CN106803843A - A kind of offline uploading system of three-dimensional camera shooting sonar initial data and method - Google Patents

A kind of offline uploading system of three-dimensional camera shooting sonar initial data and method Download PDF

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CN106803843A
CN106803843A CN201710108019.1A CN201710108019A CN106803843A CN 106803843 A CN106803843 A CN 106803843A CN 201710108019 A CN201710108019 A CN 201710108019A CN 106803843 A CN106803843 A CN 106803843A
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data
signal
camera shooting
dimensional camera
collection
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CN106803843B (en
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刘雪松
周凡
辜博轩
陈耀武
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Zhejiang University ZJU
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • 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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Signal Processing (AREA)
  • Medical Informatics (AREA)
  • Acoustics & Sound (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a kind of offline uploading system of three-dimensional camera shooting sonar initial data, including：(1) be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by embeded processor, and it is natural number initially to make n=1, n；(2) using signal acquisition subsystem n-th signal data apart from shelves is acquired with pretreatment, and preprocessed data is stored in signal acquisition FPGA unit；(3) signal acquisition FPGA unit transmits to PC the preprocessed data of storage, and by preprocessed data in being stored in hard disk；(4) whether embeded processor makes n=n+1, and judges n less than N, if so, step (2)~step (4) is performed, if it is not, the collection of end signal data.The invention also discloses one kind application, the system carries out the three-dimensional camera shooting offline uploading system of sonar initial data, is capable of achieving collection, caching and the transmission of whole focusing distance initial data.

Description

A kind of offline uploading system of three-dimensional camera shooting sonar initial data and method
Technical field
The invention belongs to field of data transmission, and in particular to a kind of offline uploading system of three-dimensional camera shooting sonar initial data and Method.
Background technology
Three-dimensional camera shooting sonar initial data refers to that acoustic transducer array element signals are amplified by AFE(analog front end), filter, AD is adopted The data obtained after sample, initial data for three-dimensional camera shooting sonar algorithm research, such as at beamforming algorithm, image automatic threshold Adjustment method, Sparse Array optimized algorithm etc. are with important practical application meaning.And, because real-time Transmission original data volume needs to surpass High bandwidth, the research for not having three-dimensional camera shooting sonar initial data method for uploading also both at home and abroad at present.
Having scholar at present carries out the related research of acoustic echo simulator, can simulate underwater environment, automatically generates three-dimensional Sonar initial data.But real underwater environment is sufficiently complex, temperature, salinity, turbidity, the ambient noise shadow of water can be subject to The letter that the analog signal filtering of sound, the also a large amount of transducers of three-dimensional sonar system front end and correlation, amplification, sample circuit bring The inevitably system aspects influence such as number amplitude, Sensor gain and phase perturbations, therefore acoustic echo simulator is difficult to simulate actual water The three-dimensional sonar initial data of lower environment, the initial data generated using acoustic echo simulator carries out three-dimensional camera shooting sonar calculation Method aspect research has larger limitation.
Three-dimensional camera shooting sonar includes thousands of passages, and original data volume is huge, the band needed for real-time Transmission original data volume Width is up to 100Gbps.And three-dimensional camera shooting sonar equipment typically carries out data friendship by 10,000,000,000 or gigabit Ethernet with PC at present Mutually, it is impossible to the bandwidth needed for meeting initial data real-time Transmission.
In sum, acoustic echo simulator is difficult to simulate authentic original data, and current three-dimensional camera shooting sonar equipment It is difficult to meet the demand that initial data is uploaded in real time again, needs a kind of side that can effectively upload three-dimensional sonar initial data badly at present Method.
The content of the invention
In view of above-mentioned, the present invention provides a kind of offline uploading system of three-dimensional camera shooting sonar initial data and method, realizes whole The collection of individual focusing distance initial data, caching and transmission, solve to be difficult to meet original number factually because of existing high-speed bus bandwidth Shi Shangchuan demands and the problem of initial data can not be obtained.
A kind of offline uploading system of three-dimensional camera shooting sonar initial data, including：Multiple signal acquisition subsystems, signal interaction Subsystem, master control upper computer, the order that described multiple signal acquiring systems are sent according to signal interactive subsystem is by stages Collection original signal data, and the original signal data of collection is amplified, is filtered and AD conversion treatment, then will treatment Data are transmitted to signal interactive subsystem, and the processing data of reception is transferred to master control upper computer and entered by described signal interactive subsystem Row storage.
Described signal acquisition subsystem includes：
Signal acquisition FPGA unit, for the storage of collection and the preprocessed data of control signal data, and will store Preprocessed data transfers to signal interactive subsystem；
Signal processing circuit, for being amplified filtering process to the signal data for gathering；
A/D chip, for carrying out analog-to-digital conversion to amplifying filtered signal data, obtains preprocessed data.
Limited by volume and power consumption, signal acquisition FPGA unit does not extend DDR memory, collection signal data is direct It is cached in the RAM inside signal acquisition FPGA.
Described signal interactive subsystem includes：
Signal interacts FPGA unit, for caching the preprocessed data sent by multiple signal acquisition FPGA units, and will Preprocessed data transfers to embeded processor
Embeded processor, for controlling acoustic emission and signal data acquisition, the preprocessed data of reception is delayed, And preprocessed data is transferred into master control upper computer.
Described signal interaction FPGA unit extends DDR memory, and the DDR memory is used to cache multiple signal acquisitions The preprocessed data that FPGA unit sends.
Described master control upper computer includes PC, for receiving the preprocessed data that signal interactive subsystem sends, and The preprocessed data is stored in hard disk.
A kind of three-dimensional camera shooting sonar initial data goes up method offline, comprises the following steps：
(1) be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by embeded processor, and initially makes n= 1, n is natural number；
(2) using signal acquisition subsystem n-th signal data apart from shelves is acquired with pretreatment, and will locate in advance Reason data storage is in signal acquisition FPGA unit；
(3) signal acquisition FPGA unit transmits to PC the preprocessed data of storage, and by preprocessed data in hard disk Inside stored；
(4) whether embeded processor makes n=n+1, and judges n less than N, if so, step (2)~step (4) is performed, if It is no, the collection of end signal data.
Step (2) concretely comprise the following steps：
(2-1) embeded processor control sonar carries out acoustic emission；
(2-2) embeded processor judges whether n-th echo apart from shelves reaches sonar incessantly, if so, performing Step (2-3), if it is not, performing step (2-2)；
(2-3) embeded processor control signal collection FPGA unit carries out the collection and pretreatment of signal data, and will Preprocessed data is cached in control signal collection FPGA unit；
(2-4) embeded processor judges whether n-th signal data apart from shelves caches completion incessantly, if so, Terminate n-th collection apart from the signal data of shelves, whether, perform step (2-3) and step (2-4).
Step (2-3's) concretely comprises the following steps：
(2-3-1) embeded processor control signal collection FPGA unit is acquired to signal data；
(2-3-2) signal conditioning circuit is amplified and filters to the signal data for gathering；
(2-3-3) A/D chip carries out analog-to-digital conversion to amplifying filtered signal data, obtains preprocessed data, and should Preprocessed data is stored in signal acquisition FPGA unit.
Step (3) concretely comprise the following steps：
The preprocessed data of storage is sent to signal and interacts FPGA unit by (3-1) signal acquisition FPGA unit, and in DDR Inside cached；
(3-2) signal interaction FPGA unit sends to embeded processor the preprocessed data cached in DDR；
(3-3) embeded processor sends to PC the preprocessed data of reception, and in being stored in hard disk.
