CN108981481B - Target-off-target measuring system for target ship on lake - Google Patents
Target-off-target measuring system for target ship on lake Download PDFInfo
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- CN108981481B CN108981481B CN201811037592.9A CN201811037592A CN108981481B CN 108981481 B CN108981481 B CN 108981481B CN 201811037592 A CN201811037592 A CN 201811037592A CN 108981481 B CN108981481 B CN 108981481B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/04—Seagoing targets
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A lake target ship miss distance measuring system comprises at least more than three sets of buoy subsystems with the same structure, wherein each buoy subsystem comprises a GPS antenna and the like; the GPS antenna acquires the longitude and latitude, the height and the time of the buoy subsystem and sends the longitude and latitude, the height and the time to the watertight box, and the radio antenna receives GPS differential signals and sends the GPS differential signals to the watertight box; the hydrophone collects the underwater sound signal and sends the underwater sound signal to the watertight box in real time; the fish lead is connected with the hydrophone to enable the hydrophone to be in a vertical state, and the anchoring unit is used for fixing the buoy subsystem; the watertight box is arranged on the buoyancy tank, so that the watertight box floats on the water surface; and the watertight box extracts the transmitted longitude and latitude, height and time information of the buoy subsystem, the GPS differential signal and the underwater sound signal, converts the extracted signals into underwater sound information and position information corresponding to the time information and stores the underwater sound information and the position information. The invention can realize data fusion, self-positioning and data storage of the buoy subsystem, and can measure the miss distance information of the dynamic target ship on the lake after offline processing.
Description
Technical Field
The invention relates to the field of long-baseline underwater sound passive positioning measurement, in particular to a low-cost lake target ship miss distance measurement system.
Background
In a shooting range test, the miss distance is an important index for measuring the shooting accuracy and performance of a missile or weapon, is the relative distance and angle between the missile and a target when the missile misses the target, and is an important index for measuring the damage capability of the missile on the target. Currently, the main methods for measuring off-target are: the underwater sound measuring method has the unique advantages of being greatly influenced by factors such as clutter, fog and wind. Compared with a land target range, the off-target measurement on the lake is more difficult, and the off-target measurement is influenced by wind and wave factors, weather factors, multipath effects in lake water and the like, so that high requirements are provided for the reliability and the measurement precision of measurement equipment.
In the off-target water sound measurement technology, the ultra-short baseline measurement technology, the short baseline measurement technology and the long baseline measurement technology can be divided according to different lengths of baselines. The ultra-short baseline measurement technology and the short baseline measurement technology have high requirements on the precision of the relative installation position of equipment and need a large amount of calibration work, and the long baseline measurement technology has low requirements on the precision, so that the long baseline underwater acoustic measurement technology also becomes a preferred technology in off-target measurement in the large-range measurement on lakes. The long baseline measurement system needs to arrange more than 3 array elements, namely buoys, in a range of hundreds of meters or kilometers, so as to form an array type covering a measurement area, and further receive signals when water is shot in.
At present, the structure and hardware system of the existing underwater sound positioning and measuring system in China are complex in design and high in cost, and the realized short-baseline measuring system can only measure a target ship in a static state in water, cannot measure a dynamic target ship and cannot meet the actual use requirement of the system. Aiming at the phenomenon and the working condition characteristics of shallow water depth on the lake and the like, the task requirement of measuring the miss distance of the target ship on the lake is met, the index requirements of low cost, simple structure, stable performance, high measurement precision and measurement dynamic target ship are met, and a new low-cost miss distance measurement system for the target ship on the lake is urgently needed to be designed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system is low in laying and recycling difficulty, simple in structure, low in cost and high in measurement precision, and can measure the miss distance information of the dynamic target ship on the lake through data fusion, self-positioning, data storage and off-line processing of a single buoy subsystem.
