pulse signal s to receiving1Or the second pulse signal s (t)2(t) filtering process is amplified, to filter out signal
Out-of-band interference and noise；The pulse shaper is by the first pulse signal s of amplified filtering process1Or the second arteries and veins (t)
Rush signal s2(t) there is the square-wave signal of certain dutycycle corresponding to being converted into；The timing module is used to monitor shaping pulse
The square-wave signal of circuit output, and control timer to start timing when monitoring first rising edge of square-wave signal；It is described
Frequency discriminator block is used for the frequency for measuring the square-wave signal of pulse shaper output, and according to the frequency measurement of square-wave signal with
And the first pulse signal s in corresponding address code1Or the second pulse signal s (t)2(t) comparative result of frequency values,
Whether the timer of control timing module continues timing or is confirmed whether to address successfully；Even receive the first pulse signal s1
(t) square-wave signal corresponding to, then whether frequency values are consistent with the frequency values in default address code, and unanimously then control is counted
When module timer continue timing, otherwise control timer to stop timing and dormancy certain time, under dormancy waits after terminating
The measurement of one square-wave signal；If the second pulse signal s is not being received corresponding to address above mentioned code in time interval2(t), really
Recognize that it fails to match, then control timer to stop timing and dormancy certain time, dormancy returns after terminating；It is if right in address above mentioned code
The second pulse signal s is received in the time interval answered2(t), then proceed as follows：(1) timer is controlled to stop timing, and
Timing time Δ t is recorded, the frequency values f of the second pulse signal received by (2) measurement2；Be then checked for whether with it is default
Time interval value in address code is consistent, frequency values f2It is whether consistent with the frequency values in default address code, if consistent,
Then confirm to address successfully, send location response underwater sound signal, otherwise dormancy certain time, dormancy waits next square wave after terminating
The measurement of signal.
In summary, the present invention proposes that one kind can provide substantial amounts of addressing space, and is applied to Large-scale container water
Multiple overboard container Detection location technologies that road transport uses, it can provide substantial amounts of and separate volume for container
Code address, so as to preferably solve the interference problem during multiple overboard container Detection locations between acoustic beacon signal.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of overboard container detecting and positioning method based on time-frequency addressing, methods described is applied to be provided with the underwater sound to multiple
The overboard container of beacon carries out Detection location, it is characterised in that：
Comprise the following steps
The enough waters surface to be communicated with the acoustic beacon on each overboard container of S1, the water surface upslide exoergic in region to be detected are visited
Survey node；
S2, the address code for determining the current overboard container to be carried out Detection location, the water surface probe node is according to described
The address of overboard container, with match pulse interval generation corresponding to the first pulse signal and the second pulse signal,
Send the first pulse signal and send the second pulse signal after postponing the pulse interval；The address code is by advance
Assign one to each container includes with the container address code that uniquely corresponding mailing address is obtained, the address code
Two frequencies are in the frequency modulation on pulse letter in the working band of the underwater acoustic transducer of the water surface probe node and acoustic beacon
Number and two chirp signals between corresponding time interval, two chirp signals are referred to as the first pulse signal
And second pulse signal；
Acoustic beacon on S3, each overboard container is addressed according to each self-corresponding address code respectively, judges current receive
Time interval between the first pulse signal, the second pulse signal and two pulse signals that arrive whether with each self-corresponding address code
Matching；It is then to confirm to address successfully, sends location response underwater sound signal, otherwise confirm addressing failure, perform dormancy program；
S4, the water surface probe node are received the location response underwater sound signal and completed based on the location response underwater sound signal true
Recognize the Detection location of the successful overboard container of addressing；
S5, S2-S4 is repeated until completing the Detection location of all overboard containers.
2. the overboard container detecting and positioning method according to claim 1 based on time-frequency addressing, it is characterised in that：
The modulating frequency of location response underwater sound signal sent in the S3 is the first pulse signal and the second pulse signal institute
The average value of respective frequencies value.
