CN107479029A - Umbrella-type underwater sound source detection means and its calibration and detection method - Google Patents
Umbrella-type underwater sound source detection means and its calibration and detection method Download PDFInfo
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- CN107479029A CN107479029A CN201710680063.XA CN201710680063A CN107479029A CN 107479029 A CN107479029 A CN 107479029A CN 201710680063 A CN201710680063 A CN 201710680063A CN 107479029 A CN107479029 A CN 107479029A
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- 238000001514 detection method Methods 0.000 title claims abstract description 156
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 41
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000035807 sensation Effects 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 28
- 238000000926 separation method Methods 0.000 claims description 27
- 238000009434 installation Methods 0.000 claims description 17
- 230000006870 function Effects 0.000 claims description 15
- 230000035945 sensitivity Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 239000000919 ceramic Substances 0.000 claims description 5
- 239000000835 fiber Substances 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 230000010415 tropism Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 5
- 229920000049 Carbon (fiber) Polymers 0.000 description 4
- 239000004917 carbon fiber Substances 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 4
- 239000003610 charcoal Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
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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
- 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
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
Abstract
The invention discloses umbrella-type underwater sound source detection means and its calibration and detection method.Existing underwater sound source detection means is detected by multiple hydrophones of single hydrophone or composition linear array mostly.It is relatively low to the accuracy of detection in target sound source orientation and sound property.Umbrella-type underwater sound source detection means of the present invention, including standard hydrophone, multichannel collecting storage Transmission system, detection hydrophone, fixed mount, Carbon fibe bar, mounting disc and watertight tank based on FPGA.Watertight tank is fixed in mounting disc；The multichannel collecting storage Transmission system based on FPGA is provided with watertight tank.Standard hydrophone is fixed with mounting disc；One end of six roots of sensation Carbon fibe bar is hinged with mounting disc.K detection hydrophone is equidistantly fixed with every Carbon fibe bar.The equation solution target sound source position that the acoustic signals that the present invention is detected by three groups of hydrophones of simultaneous are derived, it is as a result accurate reliable.
Description
Technical field
The invention belongs to underwater detection technique field, and in particular to a kind of umbrella-type underwater sound source detection means and its calibration
With detection method.
Background technology
China's a variety of water surface warship and submarine input equipments existing at present use, and these naval vessels are equipped with different types of
Sonar is equipped, such as submersible flag type submarine target sonar contact system, UNMS-1 underwater noise measurement systems.Visit latent, depth measurement,
Avoidance, detecting a mine etc. play an important role.But existing underwater sound source detection means relies on single hydrophone or composition line mostly
Multiple hydrophones of battle array are detected.It is relatively low to the accuracy of detection in target sound source orientation and sound property.
In addition, the Sonar system of China's naval vessels, for active sonar, launches it response, sound source level before equipment at present
Measure calibration with indexs such as field angles, for passive sonar, then measurement calibrate its receiving sensitivity, receive directive property and
The indexs such as minimum signal source class.However, warship shell Sonar system after equipment, this body structure can be influenceed, sonar by hull
System performance in installation process can change, and the performance of sonar array element can also change with operating temperature, depth, be
Performance that is more accurate, grasping naval vessel sonar equipment in real time, it is necessary to performance detection is carried out to Sonar system under the real boat state.
At home, calibration and the e measurement technology of real ship sonar are there is no at present, can not truly evaluate the property of naval vessel sonar
Can, the examination to sonar equipment determines that the interference by environmental factor is more by the detection range to Submarine Target.
The content of the invention
It is an object of the invention to provide a kind of umbrella-type underwater sound source detection means and its calibration and detection method.
Umbrella-type underwater sound source detection means of the present invention, including standard hydrophone, the multichannel collecting storage based on FPGA pass
Defeated system, detection hydrophone, fixed mount, Carbon fibe bar, mounting disc and watertight tank.Described mounting disc is fixed on fixed mount.
Described watertight tank is fixed in mounting disc；The multichannel collecting storage Transmission system based on FPGA is provided with watertight tank.Peace
Standard hydrophone is fixed with sabot；Standard hydrophone is arranged on installation disk axis.Standard hydrophone with based on the more of FPGA
Passage collection storage Transmission system is connected by watertight cable.One end of six roots of sensation Carbon fibe bar is hinged with mounting disc.Six roots of sensation charcoal
Fiber rod is uniform along the circumference of mounting disc.K detection hydrophone, 2≤k≤10 are equidistantly fixed with every Carbon fibe bar.6k
Individual detection hydrophone is connected with the multichannel collecting storage Transmission system based on FPGA by watertight cable.
Further, the multichannel collecting storage Transmission system based on FPGA passes through watertight cable and industrial computer phase
Even.
Further, umbrella-type underwater sound source detection means of the present invention, which has, deploys and collapses two states：Deployed condition
Under, the axis of the Carbon fibe bar is vertical with the axis of mounting disc, and Carbon fibe bar leads to the body cradle being fixed in mounting disc
Bolt is crossed to fix.Under rounding state, the axis of the Carbon fibe bar and the diameter parallel of mounting disc, and six roots of sensation carbon fiber pipe point
It Cha Ru not collapse in six through holes in fixed plate.
Further, the model XC3S500E- of the multichannel collecting storage Transmission system based on FPGA
4PQ208I。
Further, the axis of the six roots of sensation Carbon fibe bar intersects or parallel with the axis of mounting disc.Carbon fibe bar
Length is 1.7m.