The technical scheme adopted by the invention is as follows: a lake target ship miss distance measuring system comprises at least more than three sets of buoy subsystems with the same structure, wherein each buoy subsystem comprises a GPS antenna, a radio antenna, a watertight box, a buoyancy tank, a hydrophone, a fish lead and an anchor system unit; the GPS antenna acquires the longitude and latitude, the height and the time of the buoy subsystem and sends the longitude and latitude, the height and the time to the watertight box, and the radio antenna receives GPS differential signals and sends the GPS differential signals to the watertight box; the hydrophone collects the underwater sound signal and sends the underwater sound signal to the watertight box in real time; the fish lead is connected with the hydrophone, so that the hydrophone is kept in a vertical state, the hydrophone is positioned on the central axis of the GPS antenna and is positioned right below the GPS antenna, and the anchoring unit is used for fixing the buoy subsystem; the watertight box is arranged on the buoyancy tank, so that the watertight box floats on the water surface; and the watertight box extracts the transmitted longitude and latitude, height and time information of the buoy subsystem, the GPS differential signal and the underwater sound signal, converts the extracted signals into underwater sound information and position information corresponding to the time information and stores the underwater sound information and the position information.
GPS antenna and radio antenna fix respectively in the outside top of watertight case, and GPS antenna and radio antenna connect respectively on two BNC interfaces on the GPS receiver.
The power supply interfaces of the GPS receiver and the data fusion plate are respectively connected to the battery pack through the DCDC converter, and the battery pack supplies power to the GPS receiver and the data fusion plate; the GPS receiver receives longitude and latitude, height and time information sent by a GPS antenna and a GPS differential signal sent by a radio antenna, and after the longitude and latitude and the height information are calibrated by the GPS differential signal, the calibrated longitude and latitude, height information, pps second pulse information and time information are sent to the data fusion plate; the data fusion plate is connected with the GPS receiver through a serial port, and converts the underwater sound signals sent by the hydrophone, the longitude and latitude, the height, the pps second pulse, the time information and the GPS differential signals sent by the GPS receiver into the underwater sound information and the position information corresponding to the time information and stores the underwater sound information and the position information.
The data fusion board comprises a dual-channel A/D converter, a DSP (digital signal processor) and an SD (secure digital) memory card, wherein the output end of the dual-channel A/D converter is interconnected with the DSP, and the SD memory card is respectively interconnected with the DSP; the double-channel A/D converter performs analog-to-digital conversion on underwater acoustic signals, converts the underwater acoustic signals into digital signals and then sends the digital signals to the DSP, the DSP receives real-time data sent by the GPS receiver through a serial port, the real-time data comprises longitude and latitude, height, pps second pulse, time information and GPS differential signals, the DSP carries a data fusion program, and the data fusion program operates according to the following steps:
step one, completing buoy subsystem initialization, and starting SYS/BIOS, comprising the following steps: the enabling parameter configuration and the interrupt parameter configuration of the GPS receiver, the A/D converter and the SD memory card form a thread task: task 1, task 2, and hardware thread interrupts: interrupt 1, interrupt 2, interrupt 3;
step two, the task 1 issues a semaphore sem _ task and starts to cache underwater sound information collected by the A/D converter;
step three, when a pps second pulse comes, interrupting the setting of a 1 set flag _ pps;
step four, when the serial port finishes collecting a piece of GPS information, interrupting the setting 2 of the flag _ uart;
after the buoy subsystem is started up, generating an interrupt 3 every other set adoption period, further controlling the sampling rate of the A/D converter, triggering an A/D sampler to collect, reading an A/D conversion result, and putting A/D conversion data into a cache;
step six, when the flag _ pps or the flag _ uart is detected, pps second pulse or GPS information is put into a cache, after the execution of the interrupt 3 is interrupted for 1-5 seconds, the semaphore sem _ SD is issued, and the task 2 is switched to;
step seven, the task 2 issues semaphore sem _ main, writes the underwater sound information and the position information corresponding to the time information into the SD memory card, and completes the storage of an underwater sound information and position information data packet corresponding to the time information;
and step eight, repeating the step one to the step seven, and finishing the storage of the next data packet until the acquisition task of the buoy subsystem is finished.
The floating box comprises two floating bodies, a connecting beam and a floating box connecting hole, the connecting beam connects the two floating bodies, the watertight box is connected with the mounting hole on the connecting beam through a stainless steel screw, and the watertight box is positioned above the connecting beam.
