CN107741588A - A kind of efficient self-adapted aperture side scan sonar - Google Patents
A kind of efficient self-adapted aperture side scan sonar Download PDFInfo
- Publication number
- CN107741588A CN107741588A CN201711147106.4A CN201711147106A CN107741588A CN 107741588 A CN107741588 A CN 107741588A CN 201711147106 A CN201711147106 A CN 201711147106A CN 107741588 A CN107741588 A CN 107741588A
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- China
- Prior art keywords
- deck
- sonar
- speed
- ship
- movable information
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Classifications
-
- 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
- G01S15/8902—Side-looking sonar
-
- 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
- G01S15/8902—Side-looking sonar
- G01S15/8904—Side-looking sonar using synthetic aperture techniques
Abstract
The invention discloses a kind of efficient self-adapted aperture side scan sonar, including head kuppe, front deck, rear deck, tail shell；The front deck front end is provided with head kuppe, and the rear deck front-end and back-end are spirally connected by sealing baffle I, the sealing of sealing baffle II respectively；The front deck rear end is spirally connected with sealing baffle I；The rear end of sealing baffle II is spirally connected with tail shell, and the forward and backward cabin is provided with towing frame and towing plate；Equipped with transmitting basic matrix and reception basic matrix in the front deck；Electronic compartment is provided with the rear deck, emitter, receiver, power module, movable information Fusion Module are provided with the electronic compartment；The present invention, to multiple data sources movable information fusion treatment, exports unique high-precision motion information using movable information Fusion Module；A variety of speed of a ship or plane input interfaces and communication protocol interface are integrated, solve the problems, such as that flight path remotely differentiates the problem of using the speed of a ship or plane relatively low in poor and contract aperture sonar apart from sonar upwards in side scan sonar.
Description
Technical field
The present invention relates to marine exploration engineering technology apparatus field, sound is swept in more particularly to a kind of efficient self-adapted aperture side
.
Background technology
With ocean science, the deep development of marine economy, cognition and exploitation to ocean have spread all over each area of ocean
Domain, the ability need more and more higher to detecting equipment, wherein to detect equipment detection efficient requirement be most important demand it
One.
The side scan sonar of current main-stream is the sidepiece that sonar array is arranged on to carrier platform (being usually towed body or UUV),
Sonar array launches sound wave to side-lower and receives the sound wave that reflects during work, sound wave is acquired, AD conversion, filtering
The signal processor of main control end is uploaded to afterwards.By doing image reconstruction process on signal processor, obtain at left and right sides of sonar
Submarine geomorphy histogram picture.
One weak point of side scan sonar is that it is directly proportional to target range along course made good resolution ratio, and target range is got over
Far, resolution sizes are bigger, i.e., resolution capability is poorer.In order to solve the problem, synthetic aperture sonar has been developed.
Synthetic aperture sonar is to form virtual large aperture in the movement along course made good using small-bore basic matrix, by echo
Data carry out Coherent processing, obtain linear resolution constant on flight path direction, drastically increase this pass of imaging resolution capability
Key index.
Synthetic aperture sonar in order to avoid imaging when azimuth ambiguity occurs, it is desirable to the sonar in individual pulse transmit cycle
Half of the forward travel distance no more than array length.This just significantly limit the work speed of a ship or plane, so as to have impact on the detection of sonar set
Efficiency.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of efficient self-adapted aperture side scan sonar, for existing skill
Deficiency in art, using movable information Fusion Module is provided with electronic compartment, received as motion sensor data source and sonar
Middleware between machine, after multiple data sources motion information transmission to movable information Fusion Module, through movable information processing module
After fusion treatment, unique high-precision motion information is exported to receiver；Solves flight path distant place upwards in side scan sonar
Differentiate the problem of using the speed of a ship or plane relatively low in the problem of poor and contract aperture sonar.
To reach above-mentioned purpose, technical scheme is as follows：A kind of efficient self-adapted aperture side scan sonar, including head
Portion's kuppe, front deck, rear deck, tail shell, it is characterised in that：
The front deck is spirally connected by the coaxial screens in front end of basic matrix mounting cylinder and is provided with head kuppe, and the rear deck is by sealing
The front-end and back-end of post shell are spirally connected by sealing baffle I, sealing baffle II, O-ring seal screens sealing respectively；The front deck
The rear end of basic matrix mounting cylinder and the screens of sealing baffle I are spirally connected fixation；The rear end of the sealing baffle II and the coaxial screens spiral shell of tail shell
Fixation is connect, towing frame is fixedly installed above the front deck and rear deck, towing plate is equipped with the towing frame；The front deck
Internal fore-and-aft direction is configured with transmitting basic matrix and receives basic matrix；Electronic compartment is fixedly installed by skeleton in the rear deck, it is described
Emitter, receiver, power module, movable information Fusion Module are provided with electronic compartment；
The movable information Fusion Module is configured between motion sensor data source and receiver, and the movable information melts
Various communications protocols interface is integrated with matched moulds block, and is configured with popular motion data protocol decoding software and programmable motion
Sensor decoder software, after to multiple data sources movable information fusion treatment, and export unique high-precision motion information
To receiver.
