CN109633659B - Tiny sonar array system and device for realizing underwater monitoring by combining unmanned ship - Google Patents
Tiny sonar array system and device for realizing underwater monitoring by combining unmanned ship Download PDFInfo
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- CN109633659B CN109633659B CN201910050572.3A CN201910050572A CN109633659B CN 109633659 B CN109633659 B CN 109633659B CN 201910050572 A CN201910050572 A CN 201910050572A CN 109633659 B CN109633659 B CN 109633659B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention discloses a tiny sonar array system and a device for realizing underwater monitoring by combining an unmanned ship, wherein the system comprises: the device comprises a towed body, a working section and a depth setter, wherein the towed body is connected with the working section and the working section are connected with the depth setter through tensile cables; the towed body and the depth setter work cooperatively to control the posture and the array depth. The device comprises: unmanned ship, and a tiny sonar array system. The underwater target monitoring system overcomes the defects of high cost, poor flexibility, large volume, heavy weight, complex structure, difficult retraction and release and difficult maintenance of the existing underwater target monitoring.
Description
Technical Field
The invention relates to the technical field of underwater monitoring, in particular to a tiny sonar array system and a device for realizing underwater monitoring by combining an unmanned ship.
Background
The towed sonar array system plays a crucial role in underwater target monitoring applications such as underwater anti-diving, target positioning, military monitoring and the like by virtue of the advantages of large array aperture, low noise obtained by being far away from towed platforms (such as submarines, warships and the like), but has a plurality of defects for limiting the application.
Firstly, in order to avoid the influence of noise (such as engine noise) emitted by platforms such as a submarine or a warship on the performance of a towed sonar array system, the towed sonar array system needs to enable a water sound information sensing section to be far away from the platforms such as the submarine or the warship through a very long front guide section and an elastic section, and the long front guide section and the elastic section greatly increase the volume and the weight of the whole towed detection system, so that a large amount of submarine and warship space is required to be occupied for storing and installing the towed sonar array system; secondly, drag and drop and recovery of such a large towed sonar array system are also very complicated processes, and the drag sonar array system is complex in operation, poor in flexibility, high in implementation difficulty and high in operation cost; and thirdly, the large-scale submarine or warship towed sonar array system is inconvenient to maintain and high in maintenance cost. These deficiencies and limitations have largely limited their practical application.
In addition, some foreign colleges and universities and military scientific research institutions are actively exploring new underwater target monitoring schemes combining a tiny sonar array with a small underwater unmanned platform (such as an underwater autonomous vehicle (AUV), an Unmanned Underwater Vehicle (UUV) and the like), and have achieved certain research results [1-4] . However, the underwater platforms used by them need to be submerged below the water surface for a long time, and can only complete tasks according to preset programs, and need to periodically float on the water surface to exchange data with a control center, and inertial navigation errors are corrected by a GPS, so that real-time communication and control cannot be realized, and the flexibility and maneuverability are poor [5,6]Meanwhile, the technical difficulty and the application cost of the underwater target monitoring platform are greatly increased due to the high technical difficulty and the limited loading capacity of the underwater unmanned platform.
Reference to the literature
[1]M J H,Kemna S,Hughes D.Antisubmarine warfare applications for autonomous underwater vehicles:The GLINT09sea trialresults.Journalof Field Robotics,27(6):890-902,2010.
[2]Maguer A,Dymond R,Grati A,et al.Ocean gliders payloads for persistent maritime surveillance and monitoring.Oceans.IEEE,1-8,2014.
[3]Johnston P,Poole M.Marine surveillance capabilities of the AutoNaut wave-propelled unmanned surface vessel(USV).Oceans.1-46,2017.
[4] Yuexing, hudian, huyongming, research progress of thin line towing sonar, semiconductor photoelectric, 33 (5): 11-16,2012.
[5]Poulsen A J,Eickstedt D P,Ianniello J P.Bearing Stabilization and Tracking for an AUV with an Acoustic Line Array.Oceans.IEEE,1-6,2006.
[6]Holmes J D,Carey W M,Lynch J F,et al.An autonomous underwater vehicle towed array for ocean acoustic measurements and inversions.Oceans 2005-Europe,2(4):1058-1061,2005.
