CN107748352B - Ultra-short baseline device and positioning method suitable for shallow water positioning - Google Patents
Ultra-short baseline device and positioning method suitable for shallow water positioning Download PDFInfo
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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
- G01S5/183—Emergency, distress or locator beacons
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- G—PHYSICS
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses an ultra-short baseline device and a positioning method suitable for shallow water positioning. The ultra-short baseline device suitable for shallow water positioning comprises a positioning matrix, a deck unit and auxiliary equipment, and is controlled through main control software. The receiving array is provided with a plurality of array elements, each array element is positioned on the same plane, and each array element receives acoustic signals simultaneously. The transmitting transducer is used for transmitting an interrogation signal in a response mode, and is arranged in the middle of an array element of the receiving array. The signal processing board is provided with a processor, and the processor adopts an FPGA and DSP combined architecture. The ultra-short baseline device and the positioning method suitable for shallow water positioning adopt a pulse selection technology and a time delay difference phase correction technology to accurately track and position a target track, and the positioning track is smooth and stable, has few wild points and high positioning precision.
Description
Technical Field
The invention belongs to the technical field of underwater real-time positioning, and particularly relates to an ultra-short baseline device and an ultra-short baseline device positioning method suitable for shallow water positioning, which are suitable for marine engineering such as marine oil exploration and development, underwater salvage, search and rescue and the like, and can be used for accurately positioning and tracking underwater vehicles (ROV, AUV, UUV and the like), towed fishes, submerged buoy, divers and other underwater targets.
Background
With the development of ocean industry, the underwater positioning system is not separated from the underwater positioning system in the aspects of ocean exploration research, ocean engineering, ocean mineral resources, underwater archaeological examination, ocean national defense construction and the like, and high-precision and high-quality positioning data are provided for the underwater positioning system.
The ultra-short baseline positioning is an underwater acoustic positioning technology, the length of the baseline is generally from a few centimeters to tens of centimeters, and the ultra-short baseline positioning is widely applied due to the simple installation and convenient use. The ultra-short baseline positioning system measures the azimuth of a moving target or a fixed target by utilizing the phase difference (or time delay difference) between each array element, measures the distance between the moving target and the fixed target by the time difference between transmission and reception, and then fuses GPS data and the like to realize the three-dimensional positioning of the target.
However, the underwater acoustic channel is complex, especially in shallow water environment, due to the boundary and medium fluctuation effect, multipath delay expansion is caused, and even if the broadband signal detection technology is utilized, the delay acquisition of the real arrival time of the signal still has a certain difficulty due to the multipath effect. Therefore, how to obtain high-quality ultra-short baseline positioning data in such a complex underwater acoustic environment is a difficulty in underwater positioning.
Disclosure of Invention
The present invention addresses the above-mentioned shortcomings in the prior art by providing an ultra-short baseline device and an ultra-short baseline device positioning method suitable for shallow water positioning.
The invention adopts the following technical scheme that the ultra-short baseline device suitable for shallow water positioning comprises a positioning matrix, a deck unit and auxiliary equipment, and is controlled by main control software, wherein:
the auxiliary device includes a GPS device and a beacon;
The positioning matrix comprises a receiving matrix, a transmitting transducer, a watertight shell, watertight cables, a signal processing board and an electronic compass; the receiving array is provided with a plurality of array elements, each array element is positioned on the same plane, each array element receives acoustic signals at the same time, and data after the acoustic-electric conversion is sent to the signal processing board; the transmitting transducer is used for transmitting an interrogation signal in a response mode and is arranged in the middle of an array element of the receiving array; the watertight cable is used for connecting the positioning matrix and the deck unit; the signal processing board is provided with a processor, and the processor adopts an FPGA and DSP combined architecture; and the electronic compass measures three-axis information of the positioning matrix in real time and sends the data to the signal processing board for resolving.
According to the technical scheme, the deck unit comprises a chassis, a power supply and an interface processing board; the chassis comprises a front panel and a rear panel, wherein the front panel is used for displaying a state, and the rear panel is a switch control area and is provided with a pluggable connector; the power supply comprises an input power supply processing module, a switching power supply module and a linear voltage stabilizing module.
According to the technical scheme, the chassis adopts a standard 1U on-shelf chassis structure.
According to the technical scheme, the interface processing board is used for receiving and forwarding data, instructions and synchronous signals, and the deck unit is provided with a standard network output interface.
