CN105866742B - A kind of shell burst point positioning system and localization method - Google Patents
A kind of shell burst point positioning system and localization method Download PDFInfo
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- CN105866742B CN105866742B CN201610369686.0A CN201610369686A CN105866742B CN 105866742 B CN105866742 B CN 105866742B CN 201610369686 A CN201610369686 A CN 201610369686A CN 105866742 B CN105866742 B CN 105866742B
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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
- 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
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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
- 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
- G01S5/0009—Transmission of position information to remote stations
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Abstract
It includes acceptor unit, environmental parameter collecting unit, central processing unit and wireless communication unit that the present invention, which discloses a kind of shell burst point positioning system and localization method, positioning system,；Acceptor unit includes with the receiver of 4 points of equidistant array layouts four, and receiver and environmental parameter collecting unit are all connected to central processing unit, and unit is connected to host computer unit to central processing unit by radio communication；The subsonics signal shellbursted is acquired using 4 points of equidistant array receiver units, is converted into digital signal through preposition processing, and time identifier is authorized for piece of digital acoustical signal；The conversion of signal waveform, interference and noise eliminating are completed, bomb blast Acoustic Wave Propagation is extracted to the time difference of receiver, the coordinate shellbursted a little is calculated according to mathematical model, orients the specific location shellbursted.The present invention can realize the accurate positionin of shell burst point, improve the safety of drinking water project, reduce danger coefficient, promote operation effectiveness.
Description
Technical field
The present invention relates to acoustic localization technique field, specially a kind of shell burst point positioning system and localization method.
Background technology
Antiaircraft Gun Systems and rocket system are widely used Weather modification operation device in all parts of the country, main application
It is largely to emit high explosion cannonball bombardment hail cloud when there is hail weather threat, eliminates or weaken hail disaster；In arid or mist
Transmitting silver iodide of selecting a good opportunity when haze weather increase precipitation.
It in actual job, is influenced by operation ammunition reliability, the threat of duds occurs now and then, while rocket running track
The unstable assessment for also influencing operation effectiveness.The threat of duds is mainly reflected in three aspects：First, bullet is not quick-fried broken, fall over the ground
Dough figurine person and facility form danger；It causes danger second is that not quick-fried bullet or rocket are picked up by ordinary person；Third, duds does not go out
Thorax forms danger.Rocket running track is unstable not only to influence operation effectiveness, while near-earth explosion also has prodigious threat, needs
Tracing and monitoring is carried out to the quality of rocket.
Weather modification operation point generally lacks positioning or the Fire Control Device bombarded a little at present, and this system is needed for this
It asks, design is applied to the explosion point location of Weather modification operation, the tracking location system of rocket operation monitoring.
Invention content
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of accurate positionins that can realize shell burst point, and at
This low, shell burst point positioning system and localization method for consuming energy small helps to threaten caused by reducing duds.Technical solution is such as
Under：
A kind of shell burst point positioning system, including acceptor unit, environmental parameter collecting unit, central processing unit and nothing
Line communication unit；The acceptor unit includes the receiver of three or three, and the receiver includes sound wave microphone, sound wave
Microphone is connected to central processing unit by preprocessing unit；Environmental parameter collecting unit is connected to central processing unit,
Unit is connected to host computer unit to central processing unit by radio communication.
Further, the acceptor unit includes 4 receivers, and 4 receivers are with 4 points of equidistant array layouts.
More further, the receiver further includes phase inverting box, and the antetheca of the phase inverting box is equipped with speaking terminal and paraphase mouth,
Speaking terminal is connected to by elbow-type conduit in the case with paraphase mouth；The sound wave microphone is arranged at speaking terminal comprising flaring
Vibrating membrane, vibrating membrane bottom is connected with voice coil；Voice coil is sleeved on permanent magnet, and is connected to low noise impedance transducer and is connected to
The preprocessing unit.
More further, the environmental parameter collecting unit includes temperature sensor, wind transducer and air velocity transducer；
Temperature sensor is connected to the central processing unit, and wind transducer is connected to the central processing list by shaping unit
Member, air velocity transducer passes sequentially through buffer and phototube coupling unit is connected to the central processing unit.
