CN105759245A - Sonar life positioning device and sonar positioning method - Google Patents

Abstract

The invention provides a sonar life positioning device comprising at least three detectors arranged on an outer shell of a capsized boat, each detector comprises a passive sonar device, and an output end of each passive sonar device is connected with a data processor; according to the coordinates of the detectors and time difference of life help seeking signals received by passive sonar devices, the processor is used for obtaining coordinates of life help seeking positions via geometric algorithms. According to the sonar life positioning device and the sonar positioning method that are disclosed in the invention, time difference of sound transmission is used for positioning sound sources via geometric calculation, the life help seeking positions can be rapidly and effectively located, and therefore the positions of survivors can be confirmed; the device is simple in structure and can be directly absorbed onto the outer shell of the capsized boat, and convenience of operation and detection can be realized; the method is simple and requires short processing time.

Description

Sonar life location device and sonar localization method

Technical field

The present invention can confirm that positioner and the sonar localization method of location of survivor in ship accident.

Background technology

At present, in shipwreck accident, the survival personnel in cabin outwardly send an SOS by calling out and knock, and traditional method is by pressing close to shell and listen to and stethoscope receiving this distress signal, thus confirming the position of survivor.It is clear that this search and rescue mode exists very big shortcoming, one can not quickly position, and in accident, time preciousness beyond doubt；It two is to position accurately, increases difficulty to search-and-rescue work.

Summary of the invention

In order to overcome tradition rescue method location difficulty, it is impossible to the shortcoming quickly implementing search and rescue measure, the present invention devises a kind of sonar life location device and sonar localization method, location positioning of fast and effectively life being required assistance, and confirms the position of survivor.

The technical solution adopted for the present invention to solve the technical problems is: a kind of sonar life location device, it is characterised in that: it includes at least 3 detectors for being arranged on shipwreck shell, and each detector includes a passive sonar；The outfan of passive sonar is connected with data processor respectively；Data processor, for receiving the time difference of life Call for assistance according to detector coordinates and passive sonar, utilizes geometric algorithm to obtain life and requires assistance position coordinates.

By such scheme, described each detector includes housing, and described passive sonar is arranged in housing, and housing is provided with the sucker for being adsorbed on shipwreck shell, and housing is externally provided with shock-damping structure.

By such scheme, each detector also includes the Sonar Signal discharger for launching signal between detector.

Utilize the sonar life location method that above-mentioned sonar life location device realizes, it is characterized in that: described detector includes S0, S1 and S2 totally 3, each detector has a clock, clock time is all identical, and there is a Sonar Signal discharger launching a kind of Sonar Signal received and recognized for other detector to other detector, from S0 at t₀Time launches a Sonar Signal to S1 at t₁Time receives this signal and obtains time difference Δ t, thus obtaining the distance of S0 to S1, in like manner obtaining the distance of S0 to S2 and the distance of S1 to S2, building coordinate system S0 (x0 with this, y0)=(0,0), S1 (x1, y1), S2 (x2, y2), sound wave spread speed in media as well is C, all known；If life is required assistance position coordinates S (x, y)；

By detector measurement to life Call for assistance, calculating S0 and S1, S0 and S2, to receive time difference of life Call for assistance be Δ t respectively₁、Δt₂, utilize arbitrary triangle algorithm, obtain life require assistance position coordinates S (x, y).

As stated above, described detector also includes the orientation that the coordinate of S3, S3 is established: from S0 at t₀Time launches Sonar Signal to S3 at t₃Time receives this Sonar Signal and obtains time difference Δ t3, thus obtaining the distance of S0 to S3, in like manner obtains the distance of S1 to S3, determines that the coordinate of S3 is for (x3, y3) with this；Calculating S0 and S3, to receive time difference of life Call for assistance be Δ t₃；If the scope of acoustic wave propagation velocity (C-Δ C, C+ Δ C), given speed step-length δ, every kind of speed C+n δ, obtain a life by arbitrary triangle algorithm and require assistance position coordinates (x_n, y_n), n=± 1, ± 2 ... and meet n δ≤Δ C；In these candidate positions, choose one of them position candidate according to below equation and require assistance position coordinates as best life, regard as the real life position S that requires assistance true:

As stated above, the waveform of the Sonar Signal that described detector is launched is the one in sawtooth waveforms, square wave or sine wave.