Further, described watertight cable uses the watertight cable of 60 cores.
Further, described industrial computer uses PC.
Further, described detection hydrophone includes piezoelectric ceramics and amplifying circuit.Described amplifying circuit includes the
One operational amplifier and the second operational amplifier.The first described operational amplifier selects AD745JR；The second described computing
Amplifier selects AD797BR；3 pins of the first operational amplifier connect first resistor R1, the first electric capacity C1 one end and piezoelectricity pottery
The signal output part of porcelain.First resistor R1 another termination second resistance R2 and 3rd resistor R3 one end.Second resistance R2 and
The first electric capacity C1 other end connects 12 pins of the first operational amplifier.3rd resistor R3 other end ground connection.First fortune
Calculate the resistance R4 of 5 pin the 4th and the 4th electric capacity C4 of amplifier one end；4th resistance R4 and the 4th electric capacity C4 other end is equal
Ground connection.6 pins of the first operational amplifier connect negative 5V voltages, the 7th electric capacity C7 one end and the 8th electric capacity C8 negative pole.7th
The electric capacity C7 other end and the 8th electric capacity C8 positive pole are grounded.13 pins of the first operational amplifier connect positive 5V voltages, second
Electric capacity C2 one end and the 3rd electric capacity C3 positive pole.The second electric capacity C2 other end and the 3rd electric capacity C3 negative pole are grounded.
12 pins of the first operational amplifier connect the 8th resistance R9 one end.The 8th resistance R9 operational amplifier of another termination second
3 pins.2 pins of the second operational amplifier connect the 6th resistance R6, the 5th resistance R5 and the 11st electric capacity C15 one end.
6th resistance R6 other end ground connection.5th resistance R5 and the 11st electric capacity C15 other end meets the 7th resistance R8, the tenth
Two electric capacity C16 one end and 6 pins of the second operational amplifier.The 12nd electric capacity C16 operational amplifier of another termination second
8 pins.4 pins of the second operational amplifier connect the 9th electric capacity C9 one end and the tenth electric capacity C10 negative pole.9th electric capacity
The C9 other end and the tenth electric capacity C10 positive pole are grounded.7 pins of the second operational amplifier connect the 5th electric capacity C5 one end
And the 6th electric capacity C6 positive pole.The 5th electric capacity C5 other end and the 6th electric capacity C6 negative pole are grounded.7th resistance R8 is remote
That end of second operational amplifier is the output end of amplifying circuit, is deposited by a/d converter and the multichannel collecting based on FPGA
Storage Transmission system is connected.
The calibration method of the umbrella-type underwater sound source detection means is specific as follows：
Step 1: detection means is hung to underwater.So that installation disk axis are parallel with the water surface, and detection means has phase
To the vertical water surface of two Carbon fibe bars of setting.Two in 6k detection hydrophone are taken to adjust water respectively as first orientation
Listen device, second orientation adjustment hydrophone.First orientation adjusts hydrophone and adjusts hydrophone on the vertical water surface with second orientation
The axisymmetrical of Carbon fibe bar.First orientation adjustment hydrophone, second orientation adjustment hydrophone are respectively positioned at corresponding Carbon fibe bar
Outermost end.
Step 2: standard source is hung to underwater so that standard source is with installation disk axis in same level.
Standard source and the spacing of mounting disc are s, 3m≤s≤10m.
Step 3: standard source launches sound wave；6k detection hydrophone in detection means receives sound wave.Collection first
T at the time of orientation adjustment hydrophone receives first peak value of sound wave1Sound wave first is received with second orientation adjustment hydrophone
T at the time of individual peak value2.Calculate detection means angle Δ φ to be turned.
Wherein, c is speed of the sound wave in water, is 1480m/s.
If Step 4: 90 ° of Δ φ ＜, Carbon fibe rod axis of the detection means around the vertical water surface are rotated into Δ φ, now the
One orientation adjustment hydrophone is turned to close to the direction of standard source.If Δ φ >=90 °, the charcoal by detection means around the vertical water surface
Fiber rod axis rotate φ -90 ° of Δ, and now first orientation adjustment hydrophone is diverted away from the direction of standard source.Detection means
Face sends the target sound source of voice signal.
Step 5: standard hydrophone receives the sound wave of standard source transmitting.The sound received by contrast standard hydrophone
The sound wave that ripple receives with 6k detection hydrophone.Calculate the sensitivity M of 6k detection hydrophonei, i=1,2,3 ... 6k.
Wherein, ViFor i-th of detection hydrophone measure the 3rd peak value of voltage between the 4th peak value data it is equal
Root, V0The 3rd peak value of voltage is measured to the root mean square of data between the 4th peak value, L for standard hydrophoneiFor i-th
Detect the distance of hydrophone and standard source, L0For standard hydrophone 1 and standard source distance, M0It is sensitive for standard hydrophone
Degree, value is -181dB.
Step 6: calculate the sensitivity virtual value (e of 6k detection hydrophoneoc/pf)i, i=1,2,3 ... 6k.
Wherein, (eoc/pf)refFor sensitivity a reference value, value is 1V/ μ Pa.
Detected Step 7: calculating 6k detection hydrophone under the voice directions face mounting disc state of standard source
Acoustic pressure Pi(0), i=1,2,3 ... 6k.