The hydrophone is fixed under the bottom of the watertight box through a watertight cable, the output end of the hydrophone is connected with the input end of the double-channel A/D converter, and the fish lead is connected with the hydrophone through a soft rope.
The anchoring unit comprises a Kevlar rope and a cement anchor block, a screw buckle hook and a screw buckle hook are respectively arranged at two ends of the Kevlar rope, the screw buckle hook is interconnected with the connecting hole of the buoyancy tank, and the screw buckle hook is interconnected with the cement anchor block.
The watertight box uses a sealing rubber ring to seal the box cover.
Compared with the prior art, the invention has the advantages that:
1. the system of the invention provides a long-baseline underwater sound passive measurement scheme for the off-target measurement task requirement of the target ship on the lake to replace the existing short-baseline measurement scheme, thereby realizing the measurement of the dynamic target ship and improving the effective measurement area range of the catapult zone;
2. the invention is characterized in that in the aspect of hardware circuit: the data fusion plate and the GPS receiver are used as main hardware, hardware such as an acoustic plate, a conversion plate and the like in the traditional buoy are omitted, the redundant design of a hardware system is simplified, the signal measurement precision is improved, and the hardware cost is reduced;
3. the invention is characterized in that: the upper and lower stacking structure of the buoyancy tank bearing watertight tank is provided, the structure is simple and reliable, the anchor system units are easy to install and arrange, the engineering application difficulty is reduced, and meanwhile, the watertight tank can prevent the splashing of rain forests and waves;
4. the invention is characterized in that in the aspect of data processing: fusing GPS information, underwater sound information and time information acquired by the buoy subsystem together to form an effective data packet, acquiring the underwater sound information and the buoy subsystem position information corresponding to the moment by calling a point-of-drop moment point, and calculating miss distance information by off-line processing; the system has a self-positioning function, and the buoy subsystem array does not need self-calibration, so that the implementation difficulty of the engineering is reduced.
Drawings
FIG. 1 is a schematic diagram of the general structure of the off-target measurement system of a target ship on a lake;
FIG. 2 is a side view of the overall appearance of the single buoy subsystem of the present invention;
FIG. 3 is a top view of the overall appearance of the single buoy subsystem of the present invention;
FIG. 4 is a block diagram of the internal structure of a watertight box of a single-set buoy subsystem according to the present invention;
FIG. 5 is a block diagram of a data fusion board structure of a single buoy subsystem according to the present invention;
FIG. 6 is a flow chart of a data fusion program algorithm;
fig. 7 is a schematic field view of an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
fig. 1 is a schematic diagram of the overall structure of the off-target measurement system for the target ship on the lake, and it can be seen that the system comprises four sets of the same buoy subsystems, wherein each buoy subsystem comprises a GPS antenna 1, a radio antenna 2, a watertight box 3, a buoyancy box 4, a hydrophone 5, a fish lead 6 and an anchor system unit 7. When the system starts to execute a task, the buoy subsystems are towed to a preset bounce-down point area by a tugboat, anchor blocks in the anchor system units 7 are lowered into water, four sets of the buoy subsystems are distributed into square arrays, long base line arrays with side lengths larger than hundreds of meters are formed, and as shown in fig. 7, the buoy subsystems are manually electrified to wait for the start of a target practice task.
The GPS antenna 1 and the radio antenna 2 are respectively fixed above the outside of the watertight box 3, and the GPS antenna 1 and the radio antenna 2 are respectively connected to two BNC interfaces on a GPS receiver 8;
as shown in fig. 2 and fig. 3, it can be seen from the overall appearance side view and the top view of the single-set buoy subsystem that the buoy subsystem adopts a top-down stacking structure, mainly comprising two floating bodies 19 floating on the water surface and lifting the watertight box 3 above the water surface through a connecting beam 20, a hydrophone 5 connected with a fish lead 6 is hung under the watertight box, so that the hydrophone 5 is located on the central axis of the GPS antenna 1 and under the GPS antenna 1, so as to obtain accurate buoy subsystem position information, the GPS antenna 1 and the radio antenna 2 are fixed over the watertight box, and the anchor system unit 7 fixes the whole buoy subsystem at respective area position.
