CN109901174A - High-speed moving object enters the estimation method at water moment - Google Patents
High-speed moving object enters the estimation method at water moment Download PDFInfo
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Abstract
High-speed moving object enters the estimation method at water moment, belongs to parameter Estimation field, and the present invention is to solve the problem of that the water moment that enters of existing high-speed moving object can only obtain the horizontal two-dimension coordinate of target and be unable to get depth coordinate.High-speed moving object of the present invention enters the estimation method at water moment, the detailed process of this method are as follows: S1, the localization method that crossed using hyperboloid carry out three-dimensional localization to the place of entry of high-speed moving object, obtain the three-dimensional location coordinates of place of entry；S2, the three-dimensional location coordinates according to place of entry calculate the propagation delay between place of entry and receiving point using sound field software；S3, the absolute moment of high-speed moving object place of entry is estimated according to the propagation delay between the S2 place of entry obtained and receiving point.The present invention, which is used to enter the water absolute moment to high-speed target, to be estimated.
Description
Technical field
The present invention relates to the estimation methods that a kind of high-speed moving object enters the water moment, belong to parameter Estimation field.
Background technique
High-speed moving object enters the important parameter that the water moment is its kinetic characteristic of evaluation.High-speed target using radar,
Photo-optical method it is available enter the water moment, but, poor reliability big by such environmental effects such as sea situation weather.And high speed
Moving target enters the moment of water due to itself and water phase interaction, generates strong transient state acoustical signal, propagates around.Since sound wave is sea
Effective propagation medium in water may be realized effectively and reliably using hydrophone and enter the estimation of water moment to high-speed moving object.It is single
At the time of a hydrophone is only capable of estimating acoustic signal propagation to the position.In order to estimate that high-speed moving object enters the water moment, also need
Calculate propagation delay of the sound wave between place of entry and receiving point.And propagation delay is calculated with acoustic software and is not only needed to know
Hydrologic condition and receiving point three-dimensional location coordinates, it is also necessary to know the three-dimensional location coordinates of target place of entry.Radar and optics shine
The method of phase can only obtain the horizontal two-dimension coordinate of target, and depth coordinate does not have means to obtain.
Summary of the invention
The invention aims to solve the water moment that enters of existing high-speed moving object to can only obtain the horizontal two-dimension of target
Coordinate, the problem of being unable to get depth coordinate, provide the estimation method that a kind of high-speed moving object enters the water moment.
High-speed moving object of the present invention enters the estimation method at water moment, the detailed process of this method are as follows:
S1, the localization method that crossed using hyperboloid carry out three-dimensional localization to the place of entry of high-speed moving object, obtain into water
The three-dimensional location coordinates of point；
S2, the three-dimensional location coordinates according to place of entry calculate the propagation between place of entry and receiving point using sound field software
Time delay；
S3, according to S2 obtain place of entry and receiving point between propagation delay to the absolute of high-speed moving object place of entry
Moment is estimated.
Preferably, the detailed process of the three-dimensional location coordinates of place of entry is obtained described in S1 are as follows:
S1-1, positioning node is laid in the default sea area of water that enters of high-speed moving object, each positioning node is laid under water
Hydrophone；
S1-2, the hydrophone for each positioning node of ultra short baseline locating system real-time detection being arranged on surface platform is utilized
Submarine site, obtain the position coordinates of receiving point；
S1-3, each positioning node hydrophone detection high-speed target enter the acoustical signal of water；
S1-4, cross-correlation is carried out to the acoustical signal that each positioning node detects, the relevant peaks corresponding time is each positioning
Propagation delay between node is poor, obtain each positioning node to sound source position range difference；
The position coordinates and S1- for the receiving point that S1-5, the speed propagated in marine environment according to acoustical signal, S1-2 are obtained
The 4 each positioning nodes obtained enter high-speed moving object using the hyperboloid localization method that crosses to the range difference of sound source position
Water spot carries out two-dimensional localization, obtains the two-dimensional position coordinate of high-speed moving object place of entry；
S1-6, it is positioned, is obtained high using place of entry depth of the vertical array beamforming algorithm to high-speed moving object
The depth coordinate of fast moving target place of entry；
S1-7, it is transported according to the high speed that the two-dimensional position coordinate and S1-6 of the S1-5 high-speed moving object place of entry obtained obtain
The depth coordinate of moving-target place of entry carries out three-dimensional localization to the place of entry of high-speed moving object, obtains high-speed target place of entry
Three-dimensional location coordinates.