The invention have the benefit that

1, apparatus of the present invention and method utilize the time difference of transfer voice, carry out geometrical calculation and life are required assistance location positioning, thus location positioning of fast and effectively life being required assistance, confirm the position of survivor, apparatus structure is simple, directly adsorbs on shipwreck housing, it is simple to operation and detection；Method is simple, processes the time short.

2, select based on arbitrary triangle algorithm, the collection data of one detector of recycling, and fill into the change of acoustic wave propagation velocity, arbitrary triangle algorithm is modified, improves positioning precision.

3, first obtain the distance between detector by Sonar Signal discharger between detector, then carry out life and require assistance the detection of position coordinates, eliminate the measurement of the spacing of detector, more convenient.

Accompanying drawing explanation

Fig. 1 is the overall structure block diagram of one embodiment of the invention.

Fig. 2 is the structural representation of detector.

Fig. 3 is that life is required assistance position calculation coordinate diagram.

In figure: 1-detector, 2-shipwreck shell, 3-data processor, 1-1-housing, 1-2-passive sonar, 1-3-sucker, 1-4-shock-damping structure, 1-5-Sonar Signal discharger.

Detailed description of the invention

Below in conjunction with instantiation, the present invention will be further described.

The present invention provides a kind of sonar life location device, and as depicted in figs. 1 and 2, it includes at least 3 detectors 1 for being arranged on shipwreck shell 2, and each detector 1 includes a passive sonar 1-2；The outfan of passive sonar 1-2 is connected with data processor 3 respectively；Data processor 3, for receiving the time difference of life Call for assistance according to detector coordinates and passive sonar 1-2, utilizes geometric algorithm to obtain life and requires assistance position coordinates.

In the present embodiment, described each detector includes housing 1-1, and described passive sonar 1-2 is arranged in housing 1-1, and housing 1-1 is provided with the sucker 1-3 for being adsorbed on shipwreck shell 2, and housing 1-1 is externally provided with shock-damping structure 1-4.

Preferably, each detector 1 also includes the Sonar Signal discharger 1-5 for launching signal between detector 1.So, just can determine the distance between detector 1 according to Sonar Signal discharger 1-5, without the distance between detector being measured after fixing detector 1, it is particularly suited for that shipwreck shell shape is irregular or under the shipwreck shell reason such as steady not affected by environment during range measurement difficulty between detector 1.

According to the length of shipwreck and area, shipwreck shell 2 can arrange several groups of these devices.

Utilize the sonar life location method that above-mentioned a kind of sonar life location device realizes, described detector includes S0, S1 and S2 totally 3,3 detectors are adsorbed on arbitrary three points of shipwreck shell, detector has a clock, clock time is all identical, and there is a Sonar Signal discharger 1-5 launching a kind of Sonar Signal received and recognized for other detector to other detector, the waveform of the Sonar Signal of transmitting can be sawtooth waveforms, square wave or sine wave etc..First with Sonar Signal discharger 1-5, from S0 at t₀Time launches a signal to S1 at t₁Time receives this signal and obtains time difference Δ t, thus obtaining the distance of S0 to S1, in like manner obtaining the distance of S0 to S2 and the distance of S1 to S2, building coordinate system S0 (x0 with this, y0)=(0,0), S1 (x1, y1), S2 (x2, y2), acoustic wave propagation velocity is C, all known；If life is required assistance position coordinates S (x, y)；By detector measurement to life Call for assistance, calculating S0 and S1, S0 and S2, to receive time difference of life Call for assistance be Δ t respectively₁、Δt₂, utilize arbitrary triangle algorithm, obtain life require assistance position coordinates S (x, y).

As it is shown on figure 3, make Δ 1=C Δ t₁, Δ 2=C Δ t₂,

A=x2 (x1²+y1²-Δ1²)-x1(x2²+y2²-Δ2²),

B=y2 (x1²+y1²-Δ1²)-y1(x2²+y2²-Δ2²),

D=Δ 1 (x2²+y2²-Δ2²)-Δ2(x1²+y1²-Δ1²),

Φ=tg^-1B/A,

At this moment life position of requiring assistance is provided by the form of polar coordinate (r, θ):

$\left|\mathrm{\θ}-\mathrm{\φ}\right|={\cos }^{-1}\frac{D}{\sqrt{A^2+B^2}}$

$r=\frac{x{1}^2+y{1}^2-\mathrm{\Δ}{1}^2}{2(x1cos\mathrm{\θ}+y1sin\mathrm{\θ}+\mathrm{\Δ}1)}$

ABD Φ simplifies in calculating process to replace, and r is the distance that life is required assistance between position and S0, and θ is the angle of the spacing of r and S0 and S1, as shown in Figure 3.

Preferably, described detector also includes S3, and coordinate is S3 (x3, y3), and calculating S0 and S3, to receive time difference of life Call for assistance be Δ t₃；If the scope of acoustic wave propagation velocity (C-Δ C, C+ Δ C), given speed step-length δ, every kind of speed C+n δ, obtain a life by arbitrary triangle algorithm and require assistance coordinate (x_n, y_n), n=± 1, ± 2 ... and meet n δ≤Δ C；In these candidate positions, choose one of them position candidate according to below equation and require assistance position coordinates as best life, regard as the real life position S that requires assistance true:

Thus, it is possible not only to determine that the life of the best is required assistance position, and the spread speed solution of signal can be obtained.

Claims (6)

1. a sonar life location device, it is characterised in that: it includes at least 3 detectors for being arranged on shipwreck shell, and each detector includes a passive sonar；The outfan of passive sonar is connected with data processor respectively；Data processor, for receiving the time difference of life Call for assistance according to detector coordinates and passive sonar, utilizes geometric algorithm to obtain life and requires assistance position coordinates.

2. a kind of sonar life location device according to claim 1, it is characterised in that: described each detector includes housing, and described passive sonar is arranged in housing, and housing is provided with the sucker for being adsorbed on shipwreck shell, and housing is externally provided with shock-damping structure.

3. a kind of sonar life location device according to claim 1, it is characterised in that: each detector also includes the Sonar Signal discharger for launching signal between detector.

4. utilize the sonar life location method that a kind of sonar life location device described in claim 3 realizes, it is characterized in that: described detector includes S0, S1 and S2 totally 3, each detector has a clock, clock time is all identical, and there is a Sonar Signal discharger launching a kind of Sonar Signal received and recognized for other detector to other detector, from S0 at t₀Time launches a Sonar Signal to S1 at t₁Time receives this signal and obtains time difference Δ t, thus obtaining the distance of S0 to S1, in like manner obtaining the distance of S0 to S2 and the distance of S1 to S2, building coordinate system S0 (x0 with this, y0)=(0,0), S1 (x1, y1), S2 (x2, y2), sound wave spread speed in media as well is C, all known；If life is required assistance position coordinates S (x, y)；

By detector measurement to life Call for assistance, calculating S0 and S1, S0 and S2, to receive time difference of life Call for assistance be Δ t respectively₁、Δt₂, utilize arbitrary triangle algorithm, obtain life require assistance position coordinates S (x, y).

5. sonar life location method according to claim 4, it is characterised in that: described detector also includes the orientation that the coordinate of S3, S3 is established: from S0 at t₀Time launches Sonar Signal to S3 at t₃Time receives this Sonar Signal and obtains time difference Δ t3, thus obtaining the distance of S0 to S3, in like manner obtains the distance of S1 to S3, determines that the coordinate of S3 is for (x3, y3) with this；Calculating S0 and S3, to receive time difference of life Call for assistance be Δ t₃；If the scope of acoustic wave propagation velocity (C-Δ C, C+ Δ C), given speed step-length δ, every kind of speed C+n δ, obtain a life by arbitrary triangle algorithm and require assistance position coordinates (x_n, y_n), n=± 1, ± 2 ... and meet n δ≤Δ C；In these candidate positions, choose one of them position candidate according to below equation and require assistance position coordinates as best life, regard as the real life position S that requires assistance true:

6. sonar life location method according to claim 4, it is characterised in that: the waveform of the Sonar Signal that described detector is launched is the one in sawtooth waveforms, square wave or sine wave.