3. the overboard container detecting and positioning method according to claim 1 based on time-frequency addressing, it is characterised in that：
The S3 comprises the following steps：
Acoustic beacon on S31, each overboard container continues monitor channel by each self-corresponding underwater acoustic transducer respectively, if
The first pulse signal transmitted by the water surface probe node is listened to, is immediately performed S32；
S32, each acoustic beacon are respectively started each self-corresponding timer and start timing, and the first pulse to receiving is believed
Number carry out frequency measurement, frequency values corresponding to acquisition；
S33, each acoustic beacon judge respectively S32 obtain frequency values whether with the address code corresponding to each acoustic beacon
The first pulse signal frequency values it is consistent, be then to control timer to continue timing, and perform S34, otherwise, control timer stops
Only timing and dormancy certain time, dormancy return to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal in corresponding address code；
If S35, not receiving the second pulse signal corresponding to address above mentioned code in time interval, confirm that it fails to match, then controls
Timer processed stops timing and dormancy certain time, and dormancy returns to S31 after terminating；
If S36, receiving the second pulse signal corresponding to address above mentioned code in time interval, proceed as follows：(1) control
Timer processed stops timing, and records timing time, and the frequency values of the second pulse signal received by (2) measurement simultaneously perform S37；
S37, judge S36 obtain timing time and frequency values whether respectively with the time interval in corresponding address code and the
The frequency values of two pulse signals are consistent, are that then, confirmation addresses successfully, sends location response underwater sound signal, otherwise confirm that addressing is lost
Lose, dormancy certain time, dormancy returns to S31 after terminating.
4. the overboard container detecting and positioning method according to claim 1 based on time-frequency addressing, it is characterised in that：
The acoustic beacon judges the first pulse letter being currently received including that can be addressed according to corresponding address code
Number, the second pulse signal and the first pulse signal and time interval corresponding to the second pulse signal whether with corresponding address
Code matching addressing process circuit, it is described addressing process circuit include filtering and amplifying circuit, pulse shaper, timing module with
And frequency discriminator block；The filtering and amplifying circuit is used to be amplified the first pulse signal received or the second pulse signal
Filtering process, to filter out signal out-of-band interference and noise；The pulse shaper is by the first pulse of amplified filtering process
Signal or the second pulse signal are converted into the corresponding square-wave signal with certain dutycycle；The timing module is used to monitor
The square-wave signal of pulse shaper output, and control timer to start to count when monitoring first rising edge of square-wave signal
When；The frequency discriminator block is used for the frequency for measuring the square-wave signal of pulse shaper output, and according to the frequency of square-wave signal
The comparative result of the frequency values of the first pulse signal or the second pulse signal in measured value and corresponding address code, control
Whether the timer of timing module processed continues timing or is confirmed whether to address successfully.
5. a kind of overboard container detecting and locating system based on time-frequency addressing, including be invested on the water surface in region to be detected,
The water surface probe node that can be communicated with the acoustic beacon on each overboard container, and be arranged on each overboard container
Acoustic beacon, it is characterised in that：
The water surface probe node is used for according to pulse interval generation pair of the address of the overboard container to match
The first pulse signal and the second pulse signal answered, send the first pulse signal and postponing and the is sent after the pulse interval
Two pulse signals；And receive and confirm location response underwater sound signal transmitted by acoustic beacon of the addressing successfully on overboard container
And the Detection location of the overboard container is completed based on the location response underwater sound signal；Wherein, the address code is by advance
Assign one to each container includes with the container address code that uniquely corresponding mailing address is obtained, the address code
Two frequencies are in the frequency modulation on pulse letter in the working band of the underwater acoustic transducer of the water surface probe node and acoustic beacon
Number and two chirp signals between time interval, two chirp signals are referred to as the first pulse signal and second
Pulse signal；
The acoustic beacon can be addressed according to corresponding address code, the first pulse signal for judging to be currently received,
Whether the time interval between two pulse signals and two chirp signals matches with each self-corresponding address code；It is that confirmation is sought
Location success, sends location response underwater sound signal, otherwise confirms addressing failure, performs dormancy program.