Wherein, Ei(0)For under the voice directions face mounting disc state of standard source i-th detection hydrophone measure electricity
Root mean square of 3rd peak value of pressure to data between the 4th peak value.
Step 8: standard source is raised n times, 10≤n≤20, b, 0.3m≤b≤1m are raised every time；Jth time is obtained to rise
Standard source after height, i-th hydrophone line and installation disk axis angle αij, i-th of hydrophone inspection after jth time rise
The acoustic pressure P measuredαij, i=1,2,3 ... 6k.J=1,2 ... n.
Wherein, EαijThe 3rd peak value of voltage is measured to the to detect hydrophone for i-th after standard source raises j time
The root mean square of data between four peak values；
Step 9: standard source is reduced into n × b；
Step 10: standard source is reduced n times, b is reduced every time；Obtain standard source, i-th of water after reducing jth-n times
Listen the angle α of the line and installation disk axis of deviceij, i-th of hydrophone detects after reducing for jth-n times acoustic pressure Pαij, i=1,
2,3 ... 6k, j=n+1, n+2 ... 2n.
Wherein, EαijArrived for the 3rd peak value that i-th of detection hydrophone measures voltage after standard source reduces j-n times
The root mean square of data between 4th peak value；
Step 11: calculate acoustic pressure PαijCorresponding acoustic source separation Dαij。
Step 12: establish using acoustic source separation as ordinate, standard source, line and the installation disk axis of mounting disc
Angle αijFor the coordinate system of abscissa, i=1,2,3 ... 6k.Obtain that corresponding 6k sound sources refer to respectively with 6k hydrophone
The discrete point diagram of tropism.
Step 13: being fitted the 6k discrete point diagrams of acoustic source separation respectively, 6k bar acoustic source separation curves are obtained.According to
6k bar acoustic source separation curves obtain the acoustic source separation function that 6k hydrophone measures respectivelyI=1,2,3 ...
6k。
Step 14: contrast step 13 obtains 6k acoustic source separation function respectivelyIt is real with standard source
Acoustic source separation function, and 6k detection hydrophone is adjusted accordingly.
The method of the common sound source of detection of the umbrella-type underwater sound source detection means is specific as follows：
Step 1: the voice signal around the 6k detection hydrophone detection in underwater detection means is set.If 6k
Individual detection hydrophone detects voice signal, into step 2.
Step 2: rotation detecting device so that detection means face sends the target sound source of voice signal.
Detected Step 3: 6k detection hydrophone in detection means receives sound wave and calculate 6k detection hydrophone
Acoustic pressure.
The coordinate system oxyz of origin, coordinate are used as Step 4: establishing using the detection hydrophone position positioned at bottom
It is the oxyz parallel installation side surface of x-axis, y-axis right angle setting side surface, z-axis is perpendicular to the water surface.Two detection hydrophones are taken,
The coordinate value of two detection hydrophones is respectively A1(xa1,ya1,za1),B1(xb1,yb1,zb1).Take point A1With point B1Midpoint
P1, point P1Coordinate value be P1(xp1,yp1,zp1)。
If the coordinate of target sound source is M (xm,ym,zm).Then straight line P1M and A1B1Direction vector be：
Equation is established, such as formula (1)：
Wherein,For point P1It is with point M distance, i.e., vectorialMould；For point A1With point B1Distance.
Wherein,For point A1With point M distance,For point B1With point M distance,For point A1With point B1's
Distance.
Two detection hydrophones separately are taken, the coordinate value of two detection hydrophones is respectively A2(xa2,ya2,za2),B2
(xb2,yb2,zb2).Take point A2With point B2Midpoint P2, point P2Coordinate value be P2(xp2,yp2,zp2)。
Straight line P2M and A2B2Direction vector be：
Equation is established, such as formula (2)：
Wherein,For point P2It is with point M distance, i.e., vectorialMould；For point A2With point B2Distance.
Wherein,For point A2With point M distance,For point B2With point M distance.
Two detection hydrophones separately are taken, the coordinate value of two detection hydrophones is respectively A3(xa3,ya3,za3),B3
(xb3,yb3,zb3).Take point A3With point B3Midpoint P3, point P3Coordinate value be P3(xp3,yp3,zp3)。
Straight line P3M and A3B3Direction vector be：
Equation is established, such as formula (3)：
Wherein,For point P3It is with point M distance, i.e., vectorialMould；For point A3With point B3Distance.
Wherein,For point A3With point M distance,For point B3With point M distance.
Point A1, point B1, point A2, point B2, point A3And point B3It is not arranged on the same straight line.
Simultaneous formula (1), formula (2) and formula (3), calculate M (xm,ym,zm)。
Step 5: it is repeated once every 1s Step 2: three and four；If the coordinate M (x of target sound sourcem,ym,zm) become
Change；The angle of 6k detection hydrophone, the line of target sound source with installing disk axis is then obtained respectively.If the seat of target sound source
Mark M (xm,ym,zm) change for continuous 12 times, then by curve matching obtain 6k detection hydrophone, target sound source company
Line is with installing the angles of disk axis with the corresponding acoustic pressure that detects of hydrophone that detects with corresponding relation function.And then obtain 6k
The acoustic source separation function D that individual hydrophone measuresi(γ), i=1,2,3 ... 6k.
The invention has the advantages that：
1st, the present invention is detected by cloth into the hydrophone array of face battle array, as a result precisely reliable.
