CN107064944A - High speed multibeam sounding system and its depth detecting method based on Frequency Hopping Signal - Google Patents
High speed multibeam sounding system and its depth detecting method based on Frequency Hopping Signal Download PDFInfo
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- CN107064944A CN107064944A CN201710158810.3A CN201710158810A CN107064944A CN 107064944 A CN107064944 A CN 107064944A CN 201710158810 A CN201710158810 A CN 201710158810A CN 107064944 A CN107064944 A CN 107064944A
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Classifications
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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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- 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
Abstract
The invention discloses a kind of high speed multibeam sounding system based on Frequency Hopping Signal and a kind of high speed multibeam echosounding method based on Frequency Hopping Signal, the high speed multibeam sounding system based on Frequency Hopping Signal includes dry end and green end, the dry end includes industrial computer and aiding sensors, and the green end includes transmitting transducer, receive transducer, launching electronics cabin and receives electronic compartment.The launching electronics cabin is preposition to be provided with signal-processing board, and the signal-processing board includes being used for the IO transmitter units, DSP unit, FPGA unit that produce the transmission signal based on Frequency Hopping Signal.The receive transducer receives the reception signal of sound wave form, DSP unit and/or FPGA unit are by multigroup reception signal based on Frequency Hopping Signal by bandpass filtering, quadrature demodulation, matched filtering, Wave beam forming to obtain sonar image, by frequency translation tremendously low frequency, total accuracy of sounding is improved using the processing gain and correlation of Frequency Hopping Signal, operating distance and antijamming capability is improved.
Description
Technical field
The invention belongs to marine survey technology field, and in particular to a kind of high speed multibeam echosounding system based on Frequency Hopping Signal
System and its depth detecting method.
Background technology
Common like product is based on traditional single beam echosounding technology, with reference to the wave beam of underwater transducer array,
The detection wave beam of multiple different angles is formed under water, so as to realize the sea-floor relief detection of strip-type.
Compared with traditional single beam echosounding system, measurement can only obtain surveying vessel vertical lower one every time for simple beam detection
Individual ocean floor topographic survey depth value.The problem of traditional single beam echosounding system is present includes：Ship measuring speed by water depth effect compared with
Greatly；Complex environment and depositing in case of interferers, measurement effect is poor；Range resolution can not get both with operating distance.
The content of the invention
The present invention is directed to the situation of prior art, and the present invention provides a kind of high speed multibeam echosounding system based on Frequency Hopping Signal
System and a kind of high speed multibeam echosounding method based on Frequency Hopping Signal.
It is an object of the present invention to using the correlation properties and noiseproof feature of Frequency Hopping Signal, can not only significantly improve
Measurement accuracy, and operating distance and antijamming capability can be improved.MIMO can be accomplished in time domain simultaneously, so existed
When wide range or very fast ship's speed, measurement frame per second can be significantly improved, figure efficiency and matter are improved into reduction measurement footprint interval
Amount.The seabed depth value of multiple measurement points in a band overlay area can be obtained, realize and measured from " point-line " " line-
The leap of face " measurement, is particularly suitable for the exploration under water of large area.
Beneficial effects of the present invention include：Transceiver electronicses modularized design, low in energy consumption, performance is high, reliable and stable；Carry
High operating distance and total accuracy of sounding；Antijamming capability is stronger, affected by environment smaller；Measuring speed is not influenceed by range, as long as
Calculating speed is met, and system frame per second can be improved as far as possible.