6. the overboard container detecting and locating system according to claim 5 based on time-frequency addressing, it is characterised in that：
The modulating frequency of the location response underwater sound signal is frequency values corresponding to the first pulse signal and the second pulse signal
Average value.
7. the overboard container detecting and locating system according to claim 5 based on time-frequency addressing, it is characterised in that：
The acoustic beacon is addressed according to corresponding address code, judges the first pulse signal, the second arteries and veins being currently received
Rush signal and the first pulse signal and whether the time interval corresponding to the second pulse signal matched with corresponding address code
Journey comprises the following steps：
Acoustic beacon on S31, each overboard container continues monitor channel by each self-corresponding underwater acoustic transducer respectively, if
The first pulse signal transmitted by the water surface probe node is listened to, is immediately performed S32；
S32, each acoustic beacon are respectively started each self-corresponding timer and start timing, and the first pulse to receiving is believed
Number carry out frequency measurement, frequency values corresponding to acquisition；
S33, each acoustic beacon judge respectively S32 obtain frequency values whether with the address code corresponding to each acoustic beacon
The first pulse signal frequency values it is consistent, be then to control timer to continue timing, and perform S34, otherwise, control timer stops
Only timing and dormancy certain time, dormancy return to S31 after terminating；
S34, continue monitor channel, wait the second pulse signal in corresponding address code；
If S35, not receiving the second pulse signal corresponding to address above mentioned code in time interval, confirm that it fails to match, then controls
Timer processed stops timing and dormancy certain time, and dormancy returns to S31 after terminating；
If S36, receiving the second pulse signal corresponding to address above mentioned code in time interval, proceed as follows：(1) control
Timer processed stops timing, and records timing time, and the frequency values of the second pulse signal received by (2) measurement simultaneously perform S37；
S37, judge S36 obtain timing time and frequency values whether respectively with the time interval in corresponding address code and the
The frequency values of two pulse signals are consistent, are that then, confirmation addresses successfully, sends location response underwater sound signal, otherwise confirm that addressing is lost
Lose, dormancy certain time, dormancy returns to S31 after terminating.
8. the overboard container detecting and locating system according to claim 7 based on time-frequency addressing, it is characterised in that：
The acoustic beacon judges the first pulse letter being currently received including that can be addressed according to corresponding address code
Number, the second pulse signal and the first pulse signal and time interval corresponding to the second pulse signal whether with corresponding address
Code matching addressing process circuit, it is described addressing process circuit include filtering and amplifying circuit, pulse shaper, timing module with
And frequency discriminator block；The filtering and amplifying circuit is used to be amplified the first pulse signal received or the second pulse signal
Filtering process, to filter out signal out-of-band interference and noise；The pulse shaper is by the first pulse of amplified filtering process
Signal or the second pulse signal are converted into the corresponding square-wave signal with certain dutycycle；The timing module is used to monitor
The square-wave signal of pulse shaper output, and control timer to start to count when monitoring first rising edge of square-wave signal
When；The frequency discriminator block is used for the frequency for measuring the square-wave signal of pulse shaper output, and according to the frequency of square-wave signal
The comparative result of the frequency values of the first pulse signal or the second pulse signal in measured value and corresponding address code, control
Whether the timer of timing module processed continues timing or is confirmed whether to address successfully.
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| CN107085933B (en) * | 2017-05-04 | 2023-12-22 | 中国石油天然气集团有限公司 | Low-power-consumption wellbore water acoustic wave communication control system and control method thereof |
| CN107831466B (en) * | 2017-11-28 | 2021-08-27 | 嘉兴易声电子科技有限公司 | Underwater wireless acoustic beacon and multi-address coding method thereof |
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