Preferably, the detailed process of the propagation delay between acquisition place of entry and receiving point described in S2 are as follows:
S2-1, the Sound speed profile that default sea area is measured using Sound speed profile instrument；
The place of entry three-dimensional location coordinates and S2-1 that S2-2, the receiving point position coordinates obtained according to S1-2, S1-7 are obtained
The Sound speed profile of acquisition reaches the propagation delay of each positioning node using sound field software calculation method calculating sound wave from place of entry,
Propagation delay as between place of entry and receiving point.
Preferably, to the detailed process that the absolute moment of high-speed moving object place of entry is estimated described in S3 are as follows:
S3-1, each positioning node hydrophone detection high-speed target enter the acoustical signal of water, estimation acoustical signal reaches each positioning
The absolute moment of node；
S3-2, according to S3-1 obtain acoustical signal reach each positioning node the absolute moment and S2-2 obtain place of entry with
Propagation delay between receiving point carries out data fusion to the result that S3-1 and S2-2 is obtained using minimum mean square error criterion,
Obtain the absolute moment of high-speed moving object place of entry.
Preferably, estimation acoustical signal described in S3-1 reaches the detailed process at the absolute moment of each positioning node are as follows:
Detection high-speed target enters the corresponding time signal in acoustical signal forward position of water, seeks signal envelope, signal envelope is more than
When thresholding, the frequency band and time duration of signal are analyzed, when signal band is 1kHz or less, band is wider than 200Hz and is continued
When time span is greater than 200ms less than 1s, signal detection success, as acoustical signal reaches positioning section at the time of envelope forward position corresponds to
The absolute moment of point.
Advantages of the present invention: high-speed moving object proposed by the present invention enters the estimation method at water moment first, in accordance with certain
Formation lays positioning node, and the clock of each node with GPS stringent synchronization, measures the Sound speed profile in seawater, and it is each fixed to record
Position node receives the absolute moment that signal reaches；Then each positioning node received signal is done into cross-correlation and finds out delay inequality,
Then each positioning node is found out to the range difference of sound source position, and water drop point is entered to high-speed target using hyperboloid Convergence method and carries out three
Dimension positioning；It in the propagation time for reaching each positioning node from place of entry with sound field software calculating sound wave, is finally missed according to lowest mean square
Poor criterion carry out data fusion obtain it is optimal enter the estimation of water moment.The present invention had both maintained Long baselines Positioning System
High advantage, and take full advantage of sound field software, it is contemplated that the influence of the characteristic of channel, when having obtained high-speed target and accurately entering water
It carves.
Detailed description of the invention
Fig. 1 is the geometrical principle schematic diagram that five positioning nodes are arranged and carry out three-dimensional localization to high-speed moving object；
Fig. 2 is the sound bearing figure obtained using vertical array beamforming algorithm；
Fig. 3 is the relational graph using short-time energy method obtained signal-to-noise ratio and detection error；
Fig. 4 is that high-speed target enters the mean square error of water moment estimation and the relational graph of sound source position number.
Specific embodiment
Specific embodiment 1: high-speed moving object described in present embodiment enters the estimation method at water moment, this method
Detailed process are as follows:
S1, the localization method that crossed using hyperboloid carry out three-dimensional localization to the place of entry of high-speed moving object, obtain into water
The three-dimensional location coordinates of point；
S2, the three-dimensional location coordinates according to place of entry calculate the propagation between place of entry and receiving point using sound field software
Time delay；
S3, according to S2 obtain place of entry and receiving point between propagation delay to the absolute of high-speed moving object place of entry
Moment is estimated.
Specific embodiment 2: present embodiment is described further embodiment one, acquisition place of entry described in S1
The detailed process of three-dimensional location coordinates are as follows:
S1-1, positioning node is laid in the default sea area of water that enters of high-speed moving object, each positioning node is laid under water
Hydrophone；
S1-2, the hydrophone for each positioning node of ultra short baseline locating system real-time detection being arranged on surface platform is utilized
Submarine site, obtain the position coordinates of receiving point；
S1-3, each positioning node hydrophone detection high-speed target enter the acoustical signal of water；
S1-4, cross-correlation is carried out to the acoustical signal that each positioning node detects, the relevant peaks corresponding time is each positioning
Propagation delay between node is poor, obtain each positioning node to sound source position range difference；
The position coordinates and S1- for the receiving point that S1-5, the speed propagated in marine environment according to acoustical signal, S1-2 are obtained
The 4 each positioning nodes obtained enter high-speed moving object using the hyperboloid localization method that crosses to the range difference of sound source position
Water spot carries out two-dimensional localization, obtains the two-dimensional position coordinate of high-speed moving object place of entry；
S1-6, it is positioned, is obtained high using place of entry depth of the vertical array beamforming algorithm to high-speed moving object
The depth coordinate of fast moving target place of entry；
S1-7, it is transported according to the high speed that the two-dimensional position coordinate and S1-6 of the S1-5 high-speed moving object place of entry obtained obtain
The depth coordinate of moving-target place of entry carries out three-dimensional localization to the place of entry of high-speed moving object, obtains high-speed target place of entry
Three-dimensional location coordinates.