2nd, the equation solution target sound source position that the acoustic signals that the present invention is detected by three groups of hydrophones of simultaneous are derived
Put, it is as a result accurate reliable.
3rd, the present invention is calibrated using standard source, ensure that the accuracy of later stage measurement.
4th, the present invention can stored collapsed, be readily transported.
Brief description of the drawings
Fig. 1 is the structural representation under deployed condition of the present invention；
Fig. 2 is the structural representation under rounding state of the present invention；
Fig. 3 is the circuit theory diagrams that hydrophone is detected in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As illustrated in fig. 1 and 2, umbrella-type underwater sound source detection means, including standard hydrophone 1, the multichannel based on FPGA are adopted
Collection storage Transmission system and detection hydrophone 2, fixed mount 3, Carbon fibe bar 4, mounting disc 5 and watertight tank 8.Based on the more of FPGA
The model XC3S500E-4PQ208I of passage collection storage Transmission system.Mounting disc 5 is fixed on fixed mount 3.Watertight tank 8
It is fixed in mounting disc 5；The multichannel collecting storage Transmission system based on FPGA is provided with watertight tank 8.It is solid in mounting disc 5
Surely there is standard hydrophone 1；Standard hydrophone 1 is arranged on the axis of mounting disc 5.Standard hydrophone 1 and the multichannel based on FPGA
Collection storage Transmission system is connected by watertight cable.One end of six roots of sensation Carbon fibe bar 4 is be hinged with mounting disc 5.Six roots of sensation Carbon fiber
Bar 4 is tieed up along the circumferential uniform of mounting disc 5.The axis of six roots of sensation Carbon fibe bar 4 intersects or parallel with the axis of mounting disc 5.Carbon fiber
The length for tieing up bar 4 is 1.7m.Four detection hydrophones 2 are equidistantly fixed with every Carbon fibe bar 4.24 detection water
Device 2 is listened to be connected with the multichannel collecting storage Transmission system based on FPGA by watertight cable；Multichannel based on FPGA
Collection storage Transmission system is connected by watertight cable and netting twine with industrial computer.Watertight cable uses the watertight cable of 60 cores.Work
Control machine uses PC.The voice signal that multichannel collecting storage Transmission system based on FPGA collects to detection hydrophone 2 enters
Row amplification, AD conversion and transmission operation, and it is transferred to industrial computer.
Umbrella-type underwater sound source detection means, which has, deploys and collapses two states：Under deployed condition, the axle of Carbon fibe bar 4
Line is vertical with the axis of mounting disc 5, and Carbon fibe bar 4 is fixed with the body cradle being fixed in mounting disc 5 by bolt 7.Collapse
Under state, the axis of Carbon fibe bar 4 and the diameter parallel of mounting disc 5, and six roots of sensation carbon fiber pipe inserts collapse fixed plate 6 respectively
On six through holes in.
As shown in figure 3, detection hydrophone 2 includes piezoelectric ceramics and amplifying circuit.Amplifying circuit includes the first operation amplifier
Device U1 and the second operational amplifier U2.First operational amplifier U1 selects AD745JR；Second operational amplifier U2 is selected
AD797BR；First operational amplifier U1 3 pins connect first resistor R1, the first electric capacity C1 one end and piezoelectric ceramics signal
Output end sin.First resistor R1 another termination second resistance R2 and 3rd resistor R3 one end.Second resistance R2 and first
The electric capacity C1 other end connects the first operational amplifier U1 12 pins.3rd resistor R3 other end ground connection.First computing is put
Big device U1 the resistance R4 of 5 pin the 4th and the 4th electric capacity C4 one end；4th resistance R4 and the 4th electric capacity C4 other end connects
Ground.First operational amplifier U1 6 pins connect negative 5V voltages and the 7th electric capacity C7 one end and the 8th electric capacity C8 negative pole.The
The seven electric capacity C7 other end and the 8th electric capacity C8 positive pole are grounded.First operational amplifier U1 13 pins connect positive 5V voltages,
Second electric capacity C2 one end and the 3rd electric capacity C3 positive pole.The second electric capacity C2 other end and the 3rd electric capacity C3 negative pole connect
Ground.First operational amplifier U1 12 pins connect the 8th resistance R9 one end.The 8th resistance R9 computing of another termination second is put
Big device U2 3 pins.Second operational amplifier U2 2 pins meet the 6th resistance R6, the 5th resistance R5 and the 11st electric capacity C15
One end.6th resistance R6 other end ground connection.5th resistance R5 and the 11st electric capacity C15 other end connects the 7th electricity
Hinder R8, the 12nd electric capacity C16 one end and the second operational amplifier U2 6 pins.12nd electric capacity C16 another termination
Two operational amplifier U2 8 pins.Second operational amplifier U2 4 pins connect the 9th electric capacity C9 one end and the tenth electric capacity
C10 negative pole.The 9th electric capacity C9 other end and the tenth electric capacity C10 positive pole are grounded.Second operational amplifier U2 7 pipes
Pin connects the 5th electric capacity C5 one end and the 6th electric capacity C6 positive pole.The 5th electric capacity C5 other end and the 6th electric capacity C6 negative pole
It is grounded.That end of 7th resistance R8 away from the second operational amplifier U2 is the output end vo ut of amplifying circuit, passes through AD conversion
Device is connected with the multichannel collecting storage Transmission system based on FPGA.