Disclosure of Invention
The invention provides a tiny sonar array system and a device for realizing underwater monitoring by combining an unmanned ship, which improve the existing tiny sonar array system and realize the monitoring of underwater targets by combining the unmanned ship, overcomes the defects of high cost, poor flexibility, large volume, heavy weight, complex structure, difficult retraction and release and difficult maintenance of the existing underwater target monitoring system, and is described in detail as follows:
a small sonar array system, the system comprising: the device comprises a towed body, a working section and a depth setter, wherein the towed body is connected with the working section and the working section are connected with the depth setter through tensile cables; the towed body and the depth setter work cooperatively to control the posture and the array depth.
The towed body comprises a wet end module, a depth sensing module, an attitude sensing module, a buoyancy control module, a hydrofoil, a tensile watertight joint, an uplink channel and a downlink channel;
the tensile watertight joint is connected with the unmanned ship and the working section; the wet end module is used for receiving data uploaded by the first sensing element through the uplink channel and sensing data uploaded by the depth sensing module and the attitude sensing module; receiving a control command transmitted by a downlink channel, identifying the content of the command, and setting working parameters of a floating force control module or transmitting the working parameters to a first sensing element in a working section through the downlink channel;
the buoyancy control module changes the magnitude and direction of the lift force acting on the hydrofoil by controlling the angle of attack of the hydrofoil.
Furthermore, n sensing elements with the same structure and n +1 floating bodies with the same structure on the working section are arranged in series at intervals, and the first sensing element is connected with the elastic section, the two sensing elements and the nth sensing element is connected with the tail section through tensile cables;
the interior of the tensile cable is supplied with power and transmits digital signals through a differential twisted pair, and n +1 floating bodies are fixed on the tensile cable; each sensing element is used for acquiring the underwater sound signal and converting the underwater sound signal into a digital signal for uploading.
In the ith sensing element, the ith acquisition module is directly connected with the m hydrophones, receives signals transmitted by the multiple hydrophones, and realizes signal conditioning, analog-to-digital conversion and pretreatment of p-channel underwater acoustic signals according to commands transmitted by the ith transmission module through the command channel, and transmits the underwater acoustic signal data to the ith transmission module through the data channel;
the ith acquisition module and the ith transmission module are directly connected through level matching or are subjected to data transmission through an RS485 interface or an SPI interface; the ith transmission module is used for receiving and analyzing a control command transmitted from the towed body or the ith-1 sensing element, and transmitting the control command to the ith +1 sensing element or the depth setter through a downlink channel or transmitting the control command to the ith acquisition module through a command channel; and the data processing module is also used for receiving and processing data from the ith acquisition module, integrating the data with the data uploaded by the (i + 1) th sensing element or the depth setter and uploading the data to the towed body or the (i-1) th sensing element through an uplink.
An underwater object monitoring device, the device comprising an unmanned ship, the device further comprising: tiny sonar array system.
Further, the unmanned ship includes: a data processing and control center and a dragging system,
the towing system is used for fixing and towing the tiny sonar array system;
the data processing and control center is used for receiving and processing data uploaded by the small sonar array system; the system is also used for receiving control commands transmitted by a ship base, a shore base or other unmanned ships, identifying the command content, and controlling the working state or forwarding the command content to the tiny sonar array system.
During specific implementation, a command sent by the unmanned ship is downloaded to the towed body, and then is downloaded step by step to pass through the first sensing element, the ith sensing element and the nth sensing element, and finally reaches the depth setter.
An underwater object monitoring device for use in partial or large area replacement of an underwater fixed shore-based surveillance system.
An underwater target monitoring device is used as a maneuvering reconnaissance platform for a carrier.
An underwater target monitoring device is used as a protective navigation platform for enlarging the detection and defense range of a carrier.
The technical scheme provided by the invention has the beneficial effects that:
1. the invention overcomes the defects of heavy weight, high manufacturing difficulty, high cost, inflexible use and inconvenient maintenance of the existing sonar array caused by filling solid or liquid in the sonar array, and provides the tiny sonar array with the floating bodies and the sensing elements separated and arranged in series at intervals.
2. The invention overcomes the defects of long transmission distance of analog signals generated by the hydrophone in the existing sonar array and large noise interference, and integrates the hydrophone and the corresponding acquisition module into one sensing element, thereby reducing the transmission distance of the analog signals generated by the hydrophone, reducing the noise interference and improving the quality of the underwater signals acquired by the tiny sonar array.
3. The invention overcomes the defects of large self-noise of a towing platform, long front guide section and elastic section of a sonar array and large target detection threshold of the existing underwater target monitoring system combining a submarine, a warship and a large sonar array, reduces the lengths of the front guide section and the elastic section of a tiny sonar array, reduces the target detection threshold of the tiny sonar array and improves the target detection performance by utilizing the advantage of small self-noise of an unmanned ship.
4. The invention provides an underwater target detection system combining an unmanned ship and a tiny sonar array, which has the advantages of small system volume, low cost, flexible use, strong environmental adaptability, low self-noise and strong concealment, can complete an underwater target monitoring task in an autonomous control mode according to task requirements through a preset program, can complete a complex task in a remote control mode on a shore base and a ship base, and can greatly reduce the limit of weight and volume and obtain the capability of long-time underwater observation; the underwater target monitoring with low cost, miniaturization, intellectualization, multitasking, high endurance and high reliability is realized.
5. The invention overcomes the defects of complex structure and high development difficulty of the existing underwater target monitoring system, the development technology difficulty of the underwater target detection system combining the unmanned ship and the tiny sonar array is relatively low, and the underwater target monitoring system can be quickly realized in a short time based on the current underwater target monitoring technology level in China.
Drawings
FIG. 1 is a schematic structural diagram of an underwater target monitoring device combining an improved tiny sonar array system and an unmanned ship;
FIG. 2 is a block diagram of a working section;
FIG. 3 is a drawing type towed body structure;
FIG. 4 is a schematic diagram of three embodiments.
In fig. 1: 1 is an improved tiny sonar array system; 2 is an unmanned ship; 3 is a front guide section; 4 is an elastic section; 5 is a dragging type towed body; 6 is a working section; 7 is an elastic section; 8 is a depth setter; 9 is a data processing and control center; 10 is an attitude sensing module; 11 is a positioning navigation module; 12 is a ship-based wireless communication module; 13 is a towing system; 14 is a power propulsion module; and 15, an obstacle avoidance module.
In FIG. 2: 16 is a tensile cable; 17 is a tensile watertight joint; 18 is a first float; 19 is a first sensing cell; 20 is the ith floating body; 21 is the ith sensing element; 22 is an nth floating body; 23 is an nth sensing element; 24 is the (n + 1) th floating body; 25 a first acquisition module; 26 is a first transmission module; 27 is a hydrophone; 28 is the ith acquisition module; 29 is the ith transmission module; 30 is a data path; 31 is a command path; 32 is the upstream path; 33 is a down path; 34 is an nth acquisition module; and 35 is an nth transmission module.
In fig. 3: 36 is a wet end module; 37 is a depth sensing module; 38 is an attitude sensing module; 39 is a buoyancy control module; 40 is a hydrofoil; 41 is a tensile watertight joint; 42 is the upstream path; and 43 is a downstream path.
In fig. 4: 44 is a shore-based base station; 45 is a carrier; 46. 47 are all warning ranges.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
Example 1
In order to achieve the above object, the technical solution adopted in the embodiment of the present invention is to improve a fine sonar array system in the prior art, where the improved fine sonar array system specifically includes:
referring to fig. 1, the improved tiny sonar array system 1 mainly comprises a front section 3, an elastic section 4, a towed body 5, a working section 6, a tail section 7 and a depth finder 8.
In the fine sonar array system 1, the front guide section 3 separates the working section 6 from the unmanned ship 2 by a certain distance, so that the influence of water flow noise generated in the navigation process of the unmanned ship 2 on the working section 6 is reduced; the elastic section 4 has the functions of buffering and vibration isolation, so that the towing-type towed body 5 and the working section 6 can work stably under water; the towed body 5 is mainly responsible for communicating with the unmanned ship 2, receives underwater acoustic signals collected by the working section 6, transmits the underwater acoustic signals back to the unmanned ship 2, and receives, executes and forwards control commands of the unmanned ship 2; the working section 6 can collect underwater acoustic signals and is also used as a bridge for communication between the towed body 5 and the depth setter 8; the tail section 7 is used for bearing the pulling force of the depth finder 8 and separating the depth finder 8 from the working section 6 by a certain distance, so that the influence of water flow noise generated by the depth finder 8 in the process of traveling on the working section 6 is avoided.
Further, the structure of the working section 6 is shown in fig. 2, and it includes: the device comprises a tensile cable 16, a tensile watertight joint 17, a first floating body 18, a first sensing base element 19, an ith floating body 20, an ith sensing element 21, an nth floating body 22, an nth sensing element 23, an n +1 th floating body 24, a first acquisition module 25, a first transmission module 26, a hydrophone 27, an ith acquisition module 28, an ith transmission module 29, a data path 30, a command path 31, an uplink path 32, a downlink path 33, an nth acquisition module 34 and an nth transmission module 35, wherein n is not less than 1 and is an integer, i is not less than 1 and is an integer, and i is an integer.
Furthermore, the towed body 5 is connected with the working section 6 through a tensile cable 16, and the working section 6 is connected with the depth setter 8 through the tensile cable 16.
Furthermore, n sensing elements with the same structure and n +1 floating bodies with the same structure on the working section 6 are arranged in series at intervals, the first sensing element 19 is connected with the elastic section 4, the second sensing element is connected with the elastic section 4, the nth sensing element 23 is connected with the tail section 7 through a tensile cable 16, power supply and digital signal transmission are carried out in the tensile cable 16 through a differential twisted pair, and the n +1 floating bodies are fixed on the tensile cable 16; tensile watertight joints 17 are arranged at two ends of each sensing element, so that an operator can conveniently install and dismantle the sensing elements, and the array aperture size of the fine sonar array system 1 is changed by installing different numbers of sensing elements; each sensing element is used for acquiring underwater sound signals and converting the underwater sound signals into digital signals for uploading; each floating body is used for adjusting the buoyancy borne by the small sonar array system 1 so that the small sonar array system is in a micro positive buoyancy state in a static state.
Further, a command from the unmanned ship 2 is downloaded to the towed body 5, and then is downloaded step by step through the first sensing element 19, the ith sensing element 21, the nth sensing element 23, and finally reaches the depth setter 8.
Further, in the ith sensing element 21, the ith acquisition module 28 is directly connected to the m hydrophones 27, and can receive signals from the multiple hydrophones 27 at the same time, and implement signal conditioning, analog-to-digital conversion and preprocessing of p-channel underwater acoustic signals according to commands downloaded by the ith transmission module 29 through the command path 31, and then upload the underwater acoustic signal data to the ith transmission module 29 through the data path 30, where m is an integer greater than or equal to 1, and p is an integer greater than or equal to 1 and less than or equal to m; the ith acquisition module 28 and the ith transmission module 29 are directly connected through level matching or are subjected to data transmission through an RS485 interface or an SPI interface; the function of the ith transmission module 29 is: on one hand, the control command transmitted from the towed body 5 or the i-1 th sensing primitive is received and analyzed, and then the control command is transmitted to the i +1 th sensing primitive or the depth setter 8 through the downlink path 33, or is transmitted to the i-th acquisition module 28 through the command path 31; on the other hand, the data from the i-th acquisition module 28 is received and processed, and then integrated with the data uploaded by the i + 1-th sensing primitive or the depth finder 8, and then uploaded to the towed body or the i-1-th sensing primitive through the uplink 32.