Specific embodiment 3: present embodiment is described further embodiment two, in high-speed motion described in S1-1
The default sea area of water that enters of target lays positioning node, and the clock of each positioning node is synchronous with GPS.
Specific embodiment 4: illustrating that present embodiment, present embodiment make into one embodiment two below with reference to Fig. 1
Step explanation is entering water and presets sea area to lay positioning node described in S1-1, when laying five positioning nodes, formation are as follows:
One positioning node cloth is placed on target to preset into water position, remaining four positioning node is evenly distributed on target
It presets on the circumference that water level is set to the center of circle, radius is 15km.
Specific embodiment 5: illustrating that present embodiment, present embodiment make into one embodiment two below with reference to Fig. 1
Explanation is walked, the range difference of each positioning node of acquisition described in S1-4 to sound source position method particularly includes:
Hyperboloid crosses the mathematical model of localization method are as follows:
Wherein: i and j respectively indicates two positioning nodes, i, j ∈ [1,2 ..., 5], i ≠ j, xiAnd yiRespectively indicate positioning
The abscissa and ordinate of node i, xjAnd yjRespectively indicate the abscissa and ordinate of positioning node j, xsAnd ysRespectively indicate sound
The abscissa and ordinate of signal, Δ rij=ctijIndicate range difference of the sound source to positioning node i and positioning node j, tijIt indicates
The delay inequality estimated using cross-correlation method, c indicate the speed that acoustical signal is propagated in marine environment.
Specific embodiment 6: present embodiment is described further embodiment five, acquisition high speed described in S1-6 is transported
The depth coordinate of moving-target place of entry method particularly includes:
The acoustical signal received to each positioning node does Wave beam forming, obtains the azimuth angle theta of sound sourcei；
Each node is obtained to the depth of sound source according to geometrical principle are as follows:
The depth calculation average value that each positioning node is obtained, obtain high-speed moving object enters water drop point depth localization
Value.
Specific embodiment 7: illustrating that present embodiment, present embodiment make into one embodiment two below with reference to Fig. 1
Step illustrates, the detailed process of the propagation delay between place of entry and receiving point is obtained described in S2 are as follows:
S2-1, the Sound speed profile that default sea area is measured using Sound speed profile instrument；
The place of entry three-dimensional location coordinates and S2-1 that S2-2, the receiving point position coordinates obtained according to S1-2, S1-7 are obtained
The Sound speed profile of acquisition reaches the propagation delay of each positioning node using sound field software calculation method calculating sound wave from place of entry,
Propagation delay as between place of entry and receiving point.
Specific embodiment 8: illustrating that present embodiment, present embodiment make into one embodiment seven below with reference to Fig. 1
Step illustrates, to the detailed process that the absolute moment of high-speed moving object place of entry is estimated described in S3 are as follows:
S3-1, each positioning node hydrophone detection high-speed target enter the acoustical signal of water, estimation acoustical signal reaches each positioning
The absolute moment of node；
S3-2, according to S3-1 obtain acoustical signal reach each positioning node the absolute moment and S2-2 obtain place of entry with
Propagation delay between receiving point carries out data fusion to the result that S3-1 and S2-2 is obtained using minimum mean square error criterion,
Obtain the absolute moment of high-speed moving object place of entry.
Specific embodiment 9: illustrating that present embodiment, present embodiment make into one embodiment eight below with reference to Fig. 1
Step illustrates that estimation acoustical signal described in S3-1 reaches the detailed process at the absolute moment of each positioning node are as follows:
Detection high-speed target enters the corresponding time signal in acoustical signal forward position of water, seeks signal envelope, signal envelope is more than
When thresholding, the frequency band and time duration of signal are analyzed, when signal band is 1kHz or less, band is wider than 200Hz and is continued
When time span is greater than 200ms less than 1s, signal detection success, as acoustical signal reaches positioning section at the time of envelope forward position corresponds to
The absolute moment of point.