More further, the preprocessing unit includes A/D converting units, and A/D converting units include AD73360 cores
The VINP pins of piece, AD73360 chips pass sequentially through resistance R1 and capacitance C1 is connected to signal input part；AD73360 chips
VINN pins pass sequentially through resistance R2 and capacitance C2 ground connection, and the input terminal of resistance R2 is also connected to the output end of resistance R1；
The REFOUT pins of AD73360 chips are grounded by resistance R3, while being connected to the signal input part of operational amplifier OPI, fortune
The signal output end for calculating amplifier OPI is grounded by capacitance C3, while being connected to the output end of resistance R2.
A kind of shell burst point localization method, including
1) to 4 receiver M0、M1、M2、M3Collected digital signal authorizes time identifier, and is smoothed；With
M0For main receiver, then receiver M0And Mi(i=1,2,3) it is expressed as after the smoothed processing of signal acquired：
x0(t)=a0s(t)+e0(t)
yi(t)=ais(t-τi)+ei(t), i=1,2,3；
Wherein, a0And aiThe decay factor of receiver is traveled to for explosive sound, s (t) is signal to be detected, τiFor acoustical signal
Receiver M is reached from burst pointiTime, e0(t) and ei(t) it is white Gaussian noise；
2) it calculates acoustical signal and arrives separately at receiver M0And MiThe difference d=τ of time0-τi：
Above-mentioned x0(t) and yi(t) cross-correlation function is expressed as：
Wherein, G0i(f) it is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesIt is weighted
Afterwards, above-mentioned cross-correlation function is expressed as：
R0i(d)=a0aiδ (t-d),
As t=d, correspond to R0i(d) peak value, then acoustical signal reach main receiver M0Time τ0It other is connect with reaching
Receive device MiTime τiDifference be：
D=τ0-τi=arg max R0i(d)；
3) the real velocity of sound V of the explosive sound after the compensation of computing environment parameters；
4) burst point positioning is calculated：
A) shell burst point is calculated to the main device M of reception0Propagation distance with reach other receivers MiPropagation distance difference
Δi：
Δi=VsD, i=1,2,3；
B) 4 points of equidistant array three-dimensional coordinate systems, then main reception are established according to the four of 4 receivers points of equidistant array layouts
Device M0Coordinate (x0,y0,z0) and receiver MiCoordinate (xi,yi,zi) hyperboloid equation about shell burst point S (x, y, z)
For：
Wherein, receiver MiTo main receiver M0Distance riFor：
C) the ternary linear simultaneous equation being made of above-mentioned hyperboloid equation, solve shell burst point S coordinate (x, y,
z)。
Further, the smoothing processing includes：
I. bandpass filtering is carried out to digital signal with following difference equations；
Wherein, x (n) is input signal, and y (n) is output signal, and n indicates to be currently n-th frame signal；
Ii. 1000 sliding average algorithm process are carried out to upper step output signal with following equations；
Iii. the output signal of upper step is normalized with following formula；
Further, the computational methods of the velocity of sound of the explosive sound after the environmental parameter compensation are as follows：
Wherein, VsFor the real velocity of sound of explosive sound, T is Celsius temperature, and V is wind speed, and θ is side of the explosive sound source to collection point
To the angle with wind direction.
The beneficial effects of the invention are as follows：
1) present invention can realize the accurate positionin of shell burst point, help to find in time and guidance exclusion duds is dangerous,
The safety of drinking water project is improved, while record ammunition quality can be assessed, reduces danger coefficient, promotes operation effectiveness；
2) receiver of positioning system of the present invention uses 4 points of equidistant array layouts, can either reduce hardware cost, and energy
The redundancy for making full use of the background process time realizes the accurate target simply positioned；
3) characteristic that the moving-coil microphone that positioning system of the present invention uses has acoustic resistive wave impact ability strong, is fallen using band
The phase inverting box of phase mouth can effectively reinforce the energy of voice signal；
4) present invention meets the coherence request of multichannel collecting module by authorizing time identifier to digital signal；
5) localization method of the invention is compensated by temperature, wind speed and direction, is reduced measurement error, is improved entire system
The check and evaluation precision of system；
6) perfect in shape and function of the present invention, at low cost, energy consumption is small, and installation is simple, is suitable for outdoor acquisition.