The calibration method of the umbrella-type underwater sound source detection means is specific as follows：
Step 1: detection means is hung to underwater.So that the axis of mounting disc 5 is parallel with the water surface, and detection means has phase
To two Carbon fibe bars, the 4 vertical water surface of setting.Two in 24 detection hydrophones 2 are taken respectively as first orientation
Adjust hydrophone, second orientation adjustment hydrophone.First orientation adjusts hydrophone and adjusts hydrophone on vertical with second orientation
The axisymmetrical of the Carbon fibe bar 4 of the water surface.First orientation adjustment hydrophone, second orientation adjustment hydrophone are respectively positioned at corresponding
The outermost end of Carbon fibe bar 4.
Step 2: standard source is hung to underwater so that standard source and the axis of mounting disc 5 in same level,
And the voice directions face mounting disc 5 of standard source.Standard source and the spacing of mounting disc 5 are s, s=5m.
Step 3: standard source launches sound wave；24 detection hydrophones 2 in detection means receive sound wave.Collection
T at the time of first orientation adjustment hydrophone receives first peak value of sound wave1Sound wave is received with second orientation adjustment hydrophone
T at the time of first peak value2.Calculate detection means angle Δ φ to be turned.
Wherein, c is speed of the sound wave in water, is 1480m/s.
If Step 4: 90 ° of Δ φ ＜, Carbon fibe rod axis of the detection means around the vertical water surface are rotated into Δ φ, now the
One orientation adjustment hydrophone is turned to close to the direction of standard source.If Δ φ >=90 °, the charcoal by detection means around the vertical water surface
Fiber rod axis rotate φ -90 ° of Δ, and now first orientation adjustment hydrophone is diverted away from the direction of standard source.Detection means
Face sends the target sound source of voice signal.
Step 5: standard hydrophone 1 receives the sound wave of standard source transmitting.Received by contrast standard hydrophone 1
The sound wave that sound wave and 24 detection hydrophones 2 receive.Calculate the sensitivity M of 24 detection hydrophones 2i, i=
1,2,3……24。
Wherein, ViThe 3rd peak value of voltage is measured to data between the 4th peak value for i-th of detection hydrophone 2
Root mean square, V0The 3rd peak value of voltage is measured to the root mean square of data between the 4th peak value, L for standard hydrophone 1iFor
The distance of i detection hydrophone 2 and standard source, L0For standard hydrophone 1 and standard source distance, M0For standard hydrophone 1
Sensitivity, value are -181dB.
Step 6: calculate the sensitivity virtual value (e of 24 detection hydrophones 2oc/pf)i, i=1,2,
3......24。
Wherein, (eoc/pf)refFor sensitivity a reference value, value is 1V/ μ Pa.
Step 7: 24 detection hydrophones 2 are calculated under the state of voice directions face mounting disc 5 of standard source
The acoustic pressure P detectedi(0), i=1,2,3 ... 24.
Wherein, Ei(0)For under the state of voice directions face mounting disc 5 of standard source i-th detection hydrophone 2 measure
Root mean square of 3rd peak value of voltage to data between the 4th peak value.
Step 8: standard source is raised n times, n=12, b, b=0.5m are raised every time.Obtain standard after jth time raises
Sound source, i-th hydrophone line and installation disk axis angle αij, i-th of hydrophone detects after jth time rise sound
Press Pαij, i=1,2,3 ... 24, j=1,2 ... n.
Wherein, EαijArrived for the 3rd peak value that i-th of detection hydrophone 2 measures voltage after standard source raises j times
The root mean square of data between 4th peak value.
Step 9: standard source is reduced into n × b.
Step 10: standard source is reduced n times, b is reduced every time.Obtain standard source, i-th of water after reducing jth-n times
Listen the angle α of the line and installation disk axis of deviceij, i-th of hydrophone detects after reducing for jth-n times acoustic pressure Pαij, i=1,
2,3 ... 24, j=n+1, n+2 ... 2n.
Wherein, EαijFor i-th of the 3rd peak value for detecting hydrophone 2 and measuring voltage after standard source reduces j-n times
To the root mean square of data between the 4th peak value.
Step 11: calculate acoustic pressure PαijCorresponding acoustic source separation Dαij。
Step 12: establish using acoustic source separation as ordinate, standard source, line and the installation disk axis of mounting disc
Angle αijFor the coordinate system of abscissa, i=1,2,3 ... 24.Obtain and 24 hydrophones difference corresponding 24
Open the discrete point diagram of acoustic source separation.
Step 13: being fitted 24 discrete point diagrams of acoustic source separation respectively, 24 acoustic source separation songs are obtained
Line.The acoustic source separation function that 24 hydrophones measure is obtained respectively according to 24 acoustic source separation curvesI=1,2,3 ... 24.
Step 14: contrast step 13 obtains 24 acoustic source separation functions respectivelyIt is true with standard source
Real acoustic source separation function, and 24 detection hydrophones 2 are adjusted accordingly.
The method of the common sound source of detection of the umbrella-type underwater sound source detection means is specific as follows：
Believe Step 1: setting 24 detection hydrophones 2 in underwater detection means to detect the sound of surrounding
Number.If 24 detection hydrophones 2 detect voice signal, into step 2.
Step 2: rotation detecting device so that detection means face sends the target sound source of voice signal.
Listened Step 3: 24 detection hydrophones 2 in detection means receive sound wave and calculate 24 detection water
The acoustic pressure that device 2 detects.