Specific embodiment 10: present embodiment is described further embodiment nine, using minimum equal described in S3-2
Square error criterion carries out data fusion and obtains the high-speed moving object place of entry absolute moment method particularly includes:
The propagation delay τ of each positioning node is reached from place of entry using sound field software calculation method acquisition sound wavei；
The acoustical signal of each positioning node estimation enters the water moment and is expressed as:
Wherein:Indicate that the acoustical signal of each positioning node detection reaches the absolute moment of each positioning node；
Signal enter the water moment estimation be it is independent, then the estimation moment that high-speed moving object enters water is expressed as:
Wherein: ωiIndicate weight coefficient.
Specific embodiment 11: present embodiment is described further embodiment ten, weight coefficient ωiAcquisition side
Method are as follows:
Wherein:
TSIndicate that high-speed moving object enters the true moment of water.
The operation principle of the present invention is that:
When 5 positioning nodes are set, the geometrical principle of three-dimensional localization is carried out to high-speed moving object:
Positioning node is 5, and 5 positioning node cloth are placed at extra large 500 meters deeply, are with No. 5 positioning node positions
Origin establishes three-dimensional left-handed coordinate system, the position of each array element be respectively as follows: (0,0,0), (- 10km, -15km, 0), (- 10km,
15km,0),(10km,-15km,0),(10km,15km,0)；
When hyperbola Convergence method enters water signal progress two-dimensional localization to high-speed object, signal is found out first with cross-correlation method
To the delay inequality of each positioning node, then obtain sound source to each node location range difference；
Hyperboloid crosses the mathematical model of localization method are as follows:
Wherein: i and j respectively indicates two positioning nodes, i, j ∈ [1,2 ..., 5], i ≠ j, xiAnd yiRespectively indicate positioning
The abscissa and ordinate of node i, xjAnd yjRespectively indicate the abscissa and ordinate of positioning node j, xsAnd ysRespectively indicate sound
The abscissa and ordinate of signal, Δ rij=ctijIndicate range difference of the sound source to positioning node i and positioning node j, tijIt indicates
The delay inequality estimated using cross-correlation method；
It is linearized according to the principle of least square, obtains error equation:
Wherein:
bi,j=ρi,0-ρj,0-Δrij；
Write error equation as vector form:
Wherein:
It enables:
Then:
Equation is solved using least square method to obtain:
The positioning accuracy figure obtained using hyperbola positioning method, the positioning accuracy near central node are higher.
The acoustical signal received to each node does Wave beam forming, obtains the azimuth angle theta of sound sourcei；
Each node is obtained to the depth of sound source according to geometrical principle are as follows:
The depth calculation average value that each positioning node is obtained, obtain high-speed moving object enters water drop point depth localization
Value.
Fig. 2 is the orientation diagram of the sound source obtained using vertical array beamforming algorithm, sample frequency 10kHz, it is assumed that sound
Source is the Hyperbolic Frequency Modulation signal of frequency band 0.1kHz-1kHz multiplied by complex exponential deamplification, pulsewidth 0.2ms, signal-to-noise ratio 10dB.
Using Bellhop sound field software calculate above-mentioned positioned sound source to each positioning node propagation time τi。
Include diffusion, absorption and scattering loss for the propagation loss in seawater, usually calculates volume with Thorp formula and inhale
Sonic system number calculates the reflection coefficient of sea surface using the formula that Marsh et al. is provided.
The water moment that enters of the signal of each positioning node estimation can indicate are as follows:
Wherein:For the reception signal arrival time of each positioning node record.
High-speed moving object is detected using short-time energy method, it is assumed that signal form is frequency band 0.1kHz-1kHz's
The signal arrival time that Hyperbolic Frequency Modulation signal is detected multiplied by complex exponential deamplification, due to each positioning node is by signal-to-noise ratio shadow
It rings, thereforeThere is a certain error
Fig. 3 is the detection error obtained using short-time energy detection methodIt, can from figure with the relational graph of signal-to-noise ratio
Out, short-time energy method is more demanding to signal-to-noise ratio, and signal-to-noise ratio is higher, and detection accuracy is higher.
The estimation that signal enters the water moment is independent, is expressed as then finally obtaining high-speed object and entering the water moment:
Wherein:Indicate the high-speed object finally estimated enters water moment, ωiIndicate weight coefficient.
According to minimum mean square error criterion (MMSE), weight coefficient ωiIt determines according to the following formula:
Wherein:
TSIndicate that high-speed moving object enters the true moment of water.
It is most accurate that the high-speed object estimated at this time enters the water moment.
Fig. 4 is the mