CN105759245B - Sonar life location device and sonar localization method - Google Patents
Sonar life location device and sonar localization method Download PDFInfo
- Publication number
- CN105759245B CN105759245B CN201610221114.8A CN201610221114A CN105759245B CN 105759245 B CN105759245 B CN 105759245B CN 201610221114 A CN201610221114 A CN 201610221114A CN 105759245 B CN105759245 B CN 105759245B
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- CN
- China
- Prior art keywords
- life
- sonar
- detector
- assistance
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/183—Emergency, distress or locator beacons
Abstract
The present invention provides a kind of sonar life location device, and including at least three detector for being used to be arranged on shipwreck shell, each detector includes a passive sonar；The output terminal of passive sonar is connect respectively with data processor；Data processor is used to receive time difference of life Call for assistance according to detector coordinates and passive sonar, and obtaining life using geometric algorithm requires assistance position coordinates.Apparatus of the present invention and method utilize the time difference of voice transmission, carry out geometry and calculate to auditory localization, so as to quickly and effectively be positioned to life rescue position, confirm the position of survivor, apparatus structure is simple, directly adsorbs on shipwreck housing, easy to operation and detection；Method is simple, processing time is short.
Description
Technical field
The present invention is that the positioning device of location of survivor and sonar localization method can be confirmed in ship accident.
Background technology
At present, in shipwreck accident, the survival personnel in cabin are outwardly sent an SOS by calling out and tapping, and
Conventional method is by being listened to close to shell and stethoscope receives this distress signal, so as to confirm the position of survivor.It is aobvious
And be clear to, there is the shortcomings that very big in this search and rescue mode, one cannot be positioned quickly, and in accident, the time is undoubtedly treasured
Expensive；The second is cannot accurately position, increase difficulty to search-and-rescue work.
Invention content
In order to overcome traditional rescue method positioning difficult, it is impossible to which the shortcomings that quickly implementing search and rescue measure, the present invention devises
A kind of sonar life location device and sonar localization method, can quickly and effectively require assistance to life position positioning, confirm survivor
Position.
The technical solution adopted by the present invention to solve the technical problems is：A kind of sonar life location device, feature exist
In：It is included for being arranged at least three detector on shipwreck shell, and each detector includes a passive sonar；Passively
The output terminal of sonar is connect respectively with data processor；Data processor is used to be received according to detector coordinates and passive sonar
The time difference of life Call for assistance obtains life using geometric algorithm and requires assistance position coordinates.
By said program, each detector includes housing, and the passive sonar is arranged in housing, on housing
Equipped with for adsorbing the sucker in shipwreck shell, housing is externally provided with shock-damping structure.
By said program, further included in each detector and emit dress for emitting the Sonar Signal of signal between detector
It puts.
The sonar life location method realized using above-mentioned sonar life location device, it is characterised in that：The detection
Device includes S0, S1 and S2 totally 3, and there are one clocks on each detector, and clock time is all identical, and have there are one to its
A kind of Sonar Signal emitter of Sonar Signal received and recognized for other detectors of its detector transmitting, from S0 in t0
Time emits a Sonar Signal to S1 in t1Time receives this signal and obtains time difference Δ t, so as to obtain the distance of S0 to S1,
The distance of S0 to S2 and the distance of S1 to S2 are similarly obtained, coordinate system S0 (x0, y0)=(0,0) is built with this, S1 (x1,
Y1), S2 (x2, y2), spread speed is C to sound wave in the medium, known；The position coordinates S (x, y) if life is required assistance；
By detector measurement to life Call for assistance, calculate S0 and S1, S0 and S2 receive life Call for assistance when
Difference is not Δ t1、Δt2, using arbitrary triangle algorithm, obtain life and require assistance position coordinates S (x, y).
As stated above, the detector further includes S3, the orientation of the coordinate establishment of S3：From S0 in t0Time transmitting sound
Signal is to S3 in t3Time receives this Sonar Signal and obtains time difference Δ t3, so as to obtain the distance of S0 to S3, similarly obtains
The distance of S1 to S3 determines the coordinate of S3 as (x3, y3) using this；Calculating S0 and S3 and receiving time difference of life Call for assistance is
Δt3；If the range (C- Δs C, C+ Δ C) of acoustic wave propagation velocity, given speed step-length δ, each speed C+n δ, by arbitrary three
Angular algorithm obtains a life and requires assistance position coordinates (xn, yn), n=± 1 ± 2 ... and meets n δ≤Δ C；In these candidates
In position, one of position candidate is chosen according to the following formula and is required assistance position coordinates as best life, regards as true life
It is true to order the position S that requires assistance：
As stated above, the waveform of the Sonar Signal of detector transmitting is in sawtooth wave, square wave or sine wave
It is a kind of.