The multiple speed of a ship or plane input interfaces integrated on the receiver, the speed of a ship or plane input interface include GPS satellite navigation number
According to source, Beidou satellite navigation data source, inertial guidance data source, Doppler log data source.
The communication protocol interface includes serial ports, Ethernet network interface, CAN mouths.
The section of the front deck and the section of rear deck are mutually isometrical coaxial to match setting.
Vertical tail and tailplane are provided with the tail shell, the rear end of the tail shell is equipped with empennage baffle plate.
The front deck is connected with rear deck by watertight cable and the mutual electric signal of sonar watertight socket；After the rear deck
End is provided centrally with towing cable watertight socket.
The present invention operation principle be：The interface of various communications protocols, including serial ports, Ethernet net are configured with hardware
The forms such as mouth, CAN mouths, meet currently conventional motion sensor interface demand；General exercise data had both been write in software
Protocol analysis code, also uses programming device, can pass through identification data mark according to the protocol requirement of different motion sensor
Know and distinguish data source, so as to realize the parsing demand of arbitrary motion sensing data.Therefore, Sonar system is integrated with various protocols
Speed of a ship or plane input interface, including GPS satellite navigation data source, Beidou satellite navigation data source, inertial guidance data source, Doppler have the records of distance by the log
The interface of the multiclass speed of a ship or plane data source such as instrument data source, sonar these data of real-time reception and can extract navigational speed information therein,
The compatibility of sonar is improved, has expanded the use range of sonar；In addition in signal processing, when multi-motion letter being present
When ceasing data source, also using Kalman Filter Technology, fusion treatment is carried out to the navigational speed information of multi-data source, obtains the degree of accuracy
The higher navigational speed information with precision.Adaptive aperture processing is carried out to echo data using navigational speed information, and the real-time speed of a ship or plane is believed
Breath carries out Kalman filtering processing, obtains the speed of a ship or plane situation of change of relative smooth；When the speed of a ship or plane exceedes given threshold, sonar work
Under real mode pore diameter, when the speed of a ship or plane is less than given threshold, sonar is operated under synthetic aperture pattern；Foregoing invention content can be more
Mend the deficiency of side scan sonar resolution ratio, and the deficiency of the synthetic aperture sonar speed of a ship or plane and detection efficient；So that this sonar system
System has more preferable adaptability, on the one hand wider to the accommodation of detection mission, on the other hand carrier platform applicatory
More.
Pass through above-mentioned technical proposal, the beneficial effect of technical solution of the present invention are：Believed using motion is provided with electronic compartment
Fusion Module is ceased, as the middleware between motion sensor data source and sonar receiver, multiple data sources movable information passes
After transporting to movable information Fusion Module, after movable information processing module fusion treatment, unique high-precision motion information is exported
To receiver；It is integrated with the speed of a ship or plane input interface of various protocols, including GPS satellite navigation data source, Beidou satellite navigation data
The interface of the multiclass speed of a ship or plane data source such as source, inertial guidance data source, Doppler log data source, sonar can real-time reception these number
According to and extract navigational speed information therein, improve the compatibility of sonar, expanded the use range of sonar；Utilize navigational speed information pair
Echo data carries out adaptive aperture processing, and carries out Kalman filtering processing to real-time navigational speed information, obtains relative smooth
Speed of a ship or plane situation of change；When the speed of a ship or plane exceedes given threshold, sonar is operated under real mode pore diameter, when the speed of a ship or plane is less than given threshold
When, sonar is operated under synthetic aperture pattern；Solve the deficiency of side scan sonar resolution ratio, and the synthetic aperture sonar speed of a ship or plane and
The problem of detection efficient deficiency.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of efficient self-adapted aperture side scan sonar main sectional view schematic diagram disclosed in the embodiment of the present invention；
Fig. 2 is a kind of efficient self-adapted aperture side scan sonar left view schematic diagram disclosed in the embodiment of the present invention；
Fig. 3 is a kind of efficient self-adapted aperture side scan sonar electronic compartment section amplification signal disclosed in the embodiment of the present invention
Figure.
Corresponding component title of the numeral represented by with letter in figure：
1. the basic matrix mounting cylinder 3. of head kuppe 2. transmitting basic matrix 4. receives basic matrix
5. pulling the electronic compartment 7. of frame 6. pulls the tail shell of plate 8.
9. the sonar watertight socket of 10. empennage baffle plate of vertical tail, 11. tailplane 12.
