CN106680823B - Method and device for detecting target distance and speed by using sound pulse of sperm whale - Google Patents
Method and device for detecting target distance and speed by using sound pulse of sperm whale Download PDFInfo
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- CN106680823B CN106680823B CN201710071804.4A CN201710071804A CN106680823B CN 106680823 B CN106680823 B CN 106680823B CN 201710071804 A CN201710071804 A CN 201710071804A CN 106680823 B CN106680823 B CN 106680823B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention belongs to the field of underwater sound detection, and provides a target distance and speed detection method and device by utilizing sound pulses of a sperm whale, which improve camouflage concealment of underwater target detection. The technical scheme adopted by the invention is that the target distance and speed detection device utilizing the sound pulse of the sperm whale consists of a signal transmitter and a signal receiver; the signal transmitter consists of a collector A of a sound pulse library of the sperm whale, a pulse random picker, a pulse transmitter and a sound source; the signal receiver consists of a hydrophone, a pulse processor, a distance calculator and a speed calculator. The invention is mainly applied to underwater sound detection occasions.
Description
Technical Field
The invention belongs to the field of underwater sound detection, and particularly relates to a target distance and speed detection method and device utilizing sound pulses of a sperm whale.
Background
The invention provides a target distance and speed detection method and device by utilizing sound pulses of a sperm whale, which are used for measuring the distance of an underwater target by utilizing the sound pulses of the sperm whale with high distance resolution and large Doppler tolerance, and measuring the speed of the underwater target by utilizing the sound pulses of the sperm whale with high distance resolution and large Doppler tolerance.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a target distance and speed detection method and device by utilizing sound pulses of a sperm whale, so as to improve camouflage concealment of underwater target detection. The technical scheme adopted by the invention is that the target distance and speed detection device utilizing the sound pulse of the sperm whale consists of a signal transmitter and a signal receiver; the signal transmitter consists of a collector A of a sound pulse library of the sperm whale, a pulse random picker, a pulse transmitter and a sound source; the signal receiver consists of a hydrophone, a pulse processor, a distance calculator and a speed calculator.
Pulse transmitter according to a certain time difference T n N=1, 2, …, N, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter transmits the set of pulse signals and t 1 And t 2 The time parameter is transmitted to the pulse processor and the time difference T is simultaneously transmitted n Transmitting to a distance calculator and a speed calculator;
after the pulse signal is reflected by a target, an echo signal is received by the hydrophone; the hydrophone transmits the received echo signals to a pulse processor;
the pulse processor receives echo signals transmitted by the hydrophone and records the arrival time t of the two pulses 3 And t 4 Then denoising the received signal, then taking a group of pulses transmitted by the pulse transmitter as reference pulses, performing autocorrelation calculation with a group of pulses transmitted by the hydrophone, and calculating the time difference between the autocorrelation peaks of the two pulses
The pulse processor sets the time parameter t 3 And t 4 Transmitting to a distance calculator; the distance calculator is based on the following formulaCalculating the distance R of the target, wherein c is the sound wave inPropagation velocity in water;
the underwater target speed measuring method comprises the following steps:
the pulse processor uses the time difference parameterTransmitting to a speed calculator; the speed calculator is based on the following formulaThe velocity v of the target is calculated.