Beneficial effects of the present invention are：
1st, apparatus of the present invention and method utilize the time difference of voice transmission, and progress geometry, which calculates position of requiring assistance life, to be determined
Position so as to position positioning of quickly and effectively requiring assistance life, confirms the position of survivor, apparatus structure is simple, directly adsorbs in
On shipwreck housing, easy to operation and detection；Method is simple, processing time is short.
2nd, it selects based on arbitrary triangle algorithm, recycles the gathered data of a detector, and fill into Acoustic Wave Propagation
The variation of speed is modified arbitrary triangle algorithm, improves positioning accuracy.
3rd, the distance between detector is obtained by Sonar Signal emitter first between detector, then carries out life and ask
The detection of position coordinates is helped, eliminates the measurement of distance between detector, it is more convenient.
Description of the drawings
Fig. 1 is the overall structure block diagram of one embodiment of the invention.
Fig. 2 is the structure diagram of detector.
Fig. 3 requires assistance position coordinates computed figure for life.
In figure：1- detectors, 2- shipwreck shells, 3- data processors, 1-1- housings, 1-2- passive sonars, 1-3- suckers,
1-4- shock-damping structures, 1-5- Sonar Signal emitters.
Specific embodiment
With reference to specific example, 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 being arranged on outside shipwreck
At least three detector 1 on shell 2, each detector 1 include a passive sonar 1-2；The output terminal difference of passive sonar 1-2
It is connect with data processor 3；Data processor 3, which is used to receiving life according to detector coordinates and passive sonar 1-2, requires assistance letter
Number time difference, obtain life using geometric algorithm and require assistance position coordinates.
In the present embodiment, each detector is arranged on housing 1-1 including housing 1-1, the passive sonar 1-2
Interior, housing 1-1 is equipped with the sucker 1-3 for adsorbing in shipwreck shell 2, and housing 1-1 is externally provided with shock-damping structure 1-4.
Preferably, the Sonar Signal emitter 1- for emitting signal between detector 1 is further included in each detector 1
5.In this manner it is possible to the distance between detector 1 is determined according to Sonar Signal emitter 1-5, without fixing detection
The distance between detector is measured after device 1, shipwreck shell shape is particularly suitable for irregularly or shipwreck shell is by ring
Border influences not steady enough when the distance between detector under reasons 1 measures difficult.
Can several groups of present apparatus be set on shipwreck shell 2 according to the length and area of shipwreck.
The sonar life location method realized using a kind of above-mentioned sonar life location device, the detector are included
S0, S1 and S2 totally 3, the absorption of 3 detectors is on arbitrary three points of shipwreck shell, all there are one clock on detector, when
Clock time is all identical, and there are one emit a kind of Sonar Signal received and recognized for other detectors to other detectors for tool
Sonar Signal emitter 1-5, the waveform of the Sonar Signal of transmitting can be sawtooth wave, square wave or sine wave etc..It is sharp first
With Sonar Signal emitter 1-5, from S0 in t0Time emits a signal to S1 in t1Time receives this signal and obtains the time difference
Δ t so as to obtain the distance of S0 to S1, similarly obtains the distance of S0 to S2 and the distance of S1 to S2, and coordinate system is built with this
S0 (x0, y0)=(0,0), S1 (x1, y1), S2 (x2, y2), acoustic wave propagation velocity is C, known；If life is required assistance, position is sat
Mark S (x, y)；By detector measurement to life Call for assistance, calculate S0 and S1, S0 and S2 receive life Call for assistance when
Difference is not Δ t1、Δt2, using arbitrary triangle algorithm, obtain life and require assistance position coordinates S (x, y).
As shown in figure 3, enable Δ 1=C Δs t1, Δ 2=C Δs t2,
A=x2 (x12+y12-Δ12)-x1(x22+y22-Δ22),
B=y2 (x12+y12-Δ12)-y1(x22+y22-Δ22),
1 (x2 of D=Δs2+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 coordinates (r, θ)：
ABD Φ are to simplify to replace in calculating process, and r requires assistance the distance between position and S0 for life, and θ is r and S0 and S1
Between distance angle, as shown in Figure 3.
Preferably, the detector further includes S3, and coordinate is S3 (x3, y3), and calculating S0 and S3 receives life and requires assistance
The time difference of signal is Δ t3；If the range (C- Δs C, C+ Δ C) of acoustic wave propagation velocity, given speed step-length δ, each speed C+n
δ obtains a life by arbitrary triangle algorithm and requires assistance coordinate (xn, yn), n=± 1 ± 2 ... and meets n δ≤Δ C；
In these candidate positions, one of position candidate is chosen according to the following formula and is required assistance position coordinates as best life, is assert
It is true for the real life position S that requires assistance：
It can not only determine that best life is required assistance position, but also can obtain the spread speed solution of signal as a result,.