The present invention uses following technical scheme, and the high speed multibeam sounding system based on Frequency Hopping Signal includes：
Dry end and green end, the dry end include industrial computer and aiding sensors, and the green end includes transducer and electronic system, its
Described in green end have launching pod and receive cabin, the transducer include transmitting transducer and receive transducer, the Department of Electronics
System includes launching electronics cabin and receives electronic compartment, and the launching electronics cabin and transmitting transducer are built in the launching pod, described
Receive electronic compartment and receive transducer is built in the reception cabin；
The launching electronics cabin is preposition to be provided with signal-processing board, and the signal-processing board includes being used to produce based on Frequency Hopping Signal
The IO transmitter units of transmission signal, in addition to DSP unit, AD collecting units and the FPGA unit electrically connected with the DSP unit；
The launching electronics cabin is provided with multiple separate transmitter modules, and the transmitter module includes driver element, power amplifier list
Member and matching unit, the IO transmitter units electrically connect the driver element, the IO transmitter units and the driver element it
Between be additionally provided with light-coupled isolation unit, the matching unit electrically connects the transmitting transducer；
The reception electronic compartment is provided with multiple separate receiving modules, and the receiving module includes amplifying unit, gain control
Unit processed, filter unit and amplification and voltage-adjusting unit, the amplifying unit electrically connect the receive transducer, the amplification
And voltage-adjusting unit electrical connection institute AD collecting units, the reception signal of the receive transducer reception sound wave form.
According to above-mentioned technical proposal, it is mono- that the signal-processing board also includes DA gain control units, RS232 units, RS422
Member and kilomega network, the DA gain control units electrically connect the gain control unit, and the gain control unit reads described
The gain control signal of DA gain control units output, and the gain control unit is adjusted according to above-mentioned gain control signal
The reception signal of output, the FPGA unit is electrically connected and both-way communication with the RS232 units and RS422 units, institute
State DSP unit and the industrial computer is electrically connected by kilomega network.
According to above-mentioned technical proposal, the transmitter module is using switch emitter.
According to above-mentioned technical proposal, the receiving module is made of thick film circuit technique.
According to above-mentioned technical proposal, the power amplifier unit uses metal-oxide-semiconductor D class push-pull power amplifier circuits.
According to above-mentioned technical proposal, the amplification and voltage-adjusting unit built-in dynamic range adjusting circuit, the dynamic model
Enclose the VCA810 that regulation circuit uses Burr-Browm.
According to above-mentioned technical proposal, the DSP unit uses TI TMS320C6455, and the FPGA unit is used
Xilinx XC2V1000.
According to above-mentioned technical proposal, the dry end also includes display, and the display electrically connects the industrial computer, described
Green end also includes fixed mount, and the fixed mount is fixed respectively to be supported the launching pod and receive cabin.
According to above-mentioned technical proposal, the launching electronics cabin is provided with 8 separate transmitter modules, each receiving module
Receiving channel is correspondingly provided with, the reception electronic compartment is provided with the separate receiving channel in 96 tunnels.
According to above-mentioned technical proposal, the high speed multibeam echosounding method based on Frequency Hopping Signal includes step：
Step one：Signal-processing board produces the digital form transmission signal based on Frequency Hopping Signal, and is transmitted to launching electronics cabin
Digital form transmission signal；
Step 2：The transmitter module in launching electronics cabin launches multigroup digital form transmission signal based on Frequency Hopping Signal simultaneously, leads to
Cross transmitting transducer and digital form transmission signal is converted into sound wave；
Step 3：Receive transducer receives multigroup reception signal of sound wave form simultaneously, receives electronic compartment by gain of received signal
It is enlarged into the reception signal based on Frequency Hopping Signal；
Step 4：DSP unit and/or FPGA unit are by multigroup reception signal based on Frequency Hopping Signal by bandpass filtering, orthogonal
Demodulation, matched filtering, Wave beam forming are to obtain sonar image；
Step 5：Multiframe sonar image in one timing cycles is carried out position by the attitude information provided according to aiding sensors
Splice to generate sea-floor relief.
Brief description of the drawings
Fig. 1 is the block diagram of system of the preferred embodiment of the present invention.
Fig. 2 is the transmitter module block diagram of the preferred embodiment of the present invention.
Fig. 3 is the receiving module block diagram of the preferred embodiment of the present invention.
Fig. 4 is the dynamic range adjustment circuit diagram of the preferred embodiment of the present invention.
Fig. 5 is the signal-processing board block diagram of the preferred embodiment of the present invention.
Fig. 6 is the Frequency Hopping Signal schematic diagram of the preferred embodiment of the present invention.