Description of the drawings
Fig. 1 is the structure diagram of shell burst point positioning system of the present invention.
Fig. 2 is the structural schematic diagram of sound wave microphone of the present invention.
Fig. 3 is the internal structure schematic diagram of receiver of the present invention.
Fig. 4 is the 4 points of equidistant array layouts and 4 points of equidistant array three-dimensional coordinate system schematic diagrames of receiver of the present invention.
Fig. 5 is the circuit diagram of A/D converting units of the present invention.
Fig. 6 is the structure diagram of environmental parameter collecting unit of the present invention.
Fig. 7 is the oscillogram of antiaircraft gun explosive sound.
Fig. 8 is location Calculation flow chart of the present invention.
In figure：1- phase inverting box；2- speaking terminals；3- paraphase mouths；4- sound wave microphones；41- vibrating membranes；42- voice coils；43- is forever
Magnet；44- low noise impedance transducers；5- elbow-type conduits.
Specific implementation mode
The present invention will be further described in the following with reference to the drawings and specific embodiments.
First, the operation principle of the shell burst point positioning system of the present embodiment is as follows：Since the distance of shell blow-up point is remote
(4 km of rocket gun, 6.8 km of antiaircraft gun or so), the energy for the sound wave that can be sent back is small, is not easy to acquire, in order to guarantee
The acoustical signal of enough energy is collected, this system is directed to the subsonics signal shellbursted and is acquired analysis.Front end is by four
Shell is acquired based on 4 points of equidistant array receiver units of DYN dynamic woofer signal subsonics signal picker composition
Then the subsonics signal of explosion passes through level-one and amplifies, filtering, two level amplification, then is converted into digital signal by high-speed AD acquisition；So
Afterwards by time service module, time identifier is authorized for each piece of digital acoustical signal；Digital signal is received by dsp chip, and is tentatively located
Reason differentiates, and preserves data, is passed to center MCU；And host computer is sent to by communication module；Pass through Spectrum Analysis and small echo
Analysis carries out effective processing analysis to signal, realizes the conversion of signal waveform, interference and noise eliminating, obtains true quick-fried
Fried acoustical signal takes wave character.System goes out bomb blast according to these true explosion acoustical signals by certain discriminating Rule Extraction
Acoustic Wave Propagation calculates the coordinate shellbursted a little according to the mathematical model of rational design to the time difference of acoustic sensor.Both
The specific location shellbursted can be accurately positioned out.
The shell burst point positioning system structure of the present embodiment is as shown in Figure 1, single including acceptor unit, environmental parameter acquisition
Member, central processing unit and wireless communication unit；The acceptor unit includes three or more receivers, the receiver packet
Sound wave microphone is included, sound wave microphone is connected to central processing unit by preprocessing unit；Environmental parameter collecting unit connects
It is connected to central processing unit, unit is connected to host computer unit to central processing unit by radio communication.
The sound wave microphone of the present embodiment is to be used for sound based on DYN dynamic woofer signal subsonics signal microphone
Signal is converted to electric signal.By the analysis to shell explosion acoustical signal spectrum figure, can collected signal energy concentrate on
100-200hz.So the design of microphone should be directed to subsonics low frequency signal.More the most commonly used is condenser type electrets in the market
Microphone, but the microphone is more sensitive, go out in cannon thorax generation sound wave it is gentle flow down, be easily damaged.So the present embodiment is adopted
The moving-coil microphone for using acoustic resistive wave impact ability strong is as sound wave microphone 4.4 structure of sound wave microphone is as shown in Fig. 2, include
The vibrating membrane 41 of flaring, 41 bottom of vibrating membrane are connected with voice coil 42；Voice coil 42 is sleeved on permanent magnet 43, and is connected to low noise resistance
Anti-rotation parallel operation 44 is connected to the preprocessing unit.