A kind of three-dimensional camera shooting sonar initial data goes up method offline, comprises the following steps：
(1) ' be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by embeded processor, and initially makes n= 1, n is natural number；
(2) ' embeded processor control sonar carries out acoustic emission, and waits twnSecond；
(3) ' control signal collection FPGA unit carries out the collection and pretreatment of signal data, and preprocessed data is cached In in control signal collection FPGA unit, the time needed for this process is ta；
(4) ' signal acquisition FPGA unit transmits to PC the preprocessed data of storage, and by preprocessed data in hard disk Inside stored, the required time is tb；
(5) ' embeded processor makes tn=twn+ta+tb, Tn=Tn-1+tn, and judge TnWhether T is less than, if so, making n=n + 1, and step (2)~step (5) is performed, if it is not, the collection of end signal data, tnIt is to the n signal data in shelves The acquisition time, TnIt it is the acquisition time of the preceding n signal data in shelves, T is three-dimensional camera shooting sonar whole focal distance The acquisition time of interior signal data, acquisition herein refers to the generation collection of signal data and uploads.
T described in step (2) 'wnCalculating process be：
twn=2 × (D+ (n-1) × d)/c
Wherein, D is blind area distance, and unit is m, and d is each length apart from shelves, and unit is m；C is the velocity of sound, unit in water It is m/s.
Step (3) ' concretely comprise the following steps：
(3-1) ' embeded processor control signal collection FPGA unit is acquired to signal data；
(3-2) ' signal conditioning circuit is amplified and filters to the signal data for gathering；
(3-3) ' A/D chip carries out analog-to-digital conversion to amplifying filtered signal data, obtains preprocessed data, and should Preprocessed data is stored in signal acquisition FPGA unit.
Step (4) ' concretely comprise the following steps：
(4-1) ' signal acquisition FPGA unit sends to signal interaction FPGA unit the preprocessed data of storage, and in Cached in DDR；
(4-2) ' signal interaction FPGA unit sends to embeded processor the preprocessed data cached in DDR；
(4-3) ' embeded processor sends to PC the preprocessed data of reception, and in being stored in hard disk.
The computing formula of the T described in step (5) ' is：
Each described determined apart from the distance of shelves by signal acquisition FPGA unit internal RAM space size, each away from The signal data amount gathered in shelves is embodied as no more than FPGA unit internal RAM space is gathered：
Size≥2×Fs×Ch×Nb×d/c
Wherein, Size is the size of FPGA internal RAMs, and unit is bit；Fs is sample rate, and unit is Hz；Ch believes for each Acquisition channel quantity used during current collection in number acquisition subsystem；Nb is A/D chip sampling bit wide, and unit is bit；D is every The individual length apart from shelves, unit is m；C is the velocity of sound, unit m/s in water.
Relative to prior art, the present invention has following beneficial technique effect：
The three-dimensional camera shooting offline method for uploading of sonar initial data provided using invention, can be in existing three-dimensional camera shooting sonar On device basic, collection, caching and the transmission of whole focusing distance initial data are realized, solved because existing high-speed bus bandwidth is difficult To meet the problem that initial data uploads demand and can not obtain initial data in real time, the method is for three-dimensional sonar algorithm aspect Research has very important practical application meaning.
Brief description of the drawings
Fig. 1 is the structural representation of the offline uploading system of three-dimensional camera shooting sonar initial data of the present invention；
Fig. 2 is the flow chart of the three-dimensional camera shooting offline method for uploading of sonar initial data in embodiment 1；
Fig. 3 is schematic diagram of the focusing distance division of the present invention apart from shelves；
Fig. 4 is the flow chart of the three-dimensional camera shooting offline method for uploading of sonar initial data in embodiment 2.
Specific embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific embodiment is to technical scheme It is described in detail.
Shown in Fig. 1 be the three-dimensional camera shooting offline uploading system of sonar initial data structural representation, the system includes：It is main Control host computer 110, signal interactive subsystem 120 and signal acquisition subsystem 130；Wherein, signal acquisition subsystem 130 is included Signal acquisition FPGA unit 131, signal conditioning circuit and synchronization AD sampling A/D chips 132, for amplifying to acoustic echo signal, filtering Ripple, AD conversion, sampled data storage, it is however generally that, by volume and power consumption limit, signal acquisition FPGA unit 131 does not extend DDR memory, sampled data is directly buffered in signal acquisition FPGA internal RAMs；Signal interactive subsystem 120 is comprising embedded Processor 121 and signal interaction FPGA unit 122, the signal interaction extension DDR memory 123 of FPGA unit 122, are responsible for caching many The original sampling data that individual signal acquisition FPGA unit sends；Master control upper computer 110 includes PC 111, is responsible for receiving original number According to, and it is stored in hard disk.