The target distance and speed detection method using the sound pulse of the sperm whale comprises the following steps:
firstly, extracting all sound pulses from an original sound sequence of the sperm whale, screening out sound pulses with high distance resolution and large Doppler tolerance, and then performing cross-correlation calculation on the pulses to divide each two pulses with small cross-correlation into a group; finally, storing N groups of pulses in a collector of a sound pulse library A of the sperm whale;
when a measurement is carried out on the distance and the speed of a target, the pulse random picker randomly selects a group of pulses from the whale sound pulse bank A collector and sends the group of pulses to the pulse emitter;
pulse transmitter according to a certain time difference T n N=1, 2, …, N, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter transmits the set of pulse signals and t 1 And t 2 The time parameter is transmitted to the pulse processor and the time difference T is simultaneously transmitted n Transmitting to a distance calculator and a speed calculator;
after the pulse signal is reflected by a target, an echo signal is received by the hydrophone; the hydrophone transmits the received echo signals to a pulse processor;
the pulse processor receives echo signals transmitted by the hydrophone and records the arrival time t of the two pulses 3 And t 4 Then received signalDenoising, then taking a group of pulses transmitted by the pulse transmitter as reference pulses, performing autocorrelation calculation with a group of pulses transmitted by the hydrophone, and calculating the time difference between the autocorrelation peaks of the two pulses
The pulse processor sets the time parameter t 3 And t 4 Transmitting to a distance calculator; the distance calculator is based on the following formulaCalculating the distance R of a target, wherein c is the propagation speed of sound waves in water;
the underwater target speed measuring method comprises the following steps:
the pulse processor uses the time difference parameterTransmitting to a speed calculator; the speed calculator is based on the following formulaThe velocity v of the target is calculated.
The invention has the characteristics and beneficial effects that:
the distance measuring precision is high because of the use of the sound pulse of the sperm whale with high distance resolution; meanwhile, due to the fact that the method of using the sound-mixing pulses of the sperm whales with high distance resolution and large Doppler tolerance and combining the time difference between the two pulses is adopted, the movement speed of the target can be measured under the condition that the movement speed of the target is not influenced by the speed of the target; in addition, since the sound-calling pulse of the sperm whale is used as the target detection signal, camouflage and concealment are strong.
Description of the drawings:
fig. 1 shows a schematic diagram of the target distance and velocity detection according to the present invention.
Fig. 2 shows a collection of sound pulse bases a of the sperm whales described in the present invention.
Fig. 3 shows a schematic diagram of the transmission of the target detection pulse according to the invention.
Detailed Description
In order to overcome the defects of the prior art, the invention provides a target distance and speed detection method and device by utilizing sound pulses of a sperm whale.
The invention consists of a signal transmitter 5 and a signal receiver 11;
further, the signal emitter 5 consists of a set 1 of sound pulse bases A of the sperm whales, a pulse random picker 2, a pulse emitter 3 and a sound source 4;
further, the signal receiver 11 is composed of a hydrophone 7, a pulse processor 8, a distance calculator 9 and a velocity calculator 10;
the underwater target distance measuring method comprises the following steps:
firstly picking all sound pulses from an original sound sequence of the sperm whale, screening sound pulses with high distance resolution and large Doppler tolerance, and then carrying out cross-correlation calculation on the pulses to divide each two pulses with small cross-correlation into a group, for example, as shown in figure 2, pulses 12 and 13 and pulses 14 and 15 have small cross-correlation, and respectively forming a 1 st group 16 and an N17; finally, the N groups of pulses form a set 1 of the sound pulse library A of the sperm whale;
further, when a measurement is performed on the distance and speed of the target, the pulse random picker 2 randomly selects a group of pulses from the whale pulse library A set 1 and sends the group of pulses to the pulse emitter 3;
further, the pulse emitter 3 is operated with a certain time difference T n (n=1, 2, …, N), as shown in fig. 3, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter 3 transmits the set of pulse signals and t 1 And t 2 The time of day parameter is transmitted to the pulse processor 8 and the time difference T is simultaneously transmitted n To the distance calculator 9 and the speed calculator 10;
further, after the pulse signal is transmitted by the target 6, an echo signal is received by the hydrophone 7; the hydrophone 7 transmits the received echo signals to the pulse processor 8;
further, the pulse processor 8 receives the echo signals from the hydrophones and records the arrival time t of the two pulses 3 And t 4 Then the received signal is de-noised, then a group of pulses transmitted by the pulse transmitter 3 is used as a reference pulse, autocorrelation calculation is carried out on the group of pulses transmitted by the hydrophone 7, and the time difference between the autocorrelation peaks of the two pulses is calculated
Further, the pulse processor 8 sets a time parameter t 3 And t 4 To the distance calculator 9; the distance calculator 9 is based on the following formulaCalculating the distance R of a target, wherein c is the propagation speed of sound waves in water;
the underwater target speed measuring method comprises the following steps:
further, the pulse processor 8 sets the time difference parameterTo the speed calculator 10; the speed calculator 10 is according to the following formula +.>Calculating the speed v of the target;
in the invention, because the sound-producing pulse of the sperm whale with high distance resolution is used, the distance measurement precision is high; meanwhile, due to the fact that the method of using the sound-mixing pulses of the sperm whales with high distance resolution and large Doppler tolerance and combining the time difference between the two pulses is adopted, the movement speed of the target can be measured under the condition that the movement speed of the target is not influenced by the speed of the target; in addition, since the sound-calling pulse of the sperm whale is used as the target detection signal, camouflage and concealment are strong.