FIG. 4 is a block diagram of the internal structure of a single buoy subsystem watertight box according to the present invention, in which the watertight box 3 includes a GPS receiver 8, a data fusion plate 9, a battery pack 10, and a DCDC converter 11 fixed inside the watertight box 3, power interfaces of the GPS receiver 8 and the data fusion plate 9 are respectively connected to the battery pack 10 through the DCDC converter 11, and when the system is powered on, the DCDC converter 11 outputs voltages of 12V and 5V, respectively, to supply power to the GPS receiver 8 and the data fusion plate 9; after the task starts, the GPS receiver 8 receives the longitude and latitude, the height and the time information sent by the GPS antenna 1 and the GPS differential signal sent by the radio antenna 2, calibrates the longitude and latitude and the height information by using the GPS differential signal, and sends the calibrated longitude and latitude, height information, pps second pulse information and time information to the data fusion plate 9; the data fusion plate 9 is connected with the GPS receiver 8 through a serial port, and the data fusion plate 9 converts the underwater sound signals sent by the hydrophone 5, the longitude and latitude, the height, the pps pulse, the time information and the GPS differential signals sent by the GPS receiver 8 into the underwater sound information and the position information corresponding to the time information and stores the underwater sound information and the position information.
FIG. 5 is a block diagram of a data fusion board structure of a single buoy subsystem according to the present invention, wherein the data fusion board 9 includes a dual-channel A/D converter 12, a DSP processor 13, and an SD memory card 15, an output end of the dual-channel A/D converter 12 is interconnected with the DSP processor 13, and the SD memory card 15 is interconnected with the DSP processor 13, respectively; the double-channel A/D converter 12 carries out analog-to-digital conversion on the underwater sound signals, the underwater sound signals are converted into digital signals and then are sent to the DSP 13, the DSP 13 receives real-time data sent by the GPS receiver 8 through a serial port, the real-time data comprise longitude and latitude, height, pps pulse, time information and GPS differential signals, the DSP 13 is provided with a data fusion program, and a plurality of underwater sound information and position information data packets corresponding to the time information can be stored in an SD memory card 15 of each buoy subsystem after the data fusion program is processed.
FIG. 6 is a flow chart of the data fusion program algorithm, the data fusion program operating as follows:
step one, after each buoy subsystem is electrified, system initialization is completed, and SYS/BIOS is started, and the method mainly comprises the following steps: the enabling parameter configuration and the interrupt parameter configuration of the peripheral (the GPS receiver 8, the A/D converter 12 and the SD memory card 15) form a thread task: task 1, task 2, and hardware thread interrupts: two threads of interruption 1, interruption 2 and interruption 3;
step two, the task 1 issues a semaphore sem _ task and starts to cache the data underwater sound information collected by the A/D converter 12;
step three, when a pps second pulse comes, interrupting the setting of a 1 set flag _ pps;
step four, when the serial port finishes collecting a piece of GPS information (longitude and latitude, height and time), interrupting the setting 2 of the flag _ uart;
step five, after the buoy subsystem is started, generating an interrupt 3 every 20 microseconds (the sampling rate of the buoy subsystem is 50K), further controlling the sampling rate of the A/D converter 12, triggering the A/D sampler 12 to collect, reading an A/D conversion result, and putting the A/D conversion data into a cache;
step six, when the flag _ pps or the flag _ uart is detected, pps second pulse or GPS information is put into a cache, after the execution of the interrupt 3 is interrupted for 1 second, the semaphore sem _ SD is issued, and the task 2 is switched to;
step seven, the task 2 issues semaphore sem _ main, the underwater sound information and the position information corresponding to the time information are written into the SD memory card 15, and at the moment, the SD memory card 15 completes the storage of an underwater sound information and position information data packet corresponding to the time information;
and step eight, repeating the step one to the step seven to finish the storage of the next data packet until the system task is finished.
After the eight steps, a plurality of underwater sound information and position information data packets corresponding to the time information are stored in the SD memory card 15 of each set of buoy subsystem, that is, each time point corresponds to different underwater sound information and buoy subsystem position information, so as to obtain effective data in the shooting time period.
The buoyancy tank 4 comprises two floating bodies 19, a connecting beam 20 and buoyancy tank connecting holes 21, the connecting beam 20 connects the two floating bodies 19, the watertight tank 3 is connected with the mounting holes on the connecting beam 20 through stainless steel screws, and the watertight tank 3 is positioned above the connecting beam 20;
the hydrophone 5 is fixed under the bottom of the watertight box 3 through a watertight cable, the output end of the hydrophone 5 is connected with the input end of the dual-channel A/D converter 12, and the fish lead 6 is connected with the hydrophone 5 through a soft rope;
the anchoring unit 7 comprises a Kevlar 22 and a cement anchor block 23, the two ends of the Kevlar 22 are respectively provided with a screw buckle hook 24 and a screw buckle hook 25, the screw buckle hook 24 is interconnected with the buoyancy tank connecting hole 21, and the screw buckle hook 25 is interconnected with the cement anchor block 23.
The watertight box 3 seals the box cover with a sealing rubber ring.
Fig. 7 is a schematic diagram of the embodiment of the present invention, wherein when a target ship sails through an array of buoy subsystems, a bomb strikes the target ship, when the bomb does not strike the target ship, an underwater acoustic signal for striking water is generated, the underwater acoustic signal is received by each buoy subsystem, and after a target strike test is finished, an SD card is retrieved and data analysis is performed to solve information of a landing point and a miss distance.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (7)
1. The system for measuring the off-target amount of the target ship on the lake is characterized by comprising at least three sets of buoy subsystems with the same structure, wherein each set of buoy subsystem comprises a GPS antenna (1), a radio antenna (2), a watertight box (3), a buoyancy tank (4), a hydrophone (5), a fish lead (6) and an anchor system unit (7); the GPS antenna (1) acquires the longitude and latitude, the height and the time of the buoy subsystem and sends the longitude and latitude, the height and the time to the watertight box (3), and the radio antenna (2) receives GPS differential signals and sends the GPS differential signals to the watertight box (3); the hydrophone (5) collects underwater acoustic signals and sends the underwater acoustic signals to the watertight box (3) in real time; the fish lead (6) is connected with the hydrophone (5) to enable the hydrophone (5) to be kept in a vertical state, the hydrophone (5) is located on the central axis of the GPS antenna (1) and right below the GPS antenna (1), and the anchor system unit (7) is used for fixing the buoy subsystem; the watertight box (3) is arranged on the buoyancy tank (4) so that the watertight box (3) floats on the water surface; the watertight box (3) extracts the transmitted longitude and latitude, height and time information of the buoy subsystem, GPS differential signals and underwater acoustic signals, converts the extracted longitude and latitude, height and time information into underwater acoustic information and position information corresponding to the time information and stores the underwater acoustic information and position information;
the watertight box (3) comprises a GPS receiver (8) and a data fusion plate (9) which are fixed in the watertight box (3), the data fusion plate (9) comprises a dual-channel A/D converter (12), a DSP processor (13) and an SD memory card (15), the output end of the dual-channel A/D converter (12) is interconnected with the DSP processor (13), and the SD memory card (15) is interconnected with the DSP processor (13); the underwater sound signal is subjected to analog-to-digital conversion by the double-channel A/D converter (12), the underwater sound signal is converted into a digital signal and then is sent to the DSP (13), the DSP (13) receives real-time data sent by the GPS receiver (8) through a serial port, the real-time data comprises longitude and latitude, height, pps second pulse, time information and GPS differential signals, the DSP (13) carries a data fusion program, and the data fusion program operates according to the following steps:
step one, completing buoy subsystem initialization, and starting SYS/BIOS, comprising the following steps: the enabling parameter configuration and the interrupt parameter configuration of the GPS receiver (8), the A/D converter (12) and the SD memory card (15) form a thread task: task 1, task 2, and hardware thread interrupts: interrupt 1, interrupt 2, interrupt 3;
step two, the task 1 issues a semaphore sem _ task and starts to cache underwater sound information collected by the A/D converter (12);
step three, when a pps second pulse comes, interrupting the setting of a 1 set flag _ pps;
step four, when the serial port finishes collecting a piece of GPS information, interrupting the setting 2 of the flag _ uart;
after the buoy subsystem is started, generating an interrupt 3 every other set sampling period, further controlling the sampling rate of the A/D converter (12), triggering the A/D sampler (12) to collect, reading an A/D conversion result, and putting A/D conversion data into a cache;
step six, when the flag _ pps or the flag _ uart is detected, pps second pulse or GPS information is put into a cache, after the execution of the interrupt 3 is interrupted for 1-5 seconds, the semaphore sem _ SD is issued, and the task 2 is switched to;
step seven, the task 2 issues semaphore sem _ main, and the underwater sound information and the position information corresponding to the time information are written into the SD memory card (15), so that the storage of an underwater sound information and position information data packet corresponding to the time information is completed;
and step eight, repeating the step one to the step seven, and finishing the storage of the next data packet until the acquisition task of the buoy subsystem is finished.
2. The system of claim 1, wherein the system comprises: GPS antenna (1) and radio antenna (2) are fixed respectively in the outside top of watertight case (3), and GPS antenna (1) and radio antenna (2) are connected respectively on two BNC interfaces on GPS receiver (8).
3. The system for measuring the off-target amount of the target ship on the lake according to claim 1 or 2, wherein: the watertight box (3) comprises a GPS receiver (8), a data fusion plate (9), a battery pack (10) and a DCDC converter (11) which are fixed in the watertight box (3), power interfaces of the GPS receiver (8) and the data fusion plate (9) are respectively connected to the battery pack (10) through the DCDC converter (11), and the battery pack (10) supplies power to the GPS receiver (8) and the data fusion plate (9); the GPS receiver (8) receives the longitude and latitude, the height and the time information sent by the GPS antenna (1) and the GPS differential signal sent by the radio antenna (2), calibrates the longitude and latitude and the height information by using the GPS differential signal, and sends the calibrated longitude and latitude, height information, pps second pulse information and time information to the data fusion plate (9); the data fusion plate (9) is connected with the GPS receiver (8) through a serial port, and the data fusion plate (9) converts the underwater sound signals sent by the hydrophone (5), the longitude and latitude, the height, pps second pulses, time information and GPS differential signals sent by the GPS receiver (8) into the underwater sound information and the position information corresponding to the time information and stores the underwater sound information and the position information.
4. The system for measuring the off-target amount of the target ship on the lake according to claim 1 or 2, wherein: the floating box (4) comprises two floating bodies (19), a connecting beam (20) and a floating box connecting hole (21), the connecting beam (20) connects the two floating bodies (19), the watertight box (3) is connected with a mounting hole in the connecting beam (20) through a stainless steel screw, and the watertight box (3) is located above the connecting beam (20).
5. The system of claim 4, wherein the off-target amount of the target ship on the lake is measured by: the hydrophone (5) is fixed under the bottom of the watertight box (3) through a watertight cable, the output end of the hydrophone (5) is connected with the input end of the double-channel A/D converter (12), and the fish lead (6) is connected with the hydrophone (5) through a soft rope.
6. The system of claim 5, wherein the off-target amount of the target ship on the lake is measured by: the anchoring unit (7) comprises a Kevlar rope (22) and a cement anchor block (23), a screw buckle hook (24) and a screw buckle hook (25) are respectively arranged at two ends of the Kevlar rope (22), the screw buckle hook (24) is interconnected with the buoyancy tank connecting hole (21), and the screw buckle hook (25) is interconnected with the cement anchor block (23).
7. The system of claim 3, wherein the off-target amount of the target ship on the lake is measured by: the watertight box (3) uses a sealing rubber ring to seal the box cover.
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- 2018-09-06 CN CN201811037592.9A patent/CN108981481B/en active Active
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| CN203714144U (en) * | 2014-01-09 | 2014-07-16 | 中国科学院声学研究所嘉兴工程中心 | Buoy device based on acoustics and GPS (global positioning system) intelligent positioning |
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