But 4 acquisition capacity of sound wave microphone is weaker, needs the concentration for reinforcing acoustical signal energy.The present embodiment is from two
Aspect reinforces the concentration of acoustical signal energy：First, from the design of speaker, using the principle of bass moving-coil type loudspeaker, a band is designed
The musical form speaker of paraphase mouth, the steering-effecting that same audio signal carries out 180 degree enhance audio signal in the rear end of microphone
Acquisition.For structure as shown in figure 3, receiver further includes phase inverting box 1, the antetheca of the phase inverting box 1 is equipped with speaking terminal 2 and paraphase mouth 3,
Speaking terminal 2 is connected to by elbow-type conduit 5 in the case with paraphase mouth 3；The sound wave microphone 4 is arranged at speaking terminal 2.Second is that
Increase a signal enhancing area on sound wave microphone 4, increases coil thickness, the coil of voice coil under conditions of meeting impedance matching
The number of turns increases signal strength, increases signal strength.
Common passive acoustic direction system can be divided into three sensor array, four-element array from the layout and number of sensor both at home and abroad
Or five element array etc..The planar array of 3 sonic transducers composition can position target sound source, simple in structure, but
Be disadvantage be must the movement velocity of known target sound source can just determine the position of target, and must be carried out to position
A large amount of vector calculus, this proposes hardware realization very high requirement.Though and five element array can reduce operand, improve and determine
Bit rate, but increase hardware cost.There is no too high requirement, host computers for processing speed in view of this system to algorithm
There is time enough to go processing information, it is only necessary to reach the simple requirement for positioning and quickly positioning, therefore this implementation column is used by 4
4 points of equidistant arrays that receiver is constituted, can either reduce hardware cost, and can make full use of the redundancy of background process time, real
The accurate target simply positioned is showed.4 points of equidistant array layout schematic diagrames of receiver are as shown in figure 4, M in figure0、M1、M2、M3
The position of four receivers is indicated respectively.
Explosion acoustical signal is converted to electric signal by front end microphone, but electric signal only has microvolt rank, after not nearly enough
Sampling processing is held, and also carries noise secretly.So preposition processing subsystem main function has acquisition acoustical signal, level-one low noise high power
Straight coupling, two level amplification, filtering and noise reduction and A/D conversions.
Sounding passive location system based on time delay estimation is relatively high to the coherence request of multichannel collecting module, system
The A/D chip of selection is the programmable A D73360 of ADI companies production, and conversion accuracy is 16, is inputted containing 6 series analog memories
End, group delay is low, and channel sample rate is controllable, and the maximum sample rate of support is 64KHz, it may be convenient to various high low speed micro-controls
Device connection processed.The characteristics of AD73360 be there are six signal condition input terminal, each input terminal can independent programmed configurations, selection
Single-ended signal inputs or differential signal input.If necessary, real input signal can also be inverted in inside.Input
Analog signal to AD73360 can be dc-couple mode, at this time the DC biased level of input signal by AD73360 inside
Datum (REFOUT) provides.The signal that signal conditioner exports in system is single-ended signal, therefore AD73360 signals are located in advance
End is managed to design using single ended input AC coupled.The circuit diagrams of A/D converting units is as shown in figure 5, AD73360 chips
VINP pins pass sequentially through resistance R1 and capacitance C1 is connected to signal input part；The VINN pins of AD73360 chips pass sequentially through
Resistance R2 and capacitance C2 ground connection, the input terminal of resistance R2 are also connected to the output end of resistance R1；The REFOUT of AD73360 chips draws
Foot is grounded by resistance R3, while being connected to the signal input part of operational amplifier OPI, the signal output of operational amplifier OPI
End is grounded by capacitance C3, while being connected to the output end of resistance R2.Wherein C1 plays blocking, and R1, C2 are anti-for single order low pass
Aliasing filter, the effect of R2 is that reference signal REFOUT is introduced into input terminal, to ensure when not having input signal
The level of VINP and VINN is consistent, and C3 effects are to filter out ripple, and R3 is pull down resistor, and C4 is shunt capacitance.To improve
REFOUT output end carrying load abilities are isolated before REFOUT is sent to six channels using operational amplifier OP1, to
Improve REFOUT output port anti-interference abilities.