In order to overcome the defects of the prior art, the invention provides a target distance and speed detection method and device by utilizing sound pulses of a sperm whale.
The invention consists of a signal transmitter 5 and a signal receiver 11;
further, the signal emitter 5 consists of a set 1 of sound pulse bases A of the sperm whales, a pulse random picker 2, a pulse emitter 3 and a sound source 4;
further, the signal receiver 11 is composed of a hydrophone 7, a pulse processor 8, a distance calculator 9 and a velocity calculator 10;
the underwater target distance measuring method comprises the following steps:
firstly picking all sound pulses from an original sound sequence of the sperm whale, screening sound pulses with high distance resolution and large Doppler tolerance, and then carrying out cross-correlation calculation on the pulses to divide each two pulses with small cross-correlation into a group, for example, as shown in figure 2, pulses 12 and 13 and pulses 14 and 15 have small cross-correlation, and respectively forming a 1 st group 16 and an N17; finally, the N groups of pulses form a set 1 of the sound pulse library A of the sperm whale;
further, when a measurement is performed on the distance and speed of the target, the pulse random picker 2 randomly selects a group of pulses from the whale pulse library A set 1 and sends the group of pulses to the pulse emitter 3;
further, the pulse emitter 3 is operated with a certain time difference T n (n=1, 2, …, N), as shown in fig. 3, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter 3 transmits the set of pulse signals and t 1 And t 2 The time of day parameter is transmitted to the pulse processor 8 and the time difference T is simultaneously transmitted n To the distance calculator 9 and the speed calculator 10;
further, after the pulse signal is transmitted by the target 6, an echo signal is received by the hydrophone 7; the hydrophone 7 transmits the received echo signals to the pulse processor 8;
further, the pulse processor 8 receives the echo signals from the hydrophones and records the arrival time t of the two pulses 3 And t 4 Then the received signal is de-noised, then a group of pulses transmitted by the pulse transmitter 3 is used as a reference pulse, autocorrelation calculation is carried out on the group of pulses transmitted by the hydrophone 7, and the time difference between the autocorrelation peaks of the two pulses is calculated
Further, the pulse processor 8 sets a time parameter t 3 And t 4 To the distance calculator 9; the distance calculator 9 is based on the following formulaCalculating the distance R of a target, wherein c is the propagation speed of sound waves in water;
the underwater target speed measuring method comprises the following steps:
further, the pulse processor 8 sets the time difference parameterTo the speed calculator 10; the speed calculator 10 is according to the following formula +.>Calculating the speed v of the target;
in the invention, because the sound-producing pulse of the sperm whale with high distance resolution is used, the distance measurement precision is high; meanwhile, due to the fact that the method of using the sound-mixing pulses of the sperm whales with high distance resolution and large Doppler tolerance and combining the time difference between the two pulses is adopted, the movement speed of the target can be measured under the condition that the movement speed of the target is not influenced by the speed of the target; in addition, since the sound-calling pulse of the sperm whale is used as the target detection signal, camouflage and concealment are strong.