13. the skeleton of I 14. emitter of sealing baffle, 15. sealing column shell 16.
17. the towing cable watertight socket of 18. power module of receiver, 19. sealing baffle II 20.
21. movable information Fusion Module
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
According to Fig. 1, Fig. 2 and Fig. 3, the invention provides a kind of efficient self-adapted aperture side scan sonar, including head water conservancy diversion
Cover, front deck, rear deck, tail shell.
The front deck is spirally connected by the coaxial screens in front end of basic matrix mounting cylinder 2 and is provided with head kuppe 1, and the rear deck is by close
The front-end and back-end of envelope post shell 15 are spirally connected by sealing baffle I 13, sealing baffle II 19, O-ring seal screens sealing respectively；Institute
State the rear end of the basic matrix mounting cylinder 2 of front deck and the screens of sealing baffle I 13 is spirally connected fixation；The rear end of the sealing baffle II 19 and tail
8 coaxial screens of shell is spirally connected fixation, and towing frame 5 is fixedly installed above the front deck and rear deck, is equipped with the towing frame 5
Pull plate 7；Fore-and-aft direction is configured with transmitting basic matrix 3 and receives basic matrix 4 inside the front deck；It is solid by skeleton 16 in the rear deck
Surely electronic compartment 6 is provided with, emitter 14, receiver 17, power module 18, movable information fusion are provided with the electronic compartment 6
Module 21；
The movable information Fusion Module 21 is configured between motion sensor data source and receiver 17, the motion letter
Various communications protocols interface is integrated with breath Fusion Module 21, and is configured with popular motion data protocol decoding software and may be programmed
Motion sensor decoding software, after to multiple data sources movable information fusion treatment, and export unique high accuracy fortune
Information is moved to receiver 17.
The multiple speed of a ship or plane input interfaces integrated on the receiver 17, the speed of a ship or plane input interface include GPS satellite navigation
Data source, Beidou satellite navigation data source, inertial guidance data source, Doppler log data source.
The communication protocol interface includes serial ports, Ethernet network interface, CAN mouths.
The section of the front deck and the section of rear deck are mutually isometrical coaxial to match setting.
Vertical tail 9 and tailplane 11 are provided with the tail shell 8, the rear end of the tail shell 8 is equipped with empennage baffle plate
10。
The front deck is connected with rear deck by watertight cable and 12 mutual electric signal of sonar watertight socket；The rear deck
Back-end central is provided with towing cable watertight socket 20.
The present invention specific implementation operating procedure be：Electronic compartment 6 is assembled integral：By screw thread by sonar watertight socket
Fix on 12 installation sealing baffles I 13, while be installed to towing cable watertight socket 20 on sealing baffle II 19 admittedly by screw thread
Set, be then installed to skeleton 16 on sealing baffle I 13 by screw, then according to this by receiver 17, emitter 14 and power supply
Module 18 is installed on skeleton 16, after connecting cable, is placed it in the groove of sealing baffle I 13 after O-ring seals
Fixed in insertion sealing column shell 15, finally placed in the groove of sealing baffle II 19 be inserted into after O-ring seals it is close
Fixed in envelope post shell 15.So far, the assembling of electronic compartment 6 finishes.
The transmitting basic matrix 3 of arranged on left and right sides, reception basic matrix 4 are installed on basic matrix mounting cylinder 2 according to this by screw, connected
Well after the cable on transmitting basic matrix 3, reception basic matrix 4 and sealing baffle I 13 between sonar watertight socket 12, by basic matrix mounting cylinder 2
Fix in sealing baffle I 13 on insertion electronic compartment 6, be installed to by head kuppe 1 in basic matrix mounting cylinder 2.
After towing cable watertight socket 20 connects on trailing cable and sealing baffle II 19, tail shell 8 is inserted into sealing baffle
Fixed in II 19, then after successively inserting vertical tail 9, tailplane 11 on tail shell 8 in corresponding neck, will using screw
Empennage baffle plate 10 is installed on tail shell 8, and vertical tail 9, tailplane 11 are fixed on tail shell 8.Then will be dragged using screw
Frame 5 is draged installed in the back of basic matrix mounting cylinder 2 and sealing column shell 15, towing frame 5 is finally fixed on by plate 7 is pulled using screw
In mounting groove.So far, adaptive aperture side scan sonar is installed, and detection mission can be completed by towrope towing.