Step 4: establishing using the coordinate system oxyz positioned at the detection position of hydrophone 2 of bottom as origin, sit
The mark system oxyz parallel mounting disc 5 of x-axis, y-axis right angle setting disk 5, z-axis is perpendicular to the water surface.Two detection hydrophones 2 are taken, this two
The coordinate value of individual detection hydrophone 2 is respectively A1(xa1,ya1,za1),B1(xb1,yb1,zb1).Take point A1With point B1Midpoint P1, point
P1Coordinate value be P1(xp1,yp1,zp1)。
If the coordinate of target sound source is M (xm,ym,zm).Then straight line P1M and A1B1Direction vector be：
Equation is established, such as formula (1)：
Wherein,For point P1It is with point M distance, i.e., vectorialMould；For point A1With point B1Distance.
Wherein,For point A1With point M distance,For point B1With point M distance,For point A1With point B1's
Distance.
Two detection hydrophones 2 separately are taken, the coordinate value of two detection hydrophones 2 is respectively A2(xa2,ya2,za2),B2
(xb2,yb2,zb2).Take point A2With point B2Midpoint P2, point P2Coordinate value be P2(xp2,yp2,zp2)。
Straight line P2M and A2B2Direction vector be：
Equation is established, such as formula (2)：
Wherein,For point P2It is with point M distance, i.e., vectorialMould；For point A2With point B2Distance.
Wherein,For point A2With point M distance,For point B2With point M distance.
Two detection hydrophones 2 separately are taken, the coordinate value of two detection hydrophones 2 is respectively A3(xa3,ya3,za3),B3
(xb3,yb3,zb3).Take point A3With point B3Midpoint P3, point P3Coordinate value be P3(xp3,yp3,zp3)。
Straight line P3M and A3B3Direction vector be：
Equation is established, such as formula (3)：
Wherein,For point P3It is with point M distance, i.e., vectorialMould；For point A3With point B3Distance.
Wherein,For point A3With point M distance,For point B3With point M distance.
Point A1, point B1, point A2, point B2, point A3And point B3It is not arranged on the same straight line.
Simultaneous formula (1), formula (2) and formula (3), calculate M (xm,ym,zm)。
Step 5: every 1s repeat steps two, three and four.If the coordinate M (x of target sound sourcem,ym,zm) change.Then
Obtain the angle of 24 detection hydrophones, the line of target sound source with installing disk axis.If the coordinate M of target sound source
(xm,ym,zm) change for continuous 12 times, then 24 detection hydrophones, target sound source are obtained by curve matching
Line is with installing the angles of disk axis with the corresponding acoustic pressure that detects of hydrophone that detects with corresponding relation function.And then obtain
The acoustic source separation function D that 24 hydrophones measurei(γ), i=1,2,3 ... 24.
Claims (10)
1. umbrella-type underwater sound source detection means, including standard hydrophone, the multichannel collecting storage Transmission system based on FPGA, inspection
Survey hydrophone, fixed mount, Carbon fibe bar, mounting disc and watertight tank；It is characterized in that：Described mounting disc is fixed on fixed mount
On；Described watertight tank is fixed in mounting disc；The multichannel collecting storage Transmission system based on FPGA is provided with watertight tank；
Standard hydrophone is fixed with mounting disc；Standard hydrophone is arranged on installation disk axis；Standard hydrophone with based on FPGA's
Multichannel collecting storage Transmission system is connected by watertight cable；One end of six roots of sensation Carbon fibe bar is hinged with mounting disc；The six roots of sensation
Carbon fibe bar is uniform along the circumference of mounting disc；K detection hydrophone, 2≤k≤10 are equidistantly fixed with every Carbon fibe bar；
6k detection hydrophone is connected with the multichannel collecting storage Transmission system based on FPGA by watertight cable.
2. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：The multichannel based on FPGA
Collection storage Transmission system is connected by watertight cable with industrial computer.
3. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：With expansion and collapse two kinds of shapes
State：Under deployed condition, the axis of the Carbon fibe bar is vertical with the axis of mounting disc, and Carbon fibe bar is with being fixed in mounting disc
Body cradle be bolted；Under rounding state, the axis of the Carbon fibe bar and the diameter parallel of mounting disc, and six roots of sensation carbon
Fibre pipe inserts in six through holes collapsed in fixed plate respectively.
4. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：The multichannel based on FPGA
The model XC3S500E-4PQ208I of collection storage Transmission system.
5. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：The axle of the six roots of sensation Carbon fibe bar
Line intersects or parallel with the axis of mounting disc；The length of Carbon fibe bar is 1.7m.
6. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：Described watertight cable uses 60
The watertight cable of core.
7. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：Described industrial computer uses PC
Machine.