Fig. 7 is the Frequency Hopping Signal process chart of the preferred embodiment of the present invention.
Fig. 8 is multigroup Frequency Hopping Signal transmitting-receiving timing diagram of the preferred embodiment of the present invention.
Fig. 9 is the depth measurement workflow diagram of the preferred embodiment of the present invention.
Embodiment
The invention discloses a kind of high speed multibeam sounding system based on Frequency Hopping Signal and a kind of based on Frequency Hopping Signal
High speed multibeam echosounding method, with reference to preferred embodiment, the embodiment to the present invention is further described.
Referring to Fig. 1 of accompanying drawing, Fig. 1 shows the structure composed of the high speed multibeam sounding system based on Frequency Hopping Signal
（Hereinafter referred to as multibeam sounding system）.Preferably, the multibeam sounding system includes dry end 100 and green end 200, described dry
End 100 includes industrial computer 11 and aiding sensors 12, and the green end 200 includes transducer 21 and electronic system 22, wherein described
Green end 200 has two nacelles, respectively launching pod 300 and reception cabin 400, and the transducer 21 further comprises launching transducing
Device 211 and receive transducer 212, the electronic system 22 include launching electronics cabin 221 and receive electronic compartment 222, the transmitting
Electronic compartment 221 and transmitting transducer 211 are built in the launching pod 300, the reception electronic compartment 222 and receive transducer 212
The reception cabin 400, the launching pod 300 and the transmitting and reception for receiving the collaboration of cabin 400 completion depth measurement signal are built in, it is described
Aiding sensors 12 provide the accurate depth measurement data such as the velocity of sound, time, position and posture, the industrial computer 11 complete depth measurement data and
Synchronization, processing and the display of depth measurement signal.
Further, the dry end 100 also includes display 13, and the display electrically connects the industrial computer 11, described
Green end 200 also includes fixed mount 23, and the fixed mount 23 is fixed respectively to be supported the launching pod 300 and receive cabin 400.
Referring to Fig. 2 of accompanying drawing, the launching electronics cabin 221 is provided with multiple separate transmitter modules 2210, each hair
Module 2210 is penetrated while completing driving, power amplification and the matching of transmission signal.Preferably, it is contemplated that the launching electronics cabin
221 require there is larger angle of release and transmission power, and the launching electronics cabin 221 is provided with 8 separate transmitter modules
2210.Preferably, in order to increase emission effciency, radiating circuit volume is reduced, and in view of emission effciency, radiating, reliability etc.
Factor, the transmitter module 2210 is using switch emitter.
Preferably, the launching electronics cabin 221 is preposition is provided with signal-processing board 24, and the transmission signal of digital form is by described
The IO transmitter units 245 of signal-processing board 24 are produced.The transmitter module 2210 includes driver element 2213, power amplifier unit 2214
With matching unit 2215, the IO transmitter units 245 of the signal-processing board 24 electrically connect the driver element 2213, described
Driver element 2213, power amplifier unit 2214 and matching unit 2215 are sequentially connected electrically between any two, the He of IO transmitter units 245
Light-coupled isolation unit 2212 is additionally provided between the driver element 2213, the matching unit 2215 electrically connects the transmitting transducing
Device 211.
Further, the power amplifier unit 2214 as transmitter module 2210 main circuit, it is preferred to use metal-oxide-semiconductor D analogizes
Draw power amplification circuit.Relative to linear amplifier, above-mentioned metal-oxide-semiconductor D class push-pull power amplifier circuits as quasi-linear amplifier,
Amplification efficiency is higher than 90%, it is possible to achieve expeditiously high-power transmitting；The IO transmitter units 245 are as signal source, and it is produced
Transmission signal be preferred to use hard limiting signal, theoretical maximum loss is 3dB；Transmission signal is through the light-coupled isolation unit 2212
High speed photo coupling isolation, interfering between signal source and the launching electronics cabin 221 can be efficiently reduced；The driving is single
Drive circuit built in member 2213 can improve the driving force of transmission signal；Metal-oxide-semiconductor D built in the power amplifier unit 2214 analogizes
Draw power amplification circuit and be further amplified to transmission signal and be enough to promote the power amplifier unit 2214；The matching unit 2215
The power that built-in match circuit exports the power amplifier unit 2214 matches with the transmitting transducer 211, above-mentioned matching
Circuit has the compensation function such as emitting voltage frequency response and weakening simultaneously.