By above-mentioned specific embodiment, the beneficial effects of the invention are as follows：Merged using movable information is provided with electronic compartment
Module, as the middleware between motion sensor data source and sonar receiver, multiple data sources motion information transmission to fortune
After dynamic information fusion module, after movable information processing module fusion treatment, unique high-precision motion information is exported to reception
Machine；It is integrated with the speed of a ship or plane input interface of various protocols, including GPS satellite navigation data source, Beidou satellite navigation data source, inertial navigation
The interface of the multiclass speed of a ship or plane data source such as data source, Doppler log data source, sonar these data of real-time reception and can carry
Navigational speed information therein is taken, improves the compatibility of sonar, has expanded the use range of sonar；Using navigational speed information to number of echoes
Kalman filtering processing is carried out according to the adaptive aperture processing of progress, and to real-time navigational speed information, the speed of a ship or plane for obtaining relative smooth becomes
Change situation；When the speed of a ship or plane exceedes given threshold, sonar is operated under real mode pore diameter, when the speed of a ship or plane is less than given threshold, sonar
It is operated under synthetic aperture pattern；Solves the deficiency of side scan sonar resolution ratio, and the synthetic aperture sonar speed of a ship or plane and detection are imitated
The problem of rate deficiency.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (4)
1. a kind of efficient self-adapted aperture side scan sonar, it is characterised in that including head kuppe, front deck, rear deck, tail shell；Institute
State front deck and be spirally connected by the coaxial screens in front end of basic matrix mounting cylinder and be provided with head kuppe, the rear deck by sealing column shell front end
It is spirally connected respectively by sealing baffle I, sealing baffle II, O-ring seal screens sealing with rear end；The basic matrix mounting cylinder of the front deck
Rear end and the screens of sealing baffle I be spirally connected fixation；The rear end of the sealing baffle II and the coaxial screens of tail shell are spirally connected fixation, described
Towing frame is fixedly installed above front deck and rear deck, towing plate is equipped with the towing frame；Front and back inside the front deck
Launch basic matrix and reception basic matrix to being configured with；Electronic compartment is fixedly installed by skeleton in the rear deck, set in the electronic compartment
It is equipped with emitter, receiver, power module, movable information Fusion Module；
The movable information Fusion Module is configured between motion sensor data source and receiver, and the movable information merges mould
Various communications protocols interface is integrated with block, and is configured with popular motion data protocol decoding software and programmable motion-sensing
Device decoding software, after to multiple data sources movable information fusion treatment, and unique high-precision navigational speed information is exported to connecing
Receipts machine.
2. a kind of efficient self-adapted aperture side scan sonar according to claim 1, it is characterised in that the movable information melts
Matched moulds block carries out adaptive aperture processing to echo data using navigational speed information, and carries out Kalman filtering to real-time navigational speed information
Processing, obtain the speed of a ship or plane situation of change of relative smooth；When the speed of a ship or plane exceedes given threshold, sonar is operated under real mode pore diameter,
When the speed of a ship or plane is less than given threshold, sonar is operated under synthetic aperture pattern.
3. a kind of efficient self-adapted aperture side scan sonar according to claim 1, it is characterised in that collect on the receiver
Into multiple speed of a ship or plane input interfaces, the speed of a ship or plane input interface include GPS satellite navigation data source, Beidou satellite navigation data
Source, inertial guidance data source, Doppler log data source.
4. a kind of efficient self-adapted aperture side scan sonar according to claim 1, it is characterised in that the communication protocol connects
Mouth includes serial ports, Ethernet network interface, CAN mouths；The section of the front deck and the section of rear deck are mutually isometrical coaxial to match setting；Institute
State and vertical tail and tailplane are provided with tail shell, the rear end of the tail shell is equipped with empennage baffle plate；The front deck and rear deck
Connected by watertight cable with the mutual electric signal of sonar watertight socket；The back-end central of the rear deck is provided with towing cable watertight and inserted
Seat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147106.4A CN107741588B (en) | 2017-11-17 | 2017-11-17 | High-efficient self-adaptation aperture side scan sonar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147106.4A CN107741588B (en) | 2017-11-17 | 2017-11-17 | High-efficient self-adaptation aperture side scan sonar |
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| CN107741588A true CN107741588A (en) | 2018-02-27 |
| CN107741588B CN107741588B (en) | 2023-09-08 |
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Cited By (3)
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| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
| CN113702957A (en) * | 2021-08-27 | 2021-11-26 | 南京海精电子技术有限公司 | Ultra-wide-band high-resolution single-beam side-scan sonar easy to install and using method thereof |
| CN113777613A (en) * | 2021-08-20 | 2021-12-10 | 宁波博海深衡科技有限公司 | Three-dimensional side-scan sonar system and equipment |
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| CN113702957A (en) * | 2021-08-27 | 2021-11-26 | 南京海精电子技术有限公司 | Ultra-wide-band high-resolution single-beam side-scan sonar easy to install and using method thereof |
| CN113702957B (en) * | 2021-08-27 | 2024-04-16 | 海南水声技术有限公司 | Ultra-wideband high-resolution single-beam side-scan sonar easy to install and application method thereof |
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| Publication number | Publication date |
|---|---|
| CN107741588B (en) | 2023-09-08 |
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