8. umbrella-type underwater sound source detection means according to claim 1, it is characterised in that：Described detection hydrophone includes
Piezoelectric ceramics and amplifying circuit；Described amplifying circuit includes the first operational amplifier and the second operational amplifier；Described
One operational amplifier selects AD745JR；The second described operational amplifier selects AD797BR；3 pins of the first operational amplifier
Connect first resistor R1, the first electric capacity C1 one end and piezoelectric ceramics signal output part；First resistor R1 another termination second
Resistance R2 and 3rd resistor R3 one end；Second resistance R2 and the first electric capacity C1 other end connect the 12 of the first operational amplifier
Pin；3rd resistor R3 other end ground connection；The one of the resistance R4 of 5 pin the 4th and the 4th electric capacity C4 of first operational amplifier
End；4th resistance R4 and the 4th electric capacity C4 other end is grounded；6 pins of the first operational amplifier meet negative 5V voltages, the 7th
Electric capacity C7 one end and the 8th electric capacity C8 negative pole；The 7th electric capacity C7 other end and the 8th electric capacity C8 positive pole are grounded；The
13 pins of one operational amplifier connect the positive pole of positive 5V voltages, the second electric capacity C2 one end and the 3rd electric capacity C3；Second electric capacity C2
The other end and the 3rd electric capacity C3 negative pole be grounded；12 pins of the first operational amplifier connect the 8th resistance R9 one end；The
3 pins of the eight resistance R9 operational amplifier of another termination second；2 pins of the second operational amplifier connect the 6th resistance R6,
Five resistance R5 and the 11st electric capacity C15 one end；6th resistance R6 other end ground connection；5th resistance R5 and the 11st electric capacity
The C15 other end connects the 7th resistance R8, the 12nd electric capacity C16 one end and 6 pins of the second operational amplifier；12nd electricity
Hold 8 pins of the C16 operational amplifier of another termination second；4 pins of the second operational amplifier connect the 9th electric capacity C9 one end
And the tenth electric capacity C10 negative pole；The 9th electric capacity C9 other end and the tenth electric capacity C10 positive pole are grounded；Second operation amplifier
7 pins of device connect the 5th electric capacity C5 one end and the 6th electric capacity C6 positive pole；The 5th electric capacity C5 other end and the 6th electric capacity C6
Negative pole be grounded；That end of 7th resistance R8 away from the second operational amplifier is the output end of amplifying circuit, passes through AD conversion
Device is connected with the multichannel collecting storage Transmission system based on FPGA.
9. the calibration method of umbrella-type underwater sound source detection means as claimed in claim 1, it is characterised in that：
Step 1: detection means is hung to underwater；So that installation disk axis are parallel with the water surface, and detection means is oppositely arranged
The vertical water surface of two Carbon fibe bars；Two in 6k detection hydrophone are taken to adjust hydrophone, the respectively as first orientation
Two orientation adjustment hydrophones；First orientation adjusts hydrophone and Carbon fibe bar of the second orientation adjustment hydrophone on the vertical water surface
Axisymmetrical；First orientation adjustment hydrophone, second orientation adjustment hydrophone are respectively positioned at the outermost end of corresponding Carbon fibe bar；
Step 2: standard source is hung to underwater so that standard source is with installation disk axis in same level；Standard sound
The spacing of source and mounting disc is s, 3m≤s≤10m；
Step 3: standard source launches sound wave；6k detection hydrophone in detection means receives sound wave；First orientation is gathered to adjust
T at the time of whole hydrophone receives first peak value of sound wave1First peak value of sound wave is received with second orientation adjustment hydrophone
At the time of t2；Calculate detection means angle Δ φ to be turned；
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Wherein, c is speed of the sound wave in water, is 1480m/s；
Step 4: if Carbon fibe rod axis of the detection means around the vertical water surface are rotated Δ φ, now first party by 90 ° of Δ φ ＜
Adjustment hydrophone in position is turned to close to the direction of standard source；If Δ φ >=90 °, the Carbon fibe bar by detection means around the vertical water surface
Axis rotates φ -90 ° of Δ, and now first orientation adjustment hydrophone is diverted away from the direction of standard source；Detection means face is sent out
Go out the target sound source of voice signal；
Step 5: standard hydrophone receives the sound wave of standard source transmitting；The sound wave received by contrast standard hydrophone with
The sound wave that 6k detection hydrophone receives；Calculate the sensitivity M of 6k detection hydrophonei, i=1,2,3 ... 6k；
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<mi>M</mi>
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<mo>+</mo>
<msub>
<mi>M</mi>
<mn>0</mn>
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</mrow>
Wherein, ViThe 3rd peak value of voltage is measured to the root mean square of data between the 4th peak value for i-th of detection hydrophone,
V0The 3rd peak value of voltage is measured to the root mean square of data between the 4th peak value, L for standard hydrophoneiFor i-th of detection water
Listen the distance of device and standard source, L0For standard hydrophone 1 and standard source distance, M0For standard hydrophone sensitivity, value
For -181dB；
Step 6: calculate the sensitivity virtual value (e of 6k detection hydrophoneoc/pf)i, i=1,2,3 ... 6k；
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<msub>
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<mo>(</mo>
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<mi>e</mi>
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Wherein, (eoc/pf)refFor sensitivity a reference value, value is 1V/ μ Pa；
Step 7: calculate the acoustic pressure that 6k detection hydrophone detects under the voice directions face mounting disc state of standard source
Pi(0), i=1,2,3 ... 6k；
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<mi>P</mi>