Embodiment 1
Shown in Fig. 2 be the three-dimensional camera shooting offline method for uploading of sonar initial data in embodiment 1 flow chart, the method should With system described above, following steps are specifically included：
Be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by S01, embeded processor 121, and initially makes N=1, n are natural number.
Focusing distance is divided evenly in this step be schematic diagram apart from shelves as shown in figure 3, each apart from shelves distance Determined that the signal data amount that each is gathered in shelves is no more than by signal acquisition FPGA unit internal RAM space size Collection FPGA unit internal RAM space, is embodied as：
Size≥2×Fs×Ch×Nb×d/c
Wherein, Size is the size of FPGA internal RAMs, and unit is bit；Fs is sample rate, and unit is Hz；Ch believes for each Acquisition channel quantity used during current collection in number acquisition subsystem；Nb is A/D chip sampling bit wide, and unit is bit；D is every The individual length apart from shelves, unit is m；C is the velocity of sound, unit m/s in water.
S02, the control sonar of embeded processor 121 carries out acoustic emission.
S03, embeded processor 121 judges whether n-th echo apart from shelves reaches sonar incessantly, if so, holding Row S04, if it is not, performing S03.
S04, the control signal of embeded processor 121 collection FPGA unit 131 carries out the collection of signal data, signal condition It is amplified, filters and analog-to-digital conversion process with the sample 132 pairs of signal datas of AD are same as, obtains preprocessed data, and will be pre- Processing data is cached in control signal collection FPGA unit 131.
S05, embeded processor 121 judges whether n-th signal data apart from shelves caches completion incessantly, if It is to perform S06, whether, performs S04 and S05.
The preprocessed data of storage is sent mono- to signal interaction FPGA by S06, signal acquisition FPGA unit 131 by LVDS Unit 122, and in being cached in DDR.
S07, signal interaction FPGA unit 122 is sent to insertion the preprocessed data cached in DDR by PCIe buses Formula processor 121.
S08, embeded processor 121 sends to PC 111 preprocessed data of reception, and in being deposited in hard disk Storage.
Whether S09, embeded processor 121 makes n=n+1, and judges n less than N, if so, S02~S09 is performed, if it is not, The collection of end signal data.
Embodiment 2
Shown in Fig. 4 be the three-dimensional camera shooting offline method for uploading of sonar initial data in embodiment 2 flow chart, the method should With system described above, following steps are specifically included：
Be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by S01 ', embeded processor 121, and initially It is natural number to make n=1, n.
Focusing distance is divided evenly in this step be schematic diagram apart from shelves as shown in figure 3, each apart from shelves distance Determined that the signal data amount that each is gathered in shelves is no more than by signal acquisition FPGA unit internal RAM space size Collection FPGA unit internal RAM space, is embodied as：
Size≥2×Fs×Ch×Nb×d/c
Wherein, Size is the size of FPGA internal RAMs, and unit is bit；Fs is sample rate, and unit is Hz；Ch believes for each Acquisition channel quantity used during current collection in number acquisition subsystem；Nb is A/D chip sampling bit wide, and unit is bit；D is every The individual length apart from shelves, unit is m；C is the velocity of sound, unit m/s in water.
S02 ', the control sonar of embeded processor 121 carries out acoustic emission, and waits twnSecond.
In this step, twnCalculating process be：
twn=2 × (D+ (n-1) × d)/c
Wherein, D is blind area distance, and unit is m, and d is each length apart from shelves, and unit is m；C is the velocity of sound, unit in water It is m/s.