Further, as shown in fig. 3, the towed vehicle 5 is mainly composed of a wet end module 36, a depth sensing module 37, an attitude sensing module 38, a buoyancy control module 39, a hydrofoil 40, a tensile watertight joint 41, an upward passage 42 and a downward passage 43; the towed body 5 is connected with the unmanned ship 2 and the working section 6 through tensile watertight joints 41 at two ends; the wet end module 36 is a relay module for connecting the mini sonar array 1 and the unmanned ship 2, and on one hand, it is responsible for receiving data uploaded by the first sensing element 19 through the uplink 42 and sensing data uploaded by the depth sensing module 37 and the attitude sensing module 38, and uploading these data to the unmanned ship 2 through the uplink 42, and on the other hand, it is responsible for receiving a control command transmitted by the unmanned ship 2 through the downlink 43, and then forwarding the command to the buoyancy control module 39, or transmitting the command down to the first sensing element 19 in the working section 6 through the downlink 43; the hydrofoils 40 are installed on the left and right sides of the towed body 5, and the buoyancy control module 39 rotates the hydrofoils 40 to change the angle of attack thereof, thereby changing the magnitude and direction of the lift force of the water flow acting on the hydrofoils 40, causing the towed body 5 to float up or submerge, and realizing the control of the depth and attitude of the towed body 5.
Furthermore, hydrofoils 40 are installed to the left and right sides of depth finder 8, after receiving the control command that nth sensing element 23 passed down, depth finder 8 rotates hydrofoils 40 and changes its angle of attack, thereby change the size and the direction of the lift that rivers acted on hydrofoils 40, make depth finder 8 come up or dive, realize the control to the degree of depth finder 8, depth finder 8 can upload the gesture and the degree of depth data of self in real time simultaneously, drive tiny sonar array system 1 through the motion of towed body 5 and depth finder 8 and go up the floating or dive, realize the control to the degree of depth and the gesture of tiny sonar array system 1.
In summary, the small sonar array system is designed, firstly, the defects that solid or liquid is filled in the existing sonar array, the weight is heavy, the manufacturing difficulty is high, the cost is high, the use is not flexible, and the maintenance is inconvenient are overcome, the sensing elements can be installed and detached according to the detection performance requirement and the load capacity of the towing platform, the number and the intervals of the sensing elements are configured, the net buoyancy force borne by each part of the array is balanced, the weight is light, the manufacturing difficulty is small, the cost is low, the installation and the arrangement are convenient, and the maintenance is easy. In addition, the defects that the transmission distance of analog signals generated by the hydrophone in the existing sonar array is long and the noise interference is large are overcome, and the hydrophone and the corresponding acquisition module are integrated in one sensing element, so that the distance of analog signal transmission generated by the hydrophone is reduced, the noise interference is reduced, and the quality of the underwater signals acquired by the tiny sonar array is improved. Finally, the defects that the existing submarine, warship and large-scale sonar array combined underwater target monitoring system has large towing platform self-noise, long leading section and elastic section of the sonar array and large target detection threshold are overcome, the advantage of small unmanned ship self-noise is utilized, the lengths of the leading section and the elastic section of the tiny sonar array are reduced, the target detection threshold of the tiny sonar array is reduced, and the target detection performance is improved.
Example 2
In order to achieve the above object, the embodiment of the present invention adopts a technical solution that an unmanned ship is combined with an improved tiny sonar array system to realize a device for monitoring underwater objects, comprising:
the general scheme of the underwater target monitoring system combining the unmanned ship and the improved tiny sonar array system is shown in figure 1, the improved tiny sonar array system 1 mainly comprises a front section 3, an elastic section 4, a towed body 5, a working section 6, a tail section 7 and a depth finder 8, and the unmanned ship 2 mainly comprises a data processing and control center 9, an attitude sensing module 10, a positioning navigation module 11, a ship-based wireless communication module 12, a towed system 13, a power propulsion module 14 and an obstacle avoidance module 15;
further, the improved tiny sonar array system 1 is mainly responsible for collecting and returning underwater sound signals; the unmanned ship 2 serves as a mobile platform and a main control center of the whole system, can communicate with a ship base, a shore base or other unmanned ships, and provides power for the whole system.
Furthermore, in the unmanned ship 2, in order to ensure the performance of the positioning navigation module 11 and the ship-based wireless communication module 12, the two modules are installed at the top of the unmanned ship 2; the towing system 13 is arranged at the stern of the unmanned ship 2 and used for fixing and towing the tiny sonar array system 1, the towing system 13 can adopt a winch, the tiny sonar array system 1 is folded and unfolded as required in the operation process, or a fixing bracket is adopted, and the tiny sonar array system 1 is fixed at the stern of the unmanned ship 2 before the operation is started; the data processing and control center 9 has the functions of: on one hand, data uploaded by the small sonar array system 1 and sensing data uploaded by the attitude sensing module 10, the positioning navigation module 11 and the obstacle avoidance module 15 of the unmanned ship 2 are received and processed, then the data are stored or packaged into frames, and the frames are transmitted to a ship base, a shore base or other unmanned ships through a wireless network by using a ship base wireless communication module 12; on the other hand, a control command transmitted from a ship base, a shore base or other unmanned ships is received, and after the content of the command is identified, the working state of the unmanned ship 2 is controlled or forwarded to the small sonar array system 1.