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Wherein, Ei(0)For under the voice directions face mounting disc state of standard source i-th of detection hydrophone measure the of voltage
Root mean square of three peak values to data between the 4th peak value；
Step 8: standard source is raised n times, 10≤n≤20, b, 0.3m≤b≤1m are raised every time；After obtaining jth time rise
Standard source, i-th hydrophone line and installation disk axis angle αij, i-th of hydrophone detects after jth time rise
Acoustic pressure Pαij, i=1,2,3 ... 6k；J=1,2 ... n；
Wherein, EαijThe 3rd peak value of voltage is measured to the 4th to raise j rear i-th of detection hydrophone in standard source
The root mean square of data between peak value；
Step 9: standard source is reduced into n × b；
Step 10: standard source is reduced n times, b is reduced every time；Obtain standard source, i-th of hydrophone after reducing jth-n times
Line with installation disk axis angle αij, i-th of hydrophone detects after reducing for jth-n times acoustic pressure Pαij, i=1,2,
3 ... 6k, j=n+1, n+2 ... 2n；
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<mi>i</mi>
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<mo>(</mo>
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<mi>f</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msub>
</mfrac>
</mrow>
Wherein, EαijTo measure the 3rd peak value of voltage in j-n rear i-th of detection hydrophone of standard source reduction to the 4th
The root mean square of data between individual peak value；
Step 11: calculate acoustic pressure PαijCorresponding acoustic source separation Dαij；
<mrow>
<msub>
<mi>D</mi>
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<msub>
<mi>P</mi>
<mrow>
<mi>&alpha;</mi>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
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<mi>P</mi>
<mrow>
<mi>i</mi>
<mrow>
<mo>(</mo>
<mn>0</mn>
<mo>)</mo>
</mrow>
</mrow>
</msub>
</mfrac>
</mrow>
Step 12: establish using acoustic source separation as ordinate, the angle of standard source, the line of mounting disc with installing disk axis
αijFor the coordinate system of abscissa, i=1,2,3 ... 6k；Obtain with 6k hydrophone respectively corresponding 6k acoustic source separation from
Scatter diagram；
Step 13: being fitted the 6k discrete point diagrams of acoustic source separation respectively, 6k bar acoustic source separation curves are obtained；According to 6k bar sound
Source Direction Curve obtains the acoustic source separation function that 6k hydrophone measures respectivelyI=1,2,3 ... 6k；
Step 14: contrast step 13 obtains 6k acoustic source separation function respectivelyRefer to the real sound source of standard source
Tropism function, and 6k detection hydrophone is adjusted accordingly.
10. the method that umbrella-type underwater sound source detection means as claimed in claim 1 detects common sound source, it is characterised in that：
Step 1: the voice signal around the 6k detection hydrophone detection in underwater detection means is set；If 6k inspection
Survey hydrophone and detect voice signal, into step 2；
Step 2: rotation detecting device so that detection means face sends the target sound source of voice signal；
Step 3: 6k detection hydrophone in detection means receives sound wave and calculates the sound that 6k detection hydrophone detects
Pressure；
The coordinate system oxyz of origin, coordinate system are used as Step 4: establishing using the detection hydrophone position positioned at bottom
The oxyz parallel installation side surface of x-axis, y-axis right angle setting side surface, z-axis is perpendicular to the water surface；Two detection hydrophones are taken, this two
The coordinate value of individual detection hydrophone is respectively A1(xa1,ya1,za1),B1(xb1,yb1,zb1)；Take point A1With point B1Midpoint P1, point P1
Coordinate value be P1(xp1,yp1,zp1)；
If the coordinate of target sound source is M (xm,ym,zm)；Then straight line P1M and A1B1Direction vector be：
Equation is established, such as formula (1)：
Wherein,For point P1It is with point M distance, i.e., vectorialMould；For point A1With point B1Distance；
Wherein,For point A1With point M distance,For point B1With point M distance,For point A1With point B1Distance；
Two detection hydrophones separately are taken, the coordinate value of two detection hydrophones is respectively A2(xa2,ya2,za2),B2(xb2,yb2,
zb2)；Take point A2With point B2Midpoint P2, point P2Coordinate value be P2(xp2,yp2,zp2)；
Straight line P2M and A2B2Direction vector be：
Equation is established, such as formula (2)：
Wherein,For point P2It is with point M distance, i.e., vectorialMould；For point A2With point B2Distance；
Wherein,For point A2With point M distance,For point B2With point M distance；
Two detection hydrophones separately are taken, the coordinate value of two detection hydrophones is respectively A3(xa3,ya3,za3),B3(xb3,yb3,
zb3)；Take point A3With point B3Midpoint P3, point P3Coordinate value be P3(xp3,yp3,zp3)；
Straight line P3M and A3B3Direction vector be：
Equation is established, such as formula (3)：
Wherein,For point P3It is with point M distance, i.e., vectorialMould；For point A3With point B3Distance；
Wherein,For point A3With point M distance,For point B3With point M distance；
Point A1, point B1, point A2, point B2, point A3And point B3It is not arranged on the same straight line；
Simultaneous formula (1), formula (2) and formula (3), calculate M (xm,ym,zm)；
Step 5: it is repeated once every 1s Step 2: three and four；If the coordinate M (x of target sound sourcem,ym,zm) change；Then
The angle of 6k detection hydrophone, the line of target sound source with installing disk axis is obtained respectively；If the coordinate M (x of target sound sourcem,
ym,zm) change for continuous 12 times, then 6k detection hydrophone, the line of target sound source and installation are obtained by curve matching
The acoustic pressure that the angle of disk axis is detected with corresponding detection hydrophone is with corresponding relation function；And then obtain 6k hydrophone and survey
The acoustic source separation function D obtainedi(γ), i=1,2,3 ... 6k.
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| CN111504253A (en) * | 2020-04-14 | 2020-08-07 | 哈尔滨工程大学 | Underwater three-dimensional acoustic three-dimensional array determination method for wave glider |
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