Referring to Fig. 3 of accompanying drawing, the reception electronic compartment 222 is provided with multiple separate receiving modules 2220, and each connects
Receiving module 2220 correspondingly has receiving channel, and each receiving module 2220 is completed to receive the low level signal amplification of signal, increased simultaneously
Benefit control, filtering and voltage adjustment.Preferably, it is contemplated that the phase information that signal processing algorithm receives signal to each road is very quick
Sense, it is desirable to which each receiving module 2220 has higher uniformity, therefore the receiving module 2220 uses thick film circuit technique
It is made, the electronic compartment 222 that receives is provided with the separate receiving channel in 96 tunnels.
Preferably, the receiving module 2220 is preposition is provided with the receive transducer 212, and receives the reception transducing
The reception signal that device 212 is exported.The receiving module 2220 includes amplifying unit 2221, gain control unit 2222, filtering list
Member 2223 and amplification and voltage-adjusting unit 2224, the amplifying unit 2221 electrically connects the receive transducer 212, described to put
Big unit 2221, gain control unit 2222, filter unit 2223 and amplification and voltage-adjusting unit 2224 are between any two successively
Electrical connection, the amplification and voltage-adjusting unit 2224 electrically connect the AD collecting units 243 of the signal-processing board 24.
Further, due to record from closely to the scatter echo of remote all targets, echo amplitude dynamic range is big, in order to
Make whole target from closely to remote uniform calculating, it is necessary to using normalization enhanced processing.Therefore, the amplification and voltage-adjusting unit
2224 built-in dynamic range adjusting circuits, the control chip of above-mentioned dynamic range adjustment circuit is using Burr-Browm companies
VCA810.Referring to Fig. 4 of accompanying drawing, the VCA810 of above-mentioned dynamic range adjustment circuit has 80 decibels of linear controllable gain, band
Wide reachable 15MHz.Pressure control VCLinear light-coupled isolation and input above-mentioned VCA810, by adjusting pressure control VC, you can change VCA810
Gain.Because the phase error of multichannel receiver can reduce but it can not eliminate, therefore the channel phases to measuring
Error also needs to compensate when finally carrying out Wave beam forming.
Referring to Fig. 5 of accompanying drawing, to realize synchronous high-speed collection and real time signal processing, the signal-processing board 24 is used
DSP and FPGA combo architectures.Preferably, the signal-processing board 24 includes DSP unit 241 and is electrically connected with the DSP unit 241
The FPGA unit 242 connect, the signal-processing board 24 also includes AD collecting units 243, DA gain control units 244, IO transmittings
Unit 245, RS232 units 246, RS422 units 247 and kilomega network 248, above-mentioned each unit are electrically connected the DSP unit
241 and/or the FPGA unit 242.
Preferably, the IO transmitter units 245 electrically connect the driver element 2213, and the driver element 2213 is read simultaneously
Amplify the digital form transmission signal that the IO transmitter units 245 are produced；The DA gain control units 244 electrically connect the increasing
Beneficial control unit 2222, the gain control unit 2222 reads the gain control letter that the DA gain control units 244 are exported
Number, and the reception signal that the gain control unit 2222 is exported is adjusted according to above-mentioned gain control signal；The AD collections
Unit 243 electrically connects the amplification and voltage-adjusting unit 2224, and the AD collecting units 243 read the amplification and voltage is adjusted
The reception signal that whole unit 2224 is exported, and above-mentioned reception signal is transmitted to the FPGA unit 242；The FPGA unit
242 electrically connect and both-way communication with the RS232 units 246 and RS422 units 247, and the RS232 units 246 are electrically connected
Parameter control module is connect, the RS422 units electrically connect the aiding sensors 12；The DSP unit 241 passes through the gigabit
Net 248 electrically connects the industrial computer 11.