In addition to this, to be also that digital signal time service (stamps the time in order to eliminate the asynchronous error brought of acquisition time
Label), unit identifies the present embodiment to central processing unit sending time by radio communication, realizes the function of sync identification.Number
Word signal, which is sent to while central processing unit, to store a time tag below.Module is sent the label by radio communication
On the basis of the time of central processing unit, with 3 byte records times, unit is 10 delicate, for example time identifier is
1177750, it acquires within exactly 11.7775 seconds.Pass through time synchronization, so that it may miss to eliminate the acquisition time different time brought
Difference.
Central processing unit：The sample rate setting of microcontroller has to guarantee to collect all frequencies that acoustic target is sent out
The voice signal and the higher temporal resolution of offer of rate.According to nyquist sampling law, need the sample rate set necessary
Reach twice or more of the highest frequency of institute's echo signal, just can guarantee the integrality of target information.By frequency 200hz, monolithic
Machine sample frequency is greater than 400hz, more than sufficient for being used for acquiring the complete information of echo signal.And sample rate is higher,
Temporal resolution is higher, that is, the distinguishable phase difference of system is smaller, this just gets ready to the raising of positioning accuracy.
However the setting of sample rate must be according to data in node model machine transmission rate, the processing speed of microcontroller, the meter of DSP
Rate is calculated to determine.It is analyzed by measuring and calculating, under conditions of meeting microcontroller processing speed, the sample rate of system may be set to 10K.
Ensure that effect, the present embodiment use Texas Instruments (TI) MSP430 monolithics while cost is reduced,
MSP430 series monolithics are one 16 microcontrollers, it under the driving of 25MHz crystal, can realize the instruction week of 40ns
Phase, 16 data widths, the instruction cycle of 40ns and multi-functional hardware multiplier (can realize multiply-add operation) match,
The sample rate for handling 10K is more than sufficient.MSP430 microcontrollers are because it is controllable in the supply voltage for reducing chip and flexibly
There are its distinctive feature, also ultralow power consumption advantages in terms of operation clock.
Signal data of the radio communication subsystem by preprocessor Jing Guo preliminary treatment, is transmitted to central host in real time
Carry out signal processing and calculate assess.The control information and time identifier of host computer are also sent to preposition processing list simultaneously
Member.Realize the communication of host computer and slave computer.Radio communication subsystem uses 2.4GHz microwave transmission frequencies, and transmission rate can
Up to 11Mbit/s.
It since environment temperature, wind speed and direction these parameters have larger impact to the velocity of sound, needs to compensate, therefore needs to adopt
Collect environmental parameter.The environmental parameter collecting unit of the present embodiment includes temperature sensor, wind transducer and air velocity transducer；Knot
As shown in fig. 6, temperature sensor is connected to the central processing unit, wind transducer is connected to described structure by shaping unit
Central processing unit, air velocity transducer passes sequentially through buffer and phototube coupling unit is connected to the central processing unit.
Wherein, it is pulse signal that air velocity transducer, which uses photoelectric sensor, output signal, and wind speed is with its frequency at just
Than.Pulse signal by its frequency of single chip computer measurement, and is converted into ambient wind velocity through Phototube Coupling, shaping.Wind transducer uses
Gray's code-disc photoelectric sensor, 7 bit digital quantities of output are Gray code, and Gray's code value has one-to-one correspondence with wind transducer blade
Relationship, wind transducer output digital quantity be converted into the angle between wind direction and reference direction.
The digital blast signal that host computer processing is sent back, extracts time difference, exhibition by combination method spacing, the sound after compensation
Speed finally determines burst point position.Specific processing and calculating process are as shown in figure 8, be as follows：
1) to 4 receiver M0、M1、M2、M3Collected digital signal authorizes time identifier, and is smoothed.