Claims (3)
1. a kind of sonar life location device, it is characterised in that：It is included for being arranged on 4 detectors on shipwreck shell,
Each detector includes a passive sonar；The output terminal of passive sonar is connect respectively with data processor；Data processor is used
In the time difference that life Call for assistance is received according to detector coordinates and passive sonar, obtain life using geometric algorithm and require assistance
Position coordinates；The Sonar Signal emitter for emitting signal between detector is further included in each detector；
The detector includes S0, S1 and S2 totally 3, and there are one clocks on each detector, and clock time is all identical, and
There are one emit to a kind of Sonar Signal of the Sonar Signal received and recognized for other detectors of other detectors transmitting for tool
Device, from S0 in t0Time emits a Sonar Signal to S1 in t1Time receives this signal and obtains time difference Δ t, so as to obtain
The distance of S0 to S1 similarly obtains the distance of S0 to S2 and the distance of S1 to S2, with this come build coordinate system S0 (x0, y0)=
(0,0), S1 (x1, y1), S2 (x2, y2), spread speed is C to sound wave in the medium, known；The position coordinates S if life is required assistance
(x,y)；
By detector measurement to life Call for assistance, the when difference that S0 receives life Call for assistance with S1, S0 and S2 is calculated
It is not Δ t1、Δt2, using arbitrary triangle algorithm, obtain life and require assistance position coordinates S (x, y)；
The detector further includes S3, the orientation of the coordinate establishment of S3：From S0 in t0Time emits Sonar Signal to S3 in t3When
Between receive this Sonar Signal and obtain time difference Δ t3, so as to obtain the distance of S0 to S3, the distance of S1 to S3 is similarly obtained, with this
To determine that the coordinate of S3 is (x3, y3)；The time difference that calculating S0 and S3 receives life Call for assistance is Δ t3；If Acoustic Wave Propagation is fast
The range (C- Δs C, C+ Δ C) of degree, given speed step-length δ, each speed C+n δ obtain a life by arbitrary triangle algorithm
Order the position coordinates (x that requires assistancen, yn), n=± 1 ± 2 ... and meets n δ≤Δ C；In these candidate positions, according to the following formula
It chooses one of position candidate to require assistance position coordinates as best life, it is true to regard as the real life position S that requires assistance：
2. a kind of sonar life location device according to claim 1, it is characterised in that：Each detector includes
Housing, the passive sonar are arranged in housing, and housing is equipped with the sucker for adsorbing in 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：The sound of the detector transmitting
The waveform of signal is one kind in sawtooth wave, square wave or sine wave.
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| CN201610221114.8A CN105759245B (en) | 2016-04-11 | 2016-04-11 | Sonar life location device and sonar localization method |
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| CN201610221114.8A CN105759245B (en) | 2016-04-11 | 2016-04-11 | Sonar life location device and sonar localization method |
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| CN105759245B true CN105759245B (en) | 2018-06-12 |
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Citations (4)
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|---|---|---|---|---|
| CN201383005Y (en) * | 2008-12-10 | 2010-01-13 | 苏东晴 | Underwater sonar navigation and rescue multifunctional system |
| CN102135619A (en) * | 2010-12-06 | 2011-07-27 | 王茂森 | Biosonar sounding device and method |
| CN103412282A (en) * | 2013-07-30 | 2013-11-27 | 刘亚军 | Combined time difference passive locating method |
| CN104777455A (en) * | 2015-04-27 | 2015-07-15 | 大连海事大学 | Water falling container rapid detection positioning device and method based on water sound signal detection |
-
2016
- 2016-04-11 CN CN201610221114.8A patent/CN105759245B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201383005Y (en) * | 2008-12-10 | 2010-01-13 | 苏东晴 | Underwater sonar navigation and rescue multifunctional system |
| CN102135619A (en) * | 2010-12-06 | 2011-07-27 | 王茂森 | Biosonar sounding device and method |
| CN103412282A (en) * | 2013-07-30 | 2013-11-27 | 刘亚军 | Combined time difference passive locating method |
| CN104777455A (en) * | 2015-04-27 | 2015-07-15 | 大连海事大学 | Water falling container rapid detection positioning device and method based on water sound signal detection |
Non-Patent Citations (2)
| Title |
|---|
| 基于柔性阵的被动定位方法研究;刘力瑜 等;《声学技术》;20141215;第132-135页 * |
| 浅海三元阵近程被动定位实验研究;周伟 等;《哈尔滨工程大学学报》;20090515;第30卷;第547-551页 * |
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