Further, the DSP unit 241 is preferred to use TI TMS320C6455, and the dominant frequency of this DSP Processor is most
High reachable 1.2GHz, on-chip memory is up to 2Mbyte, and the outer DDRII memories of piece are up to 512Mbyte, and peak value disposal ability can
Up to 9600MIPS or 9.6GMACS；With stronger data exchange capability, the EDMA of 64 passages can be in synchronous mode, 64 words
From the existing maximum 9.6Gbit/s of EMIF causes for gossip data throughput under width；The onboard ethernet mac module of chip, can be adaptively
Meet 10/100/1000 Mbit/s ethernet communication demands.Meanwhile, the DSPLIB being adapted to this DSP Processor is used as warp
The general-purpose algorithm intersection of optimization is crossed, can conveniently call to carry out algorithm development.In addition, the multitasking energy to strengthen DSP
Power, this DSP Processor adaptation is this preemptive type real time operating system of DSP/BIOS.
Further, the FPGA unit 242 is preferred to use Xilinx XC2V1000, and this FPGA processor is in signal
The sharpest edges of process field are parallel processings, and it has been internally embedded 40 stone multipliers, and highest dominant frequency is up to 300MHz；
Under hundreds of million work dominant frequency, operational capability can reach tens GMACS.For the multi-channel data of multibeam sounding system
Collection and processing, the FPGA processor can give full play to its parallel processing capability.The FPGA unit 242 is used for 96 tunnels and receives logical
Synchronous data collection, the transmitting of polymorphic type phased switch signal and the data acquisition of aiding sensors 102 in road etc., its AD sampling highests
Up to 1.5MSamples/s, actual measurement display data trigger collection synchronization accuracy is in ns magnitudes.
According to the above preferred embodiment of the present invention, above-mentioned transmission signal and reception signal use Frequency Hopping Signal, effectively
Ground lifting system performance and improve measuring speed.Fig. 6 of accompanying drawing shows typical Frequency Hopping Signal auto-correlation schematic diagram, and it has
There are sharp main lobe and relatively low secondary lobe, close to the ambiguity function of preferable drawing pin shape.Frequency hopping（FHSS）Using puppet with
Machine code sequence carries out frequency shift keying, makes the continuous saltus step of carrier frequency and spread-spectrum, transmitting-receiving two-end is carried with the narrow frequency of specific pattern
Ripple transmits signal.For a unspecific receiver, Frequency Hopping Signal is only impulsive noise for it.Frequency Hopping Signal is
It is made up of N number of sub- CW pulses, all frequencies are in transducer bandwidth, and such arrangement is able to ensure that side frequency is arranged in one
The number of times risen is once.Fathomed using Frequency Hopping Signal, its advantage includes：The Frequency Hopping Signal of long pulse is selected to carry out arteries and veins
Punching press contracting can obtain high range resolution（It is relevant with bandwidth）；In the case of big depth and bad environments, it can obtain
High processing gain, increasing action distance；In the case where there is interference signal, it can be rejected using the correlation properties of Frequency Hopping Signal
Interference（It is uncorrelated with interference signal）, prevent wrong depth measurement result.
Referring to Fig. 7 of accompanying drawing, the handling process of Frequency Hopping Signal is shown.Frequency Hopping Signal has higher working frequency, letter
Target information in number is mostly present in lower-frequency envelope, it is therefore desirable to carries out frequency spectrum to echo signal and moves, will receive
High frequency echo signal be mixed to low frequency and handled, be effectively reduced data operation quantity.In other words, to receive the frequency of signal
Rate is foundation, carries out quadrature demodulation, obtains envelope signal.For example：Assuming that the centre frequency of sounding instrument is 200KHz, frequency coverage
Scope is 190KHz-210KHz, then can will receive signal and be multiplied by frequency and be 200KHz cosine signal, and carries out LPF,
Filter cutoff frequency is 20kHz, then obtains the baseband signal of echo, then carries out matched filtering processing to baseband signal, with
Wide-band processing and the auto-correlation gain of echo-signal are obtained, sonar is obtained finally by the Wave beam forming of many array element baseband signals
Figure.
Referring to Fig. 8 of accompanying drawing, the transmitting-receiving timing diagram of multigroup Frequency Hopping Signal is shown.Synteny does not represent different signals,
The direction of arrow representation signal transmitting-receiving.It is to fathom to remember H=C*T/2, H（Distance）, T is measurement delay inequality, and C is the velocity of sound, is obtained
T=2*H/C.Assuming that C=1500m/s, then T=H/750.Frame per second is the inverse of primary system working time, i.e. P=750/H.Above
For theoretical value, it is considered to which system processing time and other losses, maximum frame per second are generally 600/H, therefore the frame per second of system work takes
Certainly in range, range is bigger, and frame per second is slower, causes that surveying vessel measuring speed is slack-off, and efficiency is substantially reduced, too fast then easily leakage
Survey.Auto-correlation between different Frequency Hopping Signals is 1, and cross-correlation is 0, and the hair one in change general measure receives pattern, once
Accomplish MIMO in complete range, all multiple data are received together using the mode of batch processing and do relevant treatment, often
One Frequency Hopping Signal is only and the echo matching output of oneself obtains result.Remaining Frequency Hopping Signal is exported very due to uncorrelated
It is small, the interference between suitable thresholding is set with regard to that can eliminate Frequency Hopping Signal.So N can be obtained in a measurement period in theory
Secondary result, equivalent to N times of measurement result is obtained in same time, can carry out multiframe result further according to the speed of a ship or plane spelling of position
Connect, can so improve N times or so of measuring speed, when the larger conventional method measurement frame per second of range is relatively low, can significantly improve
The measuring speed of system.
According to the above preferred embodiment of the present invention, referring to Fig. 9 of accompanying drawing, the work of the multibeam sounding system is shown
Make process step, comprise the following steps that：
Step one：Signal-processing board 24 produces the digital form transmission signal based on Frequency Hopping Signal, and to transmitting transducer 211
Transmit digital form transmission signal；
Step 2：The transmitter module 2210 in launching electronics cabin 221 launches multigroup digital form transmitting based on Frequency Hopping Signal simultaneously
Signal, sound wave is converted to by transmitting transducer 211 by digital form transmission signal；
Step 3：Receive transducer 212 receives multigroup reception signal of sound wave form simultaneously, receives electronic compartment 222 and will receive and believes
Number gain is enlarged into the reception signal based on Frequency Hopping Signal；
Step 4：DSP unit 241 and/or FPGA unit 242 filter multigroup reception signal based on Frequency Hopping Signal by band logical
Ripple, quadrature demodulation, matched filtering, Wave beam forming are to obtain sonar image；
Step 5：Multiframe sonar image in one timing cycles is entered line position by the attitude information provided according to aiding sensors 12
Splicing is put to generate sea-floor relief.
According to above-mentioned process step, step is also included between step 4 and step 5：Pass through bottom detection and bottom track algorithm
Calculate seabed depth.
High speed multibeam sounding system disclosed by the invention based on Frequency Hopping Signal, transmitting and reception electronic compartment 221,222
Interlock circuit use modularized design；The docking collection of letters number carries out a quadrature demodulation, by frequency translation tremendously low frequency, is easy to follow-up place
Reason；Total accuracy of sounding is improved using the processing gain and correlation of Frequency Hopping Signal, operating distance and antijamming capability is improved；Utilize tune
The correlation properties of frequency signal, are made MIMO in sequential, are obviously improved measuring speed.
For a person skilled in the art, the technical scheme described in foregoing embodiments can still be repaiied
Change, or equivalent substitution is carried out to which part technical characteristic, within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in protection scope of the present invention.
Claims (10)
1. a kind of high speed multibeam sounding system based on Frequency Hopping Signal, it is characterised in that including：
Dry end and green end, the dry end include industrial computer and aiding sensors, and the green end includes transducer and electronic system, its
Described in green end have launching pod and receive cabin, the transducer include transmitting transducer and receive transducer, the Department of Electronics
System includes launching electronics cabin and receives electronic compartment, and the launching electronics cabin and transmitting transducer are built in the launching pod, described
Receive electronic compartment and receive transducer is built in the reception cabin；
The launching electronics cabin is preposition to be provided with signal-processing board, and the signal-processing board includes being used to produce based on Frequency Hopping Signal
The IO transmitter units of transmission signal, in addition to DSP unit, AD collecting units and the FPGA unit electrically connected with the DSP unit；
The launching electronics cabin is provided with multiple separate transmitter modules, and the transmitter module includes driver element, power amplifier list
Member and matching unit, the IO transmitter units electrically connect the driver element, the IO transmitter units and the driver element it
Between be additionally provided with light-coupled isolation unit, the matching unit electrically connects the transmitting transducer；
The reception electronic compartment is provided with multiple separate receiving modules, and the receiving module includes amplifying unit, gain control
Unit processed, filter unit and amplification and voltage-adjusting unit, the amplifying unit electrically connect the receive transducer, the amplification
And voltage-adjusting unit electrical connection institute AD collecting units, the reception signal of the receive transducer reception sound wave form.
2. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the signal
Process plate also includes DA gain control units, RS232 units, RS422 units and kilomega network, and the DA gain control units are electrically connected
The gain control unit is connect, the gain control unit reads the gain control signal of the DA gain control units output,
And the reception signal that the gain control unit is exported is adjusted according to above-mentioned gain control signal, the FPGA unit with it is described
RS232 units and the electrical connection of RS422 units and both-way communication, the DSP unit electrically connect the industry control by kilomega network
Machine.
3. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the transmitting
Module is using switch emitter.
4. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the reception
Module is made of thick film circuit technique.
5. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the power amplifier
Unit uses metal-oxide-semiconductor D class push-pull power amplifier circuits.
6. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the amplification
And voltage-adjusting unit built-in dynamic range adjusting circuit, the dynamic range adjustment circuit use Burr-Browm VCA810.
7. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the DSP
Unit uses TI TMS320C6455, and the FPGA unit uses Xilinx XC2V1000.
8. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the dry end
Also include display, the display electrically connects the industrial computer, and the green end also includes fixed mount, and the fixed mount is solid respectively
Surely support the launching pod and receive cabin.
9. the high speed multibeam sounding system according to claim 1 based on Frequency Hopping Signal, it is characterised in that the transmitting
Electronic compartment is correspondingly provided with receiving channel provided with 8 separate transmitter modules, each receiving module, and the reception electronic compartment is set
There is the separate receiving channel in 96 tunnels.
10. a kind of high speed multibeam echosounding method based on Frequency Hopping Signal, it is characterised in that including step：
Step one：Signal-processing board produces the digital form transmission signal based on Frequency Hopping Signal, and is transmitted to launching electronics cabin
Digital form transmission signal；
Step 2：The transmitter module in launching electronics cabin launches multigroup digital form transmission signal based on Frequency Hopping Signal simultaneously, leads to
Cross transmitting transducer and digital form transmission signal is converted into sound wave；
Step 3：Receive transducer receives multigroup reception signal of sound wave form simultaneously, receives electronic compartment by gain of received signal
It is enlarged into the reception signal based on Frequency Hopping Signal；
Step 4：DSP unit and/or FPGA unit are by multigroup reception signal based on Frequency Hopping Signal by bandpass filtering, orthogonal
Demodulation, matched filtering, Wave beam forming are to obtain sonar image；
Step 5：Multiframe sonar image in one timing cycles is carried out position by the attitude information provided according to aiding sensors
Splice to generate sea-floor relief.
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| CN108226852A (en) * | 2017-09-01 | 2018-06-29 | 国家无线电监测中心 | Unmanned operators' alignment system and method based on on-air radio pyroelectric monitor platform |
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| CN112732418A (en) * | 2020-11-16 | 2021-04-30 | 山东科技大学 | Deepwater multi-beam parallel computing method |
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