According to the technical scheme, the positioning matrix adopts an integrated matrix, and the receiving matrix adopts a 4-element cross receiving matrix.
According to the technical scheme, the watertight housing adopts a cylindrical structure and is made of a titanium alloy material.
According to the technical scheme, the electronic Luo Panan is arranged in the watertight housing and is fixedly connected with the inner housing wall of the watertight housing through 4 screws.
The invention also discloses a positioning method of the ultra-short baseline device suitable for shallow water positioning, which comprises a pulse selecting step and a time delay difference phase correction step.
According to the above technical solution, the pulse selecting step includes the following steps:
step S1, low-amplitude pulse rejection: eliminating pulses with amplitude less than 0.4 times of the maximum amplitude pulse;
Step S2, inter-period pulse rejection: comparing each pulse with the historical pulse of the array element according to the maximum time delay change generated by the maximum working period and the maximum navigational speed, and eliminating the pulse with the period change larger than the limit;
Step S3, pulse elimination among array elements: calculating the time delay difference between every two array elements according to the maximum time delay difference between the array elements caused by the base line length, and eliminating the pulse with the variation between the array elements larger than the limit;
Step S4, selecting time delay difference pulses: and solving the pulse corresponding to the minimum delay difference between every two array elements of the history.
According to the above technical scheme, the delay difference phase correction step includes the following steps:
And obtaining the time delay difference between every two array elements as an initial measurement value of the time delay difference, and then carrying out phase correction, namely reflecting the phase difference value to a corrected value of the time delay difference, namely obtaining the difference value of the time delay difference initial measurement value and the phase corrected value, namely obtaining the phase corrected value of the time delay difference:
Δτ correction value ＝Δρ/2πf0
Δτ Phase correction value ＝Δτ initial measurement value -Δτ correction value
Wherein Δρ is the phase difference between every two array elements; f 0 is the center frequency of the wideband signal.
The ultra-short baseline device and the positioning method suitable for shallow water positioning have the advantages that the pulse selection technology and the time delay difference phase correction technology are adopted to accurately track and position the target track, the positioning track is smooth and stable, the number of wild points is small, and the positioning precision is high.
Drawings
Fig. 1 is a system block diagram of a preferred embodiment of the present invention.
Fig. 2 is a schematic diagram of a time delay solving method according to a preferred embodiment of the present invention.
Fig. 3 is a schematic diagram of a pulse picking method according to a preferred embodiment of the present invention.
Fig. 4 is a schematic diagram of delay-difference phase correction according to a preferred embodiment of the present invention.
Detailed Description
The invention discloses an ultra-short baseline device suitable for shallow water positioning and a positioning method of the ultra-short baseline device suitable for shallow water positioning, and the detailed description of the invention is further described below with reference to the preferred embodiments.
Referring to fig. 1 of the drawings, fig. 1 shows a modular structure of the ultra-short baseline apparatus (which may be simply referred to as the ultra-short baseline apparatus in the following description and drawings of the specification) suitable for shallow water positioning. Preferably, the ultra-short baseline device suitable for shallow water positioning comprises a positioning matrix and a deck unit, and is controlled by main control software. The ultra-short baseline device suitable for shallow water positioning is also provided with auxiliary equipment when in use, wherein the auxiliary equipment comprises GPS equipment and a beacon.
The positioning matrix preferably adopts an integrated matrix, and comprises a receiving matrix, a transmitting transducer, a watertight shell, watertight cables, a signal processing board and an electronic compass (course and gesture measuring equipment).
The receiving matrix preferably adopts a 4-element cross receiving matrix, and the 4-element cross receiving matrix forms an ultra-short base line matrix of the ultra-short base line device. The 4-element cross receiving matrix is provided with a plurality of array elements, each array element is positioned on the same plane, each array element receives acoustic signals at the same time, and data after acoustic-electric conversion are sent to the signal processing board. The distance between the matrixes is small, so that the matrixes are convenient to carry and arrange.
The transmitting transducer is used for transmitting an interrogation signal in a response mode and is arranged in the middle of an array element of the 4-element cross receiving array.
The watertight shell is a carrier of the positioning matrix, adopts a cylindrical structure and is made of titanium alloy materials so as to meet the requirements on equipment weight and seawater corrosion resistance.
Wherein the watertight cable is used for connecting the positioning matrix and the deck unit.