Claims (2)
1. A target distance and speed detecting device utilizing sound pulses of a sperm whale is characterized by comprising a signal transmitter and a signal receiver; the signal transmitter consists of a collector A of a sound pulse library of the sperm whale, a pulse random picker, a pulse transmitter and a sound source; the signal receiver consists of a hydrophone, a pulse processor, a distance calculator and a speed calculator; wherein:
pulse transmitter according to a certain time difference T n N=1, 2, …, N, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter transmits the set of pulse signals and t 1 And t 2 The time parameter is transmitted to the pulse processor and the time difference T is simultaneously transmitted n Transmitting to a distance calculator and a speed calculator;
after the pulse signal is reflected by a target, an echo signal is received by the hydrophone; the hydrophone transmits the received echo signals to a pulse processor;
the pulse processor receives echo signals transmitted by the hydrophone and records the arrival time t of the two pulses 3 And t 4 Then denoising the received signal, then taking a group of pulses transmitted by the pulse transmitter as reference pulses, performing autocorrelation calculation with a group of pulses transmitted by the hydrophone, and calculating the time difference between the autocorrelation peaks of the two pulses
The pulse processor sets the time parameter t 3 And t 4 Transmitting to a distance calculator; the distance calculator is based on the following formulaCalculating the distance R of a target, wherein c is the propagation speed of sound waves in water;
the pulse processor uses the time difference parameterTransmitting to a speed calculator; the speed calculator is according to the following formula>The velocity v of the target is calculated.
2. A target distance and speed detection method using sound pulses of a sperm whale is characterized by comprising the following steps:
firstly, extracting all sound pulses from an original sound sequence of the sperm whale, screening out sound pulses with high distance resolution and large Doppler tolerance, and then performing cross-correlation calculation on the pulses to divide each two pulses with small cross-correlation into a group; finally, storing N groups of pulses in a collector of a sound pulse library A of the sperm whale;
when a measurement is carried out on the distance and the speed of a target, the pulse random picker randomly selects a group of pulses from the whale sound pulse bank A collector and sends the group of pulses to the pulse emitter;
pulse transmitter according to a certain time difference T n N=1, 2, …, N, the first pulse in the set of pulses is at t 1 At the moment of time, emitted via the sound source 4, while the second pulse of the set of pulses is at t 2 The sound source 4 emits the sound; at the same time, the pulse transmitter transmits the set of pulse signals and t 1 And t 2 The time parameter is transmitted to the pulse processor and the time difference T is simultaneously transmitted n Transmitting to a distance calculator and a speed calculator;
after the pulse signal is reflected by a target, an echo signal is received by the hydrophone; the hydrophone transmits the received echo signals to a pulse processor;
the pulse processor receives echo signals transmitted by the hydrophone and records the arrival time t of the two pulses 3 And t 4 Then denoising the received signal, and performing autocorrelation calculation with a group of pulses transmitted by the hydrophone by taking the group of pulses transmitted by the pulse transmitter as reference pulsesCalculating and calculating the time difference between two pulse autocorrelation peaks
The pulse processor sets the time parameter t 3 And t 4 Transmitting to a distance calculator; the distance calculator is based on the following formulaCalculating the distance R of a target, wherein c is the propagation speed of sound waves in water; the underwater target speed measuring method comprises the following steps:
the pulse processor uses the time difference parameterTransmitting to a speed calculator; the speed calculator is according to the following formula>The velocity v of the target is calculated.
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| CN109283541B (en) * | 2017-07-21 | 2023-10-13 | 比亚迪股份有限公司 | Vehicle-mounted laser radar ranging device and method and automobile |
| CN108055087B (en) * | 2017-12-30 | 2024-04-02 | 天津大学 | Communication method and device for coding by using number of long-limb piloting whale sound harmonics |
| CN109884646A (en) * | 2019-03-28 | 2019-06-14 | 广东志成冠军集团有限公司 | A kind of high accuracy remote subaqueous sound ranging method based on the capture of low frequency and continuous sound wave peak value |
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