S03 ', the control signal of embeded processor 121 collection FPGA unit 131 carries out the collection of signal data, and signal is adjusted Manage and be same as AD 132 pairs of signal datas of sampling to be amplified, filter and analog-to-digital conversion process, obtain preprocessed data, and will Preprocessed data is cached in control signal collection FPGA unit 131, and the time needed for this process is ta。
The preprocessed data of storage is sent to signal and interacts FPGA by S04 ', signal acquisition FPGA unit 131 by LVDS Unit 122, and in being cached in DDR.
S05 ', signal interaction FPGA unit 122 is sent to insertion the preprocessed data cached in DDR by PCIe buses Formula processor.
S06 ', embeded processor 121 sends to PC 111 preprocessed data of reception, and in being deposited in hard disk Storage.
Time needed for S04 ' to S06 ' is tb。
S07 ', embeded processor 121 makes tn=twn+ta+tb, Tn=Tn-1+tn, and judge TnWhether T is less than, if so, order N=n+1, and S02 '~S07 ' is performed, if it is not, the collection of end signal data, tnIt is to the n signal data in shelves Acquisition time, TnIt it is the acquisition time of the preceding n signal data in shelves, T is in three-dimensional camera shooting sonar whole focal distance Signal data the acquisition time, acquisition herein refers to the generation collection of signal data and uploads.
In this step, the computing formula of T is：
Above-described specific embodiment has been described in detail to technical scheme and beneficial effect, Ying Li Solution is to the foregoing is only presently most preferred embodiment of the invention, is not intended to limit the invention, all in principle model of the invention Interior done any modification, supplement and equivalent etc. are enclosed, be should be included within the scope of the present invention.

Claims (10)

1. a kind of offline uploading system of three-dimensional camera shooting sonar initial data, it is characterised in that including：Multiple signal acquisition subsystems System, signal interactive subsystem, master control upper computer, the life that described multiple signal acquiring systems send according to signal interactive subsystem Order gathers original signal data by stages, and the original signal data of collection is amplified, is filtered and AD conversion treatment, Then processing data is transmitted to signal interactive subsystem, the processing data of reception is transferred to master by described signal interactive subsystem Control host computer is stored.
2. the offline uploading system of three-dimensional camera shooting sonar initial data as claimed in claim 1, it is characterised in that described signal Acquisition subsystem includes：
Signal acquisition FPGA unit, the storage of collection and preprocessed data for control signal data, and the pre- place that will be stored Reason data transfer to signal interactive subsystem；
Signal processing circuit, for being amplified filtering process to the signal data for gathering；
A/D chip, for carrying out analog-to-digital conversion to amplifying filtered signal data, obtains preprocessed data；
Described signal interactive subsystem includes：
Signal interacts FPGA unit, for caching the preprocessed data sent by multiple signal acquisition FPGA units, and will locate in advance Reason data transfer to embeded processor
Embeded processor, for controlling acoustic emission and signal data acquisition, the preprocessed data of reception is delayed, and will Preprocessed data transfers to master control upper computer.
3. the system described in a kind of application claim 1~2 carry out three-dimensional camera shooting sonar initial data it is offline on method, including Following steps：
(1) be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by embeded processor, and initially makes the n=1, n be Natural number；
(2) using signal acquisition subsystem n-th signal data apart from shelves is acquired with pretreatment, and number will be pre-processed According to being stored in signal acquisition FPGA unit；
(3) signal acquisition FPGA unit transmits to PC the preprocessed data of storage, and by preprocessed data in entering in hard disk Row storage；
(4) whether embeded processor makes n=n+1, and judges n less than N, if so, step (2)~step (4) is performed, if it is not, The collection of end signal data.