The signal processing board is the core of the whole positioning matrix and is responsible for conditioning, collecting, transmitting, processing and transmitting acoustic signals. The signal processing board is provided with a processor, and the processor adopts an FPGA and DSP combined architecture so as to fully exert respective advantages. The FPGA completes tasks such as data acquisition, signal processing, signal detection and the like, and the DSP completes tasks such as pulse selection, data communication and the like.
And the electronic compass measures three-axis information of the positioning matrix in real time and sends the data to the signal processing board for resolving. The electronics Luo Panan are mounted in the watertight housing and fixedly connected to the inner housing wall of the watertight housing by 4 screws. In the test process, the electronic compass cannot be loosened, otherwise, the electronic compass needs to be calibrated again according to the angle deviation.
Wherein, deck unit includes quick-witted case, power and interface processing board. The chassis is a carrier for deck units, preferably using a standard 1U on-shelf chassis configuration. The chassis comprises a front panel and a rear panel, wherein the front panel is used for displaying a state, and the rear panel is a switch control area and is provided with a pluggable connector. The power supply provides direct current power supply for equipment such as deck units and positioning matrixes, and comprises an input power supply processing module, a switching power supply module and a linear voltage stabilizing module.
The interface processing board is a relay of the deck unit and is used for receiving and forwarding data, instructions and synchronous signals. The deck unit is provided with a standard network output interface, and can be used for fusing information such as navigation attitude, DSP and the like to perform more accurate positioning.
The main control software is used for displaying the real-time position and the motion trail of the underwater target, and can display a plurality of target information, including the position information of the relative positioning matrix and the absolute geodetic coordinate information. Meanwhile, the position track and the attitude change of the ship can be displayed, and the quick acoustic performance analysis can be performed. The interface is a full Chinese interface, and is simple and easy to use.
The GPS equipment supports the output of GPRMC, GPGGA and other protocols in NMEA 0183 format. The beacon supports both synchronous and acknowledged modes of operation.
According to the above preferred embodiment, the present invention further discloses an ultra-short baseline device positioning method suitable for shallow water positioning, and the ultra-short baseline device positioning method suitable for shallow water positioning mainly relates to a pulse selection step and a delay difference phase correction step. In an ultra-short baseline device, the delay of each channel needs to be estimated. The ultra-short baseline device positioning method suitable for shallow water positioning comprises the following steps.
Step 1, estimating the time delay by adopting copy correlation commonly adopted by a broadband signal system.
Let s (T) be the signal emitted by the sound source, its signal duration T. The signal x (t) received by the array element is expressed as:
x(t)＝ks(t-τ)+n(t)
where k represents the amplitude of the signal, τ is the delay of signal transmission and n (t) is additive noise.
The received signal x (t) is correlated with the reference signal s (t) to obtain a correlation function:
Where R SS (τ) is the autocorrelation function of s (t), and P (τ) is the result of the correlation of the reference signal s (t) with n (t), respectively. Since the autocorrelation function R SS (τ) satisfies
|RSS(τ)|≤RSS(0)
If a proper signal form s (t) is selected, the peak value of the autocorrelation function is sharp, so that the influence of P (tau) on R (tau) at tau moment is small, then a method for detecting the position of R (tau) peak value can be used for obtaining the determined time delay tau and amplitude a, and the phase rho at the peak value point is taken out, so that the time delay, phase and amplitude of the signal arrival can be determined.
The positioning matrix calculates the time delay, phase and amplitude information of the received signals through the method, transmits the time delay, phase and amplitude information to a deck unit on the shore through a watertight cable, fuses other information by the deck unit, and transmits the information to the main control software for further positioning calculation.
And step2, a pulse selection step.
Due to multipath effect of shallow water environment, there may be multiple peak pulses of each array element satisfying the condition, and the pulses satisfying the condition need to be further screened in the main control software. Mainly comprises the following steps:
step S1: low amplitude pulse rejection: and eliminating the pulse with the amplitude less than 0.4 times of the maximum amplitude pulse, and avoiding the pulse with small energy from participating in positioning. Namely, the pulse amplitude satisfying the condition needs to satisfy the following conditions:
a≥amax*0.4
Wherein a max represents the amplitude value of the maximum amplitude pulse; the coefficient of 0.4 is chosen based on the assumption that the amplitude of the multi-pass pulse in the multi-pass model is not greater than 0.4 times the true signal pulse.