The acoustical signal regularity that shell explosion generates is stronger, has apparent decaying waveform, as shown in fig. 7, per separate explosion meeting
A corresponding apparent wave crest, will find wave crest, it should which first smoothed curve makes wave crest preferably highlight, accurately to carry
Take the wave crest corresponding time.In addition, should also remove the mutation component that energy is smaller in signal.Smoothing step is as follows：
I. bandpass filtering is carried out to digital signal with following difference equations；
Wherein, x (n) is input signal, and y (n) is output signal, and n indicates to be currently n-th frame signal；
Ii. after filtered, wave mode becomes flat, and second step uses 1000 sliding averages, equation to be represented by：
Iii. sliding average can be regarded as the smoothing processing to signal, and treated, and signal there is no larger dash forward
Become, finally carries out energy normalized again, processing method is：
It is 1 to take the maximum signal strength of energy, other signal energies become accounting for the percentage of maximum value.Normalized purpose
Mainly remove the wave crest that energy is smaller in signal, is that wave crest caused by bomb blast is more obvious, it is easier to extraction time.
With M0For main receiver, then receiver M0And Mi(i=1,2,3) after the smoothed processing of signal acquired in the time domain
It is expressed as：
x0(t)=a0s(t)+e0(t)
yi(t)=ais(t-τi)+ei(t), i=1,2,3；
Wherein, a0And aiThe decay factor of receiver is traveled to for explosive sound, s (t) is signal to be detected, τiFor acoustical signal
The time of receiver, e are reached from burst point0(t) and ei(t) it is incoherent white Gaussian noise.
2) it calculates acoustical signal and arrives separately at receiver M0And MiThe difference d=τ of time0-τi：
Above-mentioned x0(t) and yi(t) cross-correlation function is expressed as：
Wherein, G0i(f) it is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesIt is weighted
Afterwards, above-mentioned cross-correlation function is expressed as：
R0i(d)=a0aiδ (t-d),
As t=d, correspond to R0i(d) peak value corresponds to the peak detection in Fig. 7, then acoustical signal reaches main reception
Device M0Time τ0With the other receiver M of arrivaliTime τiDifference be：
D=τ0-τi=arg max R0i(d)。
3) velocity of sound V of the explosive sound after the compensation of computing environment parameters：The meter of the velocity of sound of explosive sound after environmental parameter compensation
Calculation method is as follows：
Wherein, spread speed C of the sound wave in static air and the relationship between Celsius temperature T are：
In the case where there is wind, if wind direction and the angle in explosive sound source to the direction of collection point are θ, wind speed V, then at this time
The real velocity of sound V of explosive sounds=C+V cos θ, i.e.,
4) burst point positioning is calculated：
A) shell burst point is calculated to the main device M of reception0Propagation distance with reach other receivers MiPropagation distance difference
Δi：
Δi=VsD, i=1,2,3；
B) 4 points of equidistant array three-dimensional coordinate systems are established according to the four of 4 receivers points of equidistant array layouts, such as Fig. 4 institutes
Show.Then main receiver M0Coordinate (x0,y0,z0) and receiver MiCoordinate (xi,yi,zi) about shell burst point S's (x, y, z)
Hyperboloid equation is：
Wherein, receiver MiTo main receiver M0Distance riFor：
C) the ternary linear simultaneous equation being made of above-mentioned hyperboloid equation, solve shell burst point S coordinate (x, y,
z).Since the formula is a ternary linear simultaneous equation, is not in the non-linear location ambiguity problem for solving and occurring, solved
Journey is simple.
Claims (7)
1. a kind of shell burst point positioning system, which is characterized in that including acceptor unit, environmental parameter collecting unit, centre
Manage unit and wireless communication unit；The acceptor unit includes three or three or more receivers, and the receiver includes
Sound wave microphone, sound wave microphone are connected to central processing unit by preprocessing unit；Environmental parameter collecting unit connects
To central processing unit, unit is connected to host computer unit to central processing unit by radio communication；The receiver further includes
The antetheca of phase inverting box (1), the phase inverting box (1) is equipped with speaking terminal (2) and paraphase mouth (3), and speaking terminal (2) and paraphase mouth (3) exist
It is connected to by elbow-type conduit (5) in case；The sound wave microphone (4) is arranged at speaking terminal (2) comprising the vibrating membrane of flaring
(41), vibrating membrane (41) bottom is connected with voice coil (42)；Voice coil (42) is sleeved on permanent magnet (43), and is connected to low noise impedance
Converter (44), the low noise impedance transducer (44) are connected to the preprocessing unit.