4. three-dimensional camera shooting sonar initial data as claimed in claim 3 it is offline on method, it is characterised in that the step (2) concretely comprise the following steps：
(2-1) embeded processor control sonar carries out acoustic emission；
(2-2) embeded processor judges whether n-th echo apart from shelves reaches sonar incessantly, if so, performing step (2-3), if it is not, performing step (2-2)；
(2-3) embeded processor control signal collection FPGA unit carries out the collection and pretreatment of signal data, and will locate in advance Reason data buffer storage is in control signal collection FPGA unit；
(2-4) embeded processor judges whether n-th signal data apart from shelves caches completion incessantly, if so, terminating N-th collection apart from the signal data of shelves, whether, performs step (2-3) and step (2-4).
5. three-dimensional camera shooting sonar initial data as claimed in claim 4 it is offline on method, it is characterised in that the step (2-3's) concretely comprises the following steps：
(2-3-1) embeded processor control signal collection FPGA unit is acquired to signal data；
(2-3-2) signal conditioning circuit is amplified and filters to the signal data for gathering；
(2-3-3) A/D chip carries out analog-to-digital conversion to amplifying filtered signal data, obtains preprocessed data, and by the pre- place Reason data storage is in signal acquisition FPGA unit.
6. three-dimensional camera shooting sonar initial data as claimed in claim 3 it is offline on method, it is characterised in that the step (3) concretely comprise the following steps：
The preprocessed data of storage is sent to signal and interacts FPGA unit by (3-1) signal acquisition FPGA unit, and in entering in DDR Row caching；
(3-2) signal interaction FPGA unit sends to embeded processor the preprocessed data cached in DDR；
(3-3) embeded processor sends to PC the preprocessed data of reception, and in being stored in hard disk.
7. the system described in a kind of application claim 1~2 carry out three-dimensional camera shooting sonar initial data it is offline on method, including Following steps：
(1) ' be evenly dividing as N number of three-dimensional camera shooting sonar focusing distance apart from shelves by embeded processor, and initially makes n=1, n It is natural number；
(2) ' embeded processor control sonar carries out acoustic emission, and waits twnSecond；
(3) ' control signal collection FPGA unit carries out the collection and pretreatment of signal data, and preprocessed data is cached in into control In signal acquisition FPGA unit processed, the time needed for this process is ta；
(4) ' signal acquisition FPGA unit transmits to PC the preprocessed data of storage, and by preprocessed data in entering in hard disk Row storage, the required time is tb；
(5) ' embeded processor makes tn=twn+ta+tb, Tn=Tn-1+tn, and judge TnWhether T is less than, if so, n=n+1 is made, And step (2)~step (5) is performed, if it is not, the collection of end signal data, tnIt is to the n signal data in shelves Acquisition time, TnIt it is the acquisition time of the preceding n signal data in shelves, T is in three-dimensional camera shooting sonar whole focal distance Signal data the acquisition time, acquisition herein refers to the generation collection of signal data and uploads.
8. three-dimensional camera shooting sonar initial data as claimed in claim 7 it is offline on method, it is characterised in that in step (2) ' Described twnCalculating process be：
twn=2 × (D+ (n-1) × d)/c
Wherein, D is blind area distance, and unit is m, and d is each length apart from shelves, and unit is m；C is the velocity of sound in water, and unit is m/ s。
9. three-dimensional camera shooting sonar initial data as claimed in claim 7 it is offline on method, it is characterised in that in step (5) ' The computing formula of described T is：
T = Σ n = 1 N ( t w n + t a + t b ) .
10. the method on three-dimensional camera shooting sonar initial data as described in claim 3 or 7 is offline, it is characterised in that described Each is determined apart from the distance of shelves by signal acquisition FPGA unit internal RAM space size, each letter gathered in shelves Number amount is embodied as no more than FPGA unit internal RAM space is gathered：
Size≥2×Fs×Ch×Nb×d/c
Wherein, Size is the size of FPGA internal RAMs, and unit is bit；Fs is sample rate, and unit is Hz；Ch is adopted for each signal Acquisition channel quantity used during current collection in subsystem；Nb is A/D chip sampling bit wide, and unit is bit；D for each away from From the length of shelves, unit is m；C is the velocity of sound, unit m/s in water.
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