Step S2: cycle-time pulse rejection: and comparing each pulse with the historical pulse of the array element according to the maximum time delay change generated by the maximum working period and the maximum navigational speed, and eliminating the pulse with the period change larger than the limit. That is, compared with the history pulse, the pulse delay variation in the present period satisfies the following conditions:
Δτ≤T Duty cycle *V Speed of navigation *1852/3600/C Sound velocity
Wherein T Duty cycle is the system positioning working period and unit S; v Speed of navigation is the target movement speed, unit Knot; c Sound velocity represents the sound velocity value in m/s.
Step S3: pulse elimination among array elements: and calculating the time delay difference between every two array elements according to the maximum time delay difference between the array elements caused by the base line length, and eliminating the pulse with the variation between the array elements larger than the limit. Namely, the pulse time delay difference between every two array elements meets the following conditions:
Δτ≤L Length of base line /C Sound velocity
Wherein L Length of base line represents the base line length between every two array elements, and the unit is m; c Sound velocity represents the sound velocity value in m/s.
Step S4: and (3) time delay difference pulse selection: and solving the pulse corresponding to the minimum delay difference between every two array elements of the history. After the pulse is removed according to the above, the residual pulse meets the maximum error allowed by the amplitude requirement, the working period, the working navigational speed and the base line length. Assuming that 4 receiving array elements are respectively represented by 1#, 2#, 3#, and 4# array elements, the 1# and 3# array elements are used for X-axis (north) positioning, the 2# and 4# array elements are used for Y-axis (east) positioning, the time delay difference between the 1# and 3# array elements is calculated, and a pulse corresponding to the minimum time delay difference change between the historical 1# and 3# array elements is obtained.
Δτ13＝min(Δτ-Δτ13')
Where Δτ is the delay difference between the 1# and 3# pulses of the current period, and Δτ 13' is the delay difference between the 1# and 3# elements of the historical period.
Similarly, the pulse corresponding to the smallest delay difference change between the historical 2# and 4# array elements can be obtained.
Δτ24＝min(Δτ-Δτ24')
And step 3, a delay difference phase correction step.
The target pulse obtained through the pulse selection step is used for obtaining the time delay difference between every two array elements as the initial measurement value of the time delay difference, and the phase correction is needed to be carried out to further improve the positioning precision of the ultra-short base line, namely the phase difference value is reflected to the correction value of the time delay difference, and the difference value of the time delay difference initial measurement value and the time delay difference correction value is the time delay difference phase correction value.
Δτ correction value ＝Δρ/2πf0
Δτ Phase correction value ＝Δτ initial measurement value -Δτ correction value
Wherein Δρ is the phase difference between every two array elements; f 0 is the center frequency of the wideband signal;
In practice, the received signal needs to be sampled and then correlated. The received signals x 1 (t) and x 2 (t) are sampled at a sampling rate F S＝1/TS to obtain x 1(nTS) and x 2(nTS), which are correlated with the reference signal S (nT S) and its hilbert transform H [ S (nTs) ] to obtain R 1(mTS)、RH1(mTS)、R2(mTS)、RH2(mTS:
Wherein R 1(mTS)、RH1(mTS) constitutes one set of complex signals and R 2(mTS)、RH2(mTS) constitutes another set of complex signals. The envelope is subjected to peak selection, the time delay tau 1、τ2 is obtained, and the phase rho 1、ρ2 at the peak point is taken out, wherein rho 1、ρ2 is calculated as follows:
wherein Im is the imaginary part of the expression, and Re is the imaginary part of the expression.