In specific implementation, a 7000 chip (integrated with a dual-core ARM Cortex-A9 processor and a Programmable Gate Array (FPGA)) of saints corporation is adopted as a core processor of the data processing and control center 9, or an STM32 chip (adopting an ARM Cortex kernel) and an FPGA chip are adopted, so that the ARM Cortex processor is used for system control, and the FPGA is used for high-speed data acquisition, processing and transmission, so that multi-task coordination processing and control of the unmanned ship 2 are realized.
In conclusion, the underwater target monitoring system combining the unmanned ship and the tiny sonar array is realized through the design, the system is small in size, low in cost, flexible to use, high in environmental adaptability, low in self noise and high in concealment, the underwater target monitoring task can be automatically and mainly completed in a track tracking mode through a preset advancing route, complex tasks can be completed on a shore base and a ship base in a remote control mode, meanwhile, the limitation of weight and size can be greatly reduced, and the capability of long-time underwater observation can be obtained; the underwater target monitoring with low cost, miniaturization, intellectualization, multitasking, high endurance and high reliability is realized. Meanwhile, the system development difficulty is small, and based on the current underwater target monitoring technical level in China, the underwater target monitoring system can be rapidly realized in a short time.
Example 3
The scheme of example 2 is further described below with reference to fig. 4 (a), which is described in detail below:
referring to fig. 4 (a), the device can be used for partially replacing or replacing a large area of a traditional underwater fixed shore-based warning system; an underwater target monitoring array network is formed by a system combining one or more unmanned ships 2 and an improved tiny sonar array system 1, underwater target detection and warning are carried out, and quick arrangement of an offshore mobile shore-based warning system is realized, and the specific implementation steps are as follows:
301: the number and the spacing of sensing elements in the fine sonar array system 1 are determined by a user according to the parameters of target underwater acoustic signals and the requirements of detection performance, then the front section 3, the elastic section 4, the towed body 5, the working section 6, the tail section 7 and the depth setter 8 are assembled in sequence, and finally the fine sonar array system is connected to the towed system 13 of the unmanned ship 2.
302: a user sets working parameters such as working depth, sampling rate and system gain of the tiny sonar array system 1, then sets the unmanned ship 2 to be in a remote control mode, or sets the unmanned ship 2 to be in an automatic cruising mode, sets parameters such as speed and course line of the unmanned ship, and finally tests whether the working states of the tiny sonar array system 1 and the unmanned ship 2 are normal or not; the user can utilize an underwater target monitoring system combining an unmanned ship 2 and a tiny sonar array system 1 to execute tasks, or a plurality of systems are combined into an array to execute tasks.
Wherein, the sound source of the underwater sound signal of tiny sonar array system 1 collection includes: (1) sound emitted from a sound source carried on the unmanned ship 2; (2) Noise generated by ships, submarines, unmanned Underwater Vehicles (UUVs); (3) The sound of marine mammals such as whales and dolphins; and (4) other artificial and natural sounds.
303: the unmanned ship 2 drags the slim-type sonar array system 1 from the shore-based base station 44, sails to reach a designated working sea area, and then stops sailing or cruises in the working sea area according to a set sailing speed and a flight line, so that the sea area near the shore-based base station 44 is monitored; underwater sound signal data that tiny sonar array system 1 gathered to and speed of a ship, course, position, sensing data such as tiny sonar array system 1's degree of depth, through ship base wireless communication module 12 passback to bank base station 44 or save to unmanned ship 2, bank base station 44 receives data after to gather, the record, show and handle data, the user is according to the data of passback, send control command through wireless network, the operating parameter of unmanned ship 2 and tiny sonar array system 1 is revised on line.
The steps of the above-mentioned processing and online modification are well known to those skilled in the art, and are not described in detail in this embodiment of the present invention.
304: after the operation is finished, the unmanned ship 2 returns to the shore-based base station 44 automatically or by remote control of the user.
305: after the user retrieves tiny sonar array system 1 and unmanned ship 2, download the backup to the data that unmanned ship 2 stored, tiny sonar array system 1 and unmanned ship 2 accomplish after maintaining, alright the next monitoring task of beginning.
In conclusion, the underwater fixed shore-based warning system is realized through the design, and the requirements in practical application are met.
Example 4
The scheme of example 2 is further described below with reference to fig. 4 (b), which is described in detail below:
referring to fig. 4 (b), the device is used as a flexibly maneuvering reconnaissance platform for a carrier 45; through the system that a plurality of unmanned ships 2 and tiny sonar array system 1 combine together of dispatching from the carrier 45, carry out in advance to the underwater target of a certain specific sea area and survey and monitor, the concrete implementation step is as follows:
401: the steps 301 to 302 in the foregoing embodiment 2 are performed;
402: the unmanned ship 2 drags the fine small sonar array system 1 from the carrier 45, sails to a designated working sea area, and then stops sailing or cruises in the working sea area according to a set sailing speed and a flight line, so that the far warning range 47 is detected and monitored in advance on the basis of the warning range 46 of the carrier 45; during the working process, the unmanned ship 2 transmits the data of the speed, the course, the position and the like of the unmanned ship and the data of underwater sound signals, the depth and the like acquired by the tiny sonar array system 1 back to the carrier 45 through the ship-based wireless communication module 12 or stores the data into the unmanned ship 2, the carrier 45 collects, records, displays and processes the data after receiving the data, and a user sends a control command through a wireless network according to the transmitted data to modify the working parameters of the unmanned ship 2 and the tiny sonar array system 1 on line.
403: after the work is finished, the unmanned ship 2 returns to the carrier 45 automatically or by remote control of a user.
404: step 305 in the foregoing embodiment 3 is performed.
The steps of the above-mentioned processing and online modification are well known to those skilled in the art, and are not described in detail in the embodiments of the present invention.
In conclusion, the embodiment of the invention realizes the advanced detection and monitoring of the underwater target in a specific sea area through the design, and meets the requirements in practical application.
Example 5
The scheme of example 2 is further described below with reference to fig. 4 (c), which is described in detail below:
referring to fig. 4 (c), the device is used as a protective navigation platform for enlarging the detection and defense range of the carrier 45; by means of a system combining a plurality of unmanned ships 2 and a tiny sonar array 1 dispatched from a carrier 45, the unmanned ships are distributed around the carrier 45 at a certain distance, the detection and defense range of the carrier 45 is enlarged, and the specific implementation steps are as follows:
501: performing steps 301-302 of the foregoing embodiment 3;
502: the unmanned ship 2 drags the fine small sonar array system 1 from the carrier 45, sails around the carrier 45 along with the carrier, and increases a warning range 47 around the carrier 45 on the basis of the warning range 46 of the carrier 45, so that the detection and defense range of the carrier 45 is enlarged; underwater sound signal data collected by the fine sonar array system 1 and sensing data such as speed, course, position and depth of the fine sonar array system 1 are transmitted back to the carrier 45 or stored in the unmanned ship 2 through the ship-based wireless communication module 12, the carrier 45 collects, records, displays and processes the data after receiving the data, and a user sends a control command through a wireless network according to the returned data to modify working parameters of the unmanned ship 2 and the fine sonar array system 1 on line.
503: after the work is finished, the unmanned ship 2 returns to the carrier 45 automatically or by remote control of a user.
504: step 305 in the foregoing embodiment 3 is performed.
The steps of the above-mentioned processing and online modification are well known to those skilled in the art, and are not described in detail in the embodiments of the present invention.
In conclusion, the detection and defense range of the carrier is enlarged through the design, and the requirements in practical application are met.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A small sonar array system, the system comprising: a drag-type towed body, a working section and a depth setter, which is characterized in that,
the towed body is connected with the working section and the working section is connected with the depth setter through tensile cables; the towed body and the depth setter work cooperatively to control the posture and the array depth;
the n sensing elements with the same structure and the n +1 floating bodies with the same structure on the working section are arranged in series at intervals, and the first sensing element is connected with the elastic section, the two sensing elements and the nth sensing element is connected with the tail section through tensile cables;
the interior of the tensile cable is supplied with power and transmits digital signals through a differential twisted pair, and n +1 floating bodies are fixed on the tensile cable; each sensing element is used for acquiring the underwater sound signal and converting the underwater sound signal into a digital signal for uploading.
2. The small sonar array system according to claim 1, wherein the towed body is comprised of a wet end module, a depth sensing module, an attitude sensing module, a buoyancy control module, a hydrofoil, a tensile watertight joint, an up-flow path and a down-flow path;
the tensile watertight joint is connected with the unmanned ship and the working section; the wet end module is used for receiving data uploaded by the first sensing element through the uplink channel and sensing data uploaded by the depth sensing module and the attitude sensing module; receiving a control command transmitted by a downlink channel, and setting working parameters of a floating force control module after identifying the content of the command, or transmitting the working parameters to a first sensing element in a working section through the downlink channel;
the buoyancy control module changes the magnitude and direction of the lift force acting on the hydrofoil by controlling the angle of attack of the hydrofoil.
3. A fine sonar array system according to claim 2,
in the ith sensing element, the ith acquisition module is directly connected with the m hydrophones, receives signals transmitted by the multiple hydrophones, conditions, analog-to-digital conversion and pretreatment of p-channel underwater acoustic signals according to commands transmitted by the ith transmission module through the command channel, and uploads the underwater acoustic signal data to the ith transmission module through the data channel;
the ith acquisition module is directly connected with the ith transmission module through level matching or an RS485 interface or an SPI interface for data transmission; the ith transmission module is used for receiving and analyzing a control command transmitted from the towed body or the ith-1 sensing element, and transmitting the control command to the ith +1 sensing element or the depth setter through a downlink channel or transmitting the control command to the ith acquisition module through a command channel; and the data processing module is also used for receiving and processing data from the ith acquisition module, and uploading the data to the towed body or the ith-1 sensing element through an uplink channel after the data is integrated with the data uploaded by the (i + 1) th sensing element or the depth setter.
4. An underwater object monitoring device, the device comprising an unmanned ship, the device further comprising: a fine sonar array system according to any one of claims 1 to 3.
5. An underwater object monitoring device as claimed in claim 4, wherein the unmanned vessel comprises: a data processing and control center and a dragging system,
the towing system is used for fixing and towing the tiny sonar array system;
the data processing and control center is used for receiving and processing data uploaded by the small sonar array system; the system is also used for receiving control commands transmitted by a ship base, a shore base or other unmanned ships, identifying the command content, and controlling the working state or forwarding the command content to the tiny sonar array system.
6. An underwater object monitoring device as claimed in claim 4, wherein the command from the unmanned ship is downloaded to the towed body, then is downloaded step by step through the first sensing element, the ith sensing element, the nth sensing element, and finally reaches the depth setter.
7. An underwater object monitoring device, characterized in that the device of any of claims 1-3 is used for partial or large area replacement of an underwater stationary shore-based surveillance system.
8. An underwater object monitoring device, characterized in that the device of any one of claims 1-3 is used as a reconnaissance platform for the maneuvering of a carrier.
9. An underwater object monitoring device, characterized in that the device of any one of claims 1-3 is used as a convoying platform for increasing the detection and defense range of a carrier.
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| CN111158381B (en) * | 2020-01-19 | 2023-08-15 | 中电科（宁波）海洋电子研究院有限公司 | Unmanned ship obstacle avoidance method with long towing line array |
| CA3091252A1 (en) * | 2020-08-27 | 2022-02-27 | Marine Thinking Inc. | Towed underwater image acquisition apparatus |
| CN112362153A (en) * | 2020-09-15 | 2021-02-12 | 中国人民解放军军事科学院国防科技创新研究院 | Low-frequency active underwater sound detection system and method based on UUV platform |
| CN112379432A (en) * | 2020-10-09 | 2021-02-19 | 天津大学 | Small channel number portable hydrophone array acquisition system |
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