2. shell burst point positioning system according to claim 1, which is characterized in that the acceptor unit connects including 4
Device is received, 4 receivers are with 4 points of equidistant array layouts.
3. shell burst point positioning system according to claim 1, which is characterized in that the environmental parameter collecting unit includes
Temperature sensor, wind transducer and air velocity transducer；Temperature sensor is connected to the central processing unit, wind transducer
It is connected to the central processing unit by shaping unit, air velocity transducer passes sequentially through buffer and connected with phototube coupling unit
To the central processing unit.
4. shell burst point positioning system according to claim 1, which is characterized in that the preprocessing unit includes A/D
Converting unit, A/D converting units include AD73360 chips, and the VINP pins of AD73360 chips pass sequentially through resistance R1 and capacitance
C1 is connected to signal input part；The VINN pins of AD73360 chips pass sequentially through resistance R2 and capacitance C2 ground connection, and resistance R2's is defeated
Enter the output end that end is also connected to resistance R1；The REFOUT pins of AD73360 chips are grounded by resistance R3, while being connected to fortune
The signal input part of amplifier OPI is calculated, the signal output end of operational amplifier OPI is grounded by capacitance C3, while being connected to electricity
Hinder the output end of R2.
5. a kind of localization method of shell burst point positioning system as claimed in claim 2, which is characterized in that including
1) to 4 receiver M0、M1、M2、M3Collected digital signal authorizes time identifier, and is smoothed；With M0For
Main receiver, then receiver M0And Mi(i=1,2,3) it is expressed as after the smoothed processing of signal acquired：
x0(t)=a0s(t)+e0(t)
yi(t)=ais(t-τi)+ei(t), i=1,2,3；
Wherein, a0And aiThe decay factor of receiver is traveled to for explosive sound, s (t) is signal to be detected, τiIt is acoustical signal from quick-fried
Point arrival receiver MiTime, e0(t) and ei(t) it is white Gaussian noise；
2) it calculates acoustical signal and arrives separately at receiver M0And MiThe difference d=τ of time0-τi：
Above-mentioned x0(t) and yi(t) cross-correlation function is expressed as：
Wherein, G0i(f) it is the crosspower spectrum of signal,It is the weighting function on frequency domain, takesAfter weighted, on
Cross-correlation function is stated to be expressed as：
R0i(d)=a0aiδ (t-d),
As t=d, correspond to R0i(d) peak value, then acoustical signal reach main receiver M0Time τ0With the other receivers of arrival
MiTime τiDifference be：
D=τ0-τi=argmaxR0i(d)；
3) the real velocity of sound V of the explosive sound after the compensation of computing environment parameters；
4) burst point positioning is calculated：
A) shell burst point is calculated to receiver M0Propagation distance with reach other receivers MiPropagation distance difference △i：
△i=VsD, i=1,2,3；
B) 4 points of equidistant array three-dimensional coordinate systems are established according to the four of 4 receivers points of equidistant array layouts, then main receiver M0's
Coordinate (x0,y0,z0) and receiver MiCoordinate (xi,yi,zi) about the hyperboloid equation of shell burst point S (x, y, z) be：
Wherein, receiver MiTo main receiver M0Distance riFor：
C) the ternary linear simultaneous equation being made of above-mentioned hyperboloid equation solves the coordinate (x, y, z) of shell burst point S.
6. the localization method of shell burst point positioning system according to claim 5, which is characterized in that the smoothing processing packet
It includes：
I. bandpass filtering is carried out to digital signal with following difference equations；
Wherein, x (n) is input signal, and y (n) is output signal, and n indicates to be currently n-th frame signal；
Ii. 1000 sliding average algorithm process are carried out to upper step output signal with following equations；
Iii. the output signal of upper step is normalized with following formula；
7. the localization method of shell burst point positioning system according to claim 5, which is characterized in that the environmental parameter is mended
The computational methods of the velocity of sound of explosive sound after repaying are as follows：
Wherein, VsFor the real velocity of sound of explosive sound, T is Celsius temperature, and V is wind speed, θ be explosive sound source to the direction of collection point and
The angle of wind direction.
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