The delay difference phase correction value is:
Δτ＝(τ1-τ2)-(ρ1-ρ2)/(2πf0)。
Modifications of the embodiments described above, or equivalents of some of the features may be made by those skilled in the art, and any modifications, equivalents, improvements or etc. within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The ultra-short baseline device positioning method suitable for shallow water positioning is characterized in that the ultra-short baseline device positioning method suitable for shallow water positioning is applied to an ultra-short baseline device positioning device suitable for shallow water positioning, and the ultra-short baseline device positioning device suitable for shallow water positioning comprises a positioning matrix, a deck unit and auxiliary equipment, and is controlled through main control software at the same time, wherein:
the auxiliary device includes a GPS device and a beacon;
The positioning matrix comprises a receiving matrix, a transmitting transducer, a watertight shell, watertight cables, a signal processing board and an electronic compass; the receiving array is provided with a plurality of array elements, each array element is positioned on the same plane, each array element receives acoustic signals at the same time, and data after the acoustic-electric conversion is sent to the signal processing board; the transmitting transducer is used for transmitting an interrogation signal in a response mode and is arranged in the middle of an array element of the receiving array; the watertight cable is used for connecting the positioning matrix and the deck unit; the signal processing board is provided with a processor, and the processor adopts an FPGA and DSP combined architecture; the electronic compass measures three-axis information of the positioning matrix in real time and sends the data to the signal processing board for resolving;
The ultra-short baseline device positioning method suitable for shallow water positioning comprises a pulse selecting step and a delay difference phase correction step, wherein the pulse selecting step comprises the following steps of:
step S1, low-amplitude pulse rejection: eliminating pulses with amplitude less than 0.4 times of the maximum amplitude pulse;
Step S2, inter-period pulse rejection: comparing each pulse with the historical pulse of the array element according to the maximum time delay change generated by the maximum working period and the maximum navigational speed, and eliminating the pulse with the period change larger than the limit; the limited pulse of step S2 is embodied as: compared with the historical pulse, the pulse time delay variation of the period meets the following conditions:
，
Wherein T Duty cycle is the system positioning working period and unit S; v Speed of navigation is the target movement speed, unit Knot; c Sound velocity represents the sound velocity value in m/s;
Step S3, pulse elimination among array elements: calculating the time delay difference between every two array elements according to the maximum time delay difference between the array elements caused by the base line length, and eliminating the pulse with the variation between the array elements larger than the limit; the limited pulse of step S3 is embodied as: the pulse delay difference between every two array elements meets the following conditions:
，
Wherein L Length of base line represents the base line length between every two array elements, and the unit is m; c Sound velocity represents the sound velocity value in m/s;
Step S4, selecting time delay difference pulses: and solving the pulse corresponding to the minimum delay difference between every two array elements of the history.
2. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 1, wherein the step of time delay difference phase correction comprises the steps of:
And obtaining the time delay difference between every two array elements as an initial measurement value of the time delay difference, and then carrying out phase correction, namely reflecting the phase difference value to a corrected value of the time delay difference, namely obtaining the difference value of the time delay difference initial measurement value and the phase corrected value, namely obtaining the phase corrected value of the time delay difference:
，
wherein, Is the phase difference between every two array elements; /(I)Is the center frequency of the wideband signal.
3. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 1, wherein the deck unit comprises a chassis, a power supply and an interface processing board; the chassis comprises a front panel and a rear panel, wherein the front panel is used for displaying a state, and the rear panel is a switch control area and is provided with a pluggable connector; the power supply comprises an input power supply processing module, a switching power supply module and a linear voltage stabilizing module.
4. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 3, wherein the chassis adopts a standard 1U on-shelf chassis structure.
5. A method of positioning an ultra-short baseline device for shallow water positioning according to claim 3, wherein the interface processing board is adapted to receive and forward data, instructions, synchronization signals, and the deck unit has a standard network output interface.
6. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 1, wherein the positioning array is an integrated array, and the receiving array is a 4-element cross receiving array.
7. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 1, wherein the watertight housing is in a cylindrical structure and is made of a titanium alloy material.
8. The method for positioning an ultra-short baseline device for shallow water positioning according to claim 1, wherein the electronic Luo Panan is installed in a watertight case and is fixedly connected with an inner case wall of the watertight case by 4 screws.
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| CN108387891B (en) * | 2018-03-21 | 2021-08-31 | 中国科学院电子学研究所 | Ultra-wideband radar interference two-dimensional positioning and tracking method based on short baseline one-sending and two-receiving |
| CN110389318B (en) * | 2018-04-18 | 2021-06-08 | 中国科学院声学研究所 | Underwater mobile platform positioning system and method based on three-dimensional six-element array |
| CN109039479A (en) * | 2018-07-16 | 2018-12-18 | 哈尔滨工程大学 | A kind of Long baselines underwater sound signal transmitting-receiving process equipment and its signal processing method |
| CN110703259B (en) * | 2019-10-22 | 2021-06-18 | 哈尔滨工程大学 | Underwater acoustic array channel phase consistency calibration method based on moving sound source |
| CN110703197B (en) * | 2019-11-08 | 2021-09-07 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
| CN117234059A (en) * | 2023-09-22 | 2023-12-15 | 浙江大学 | Underwater time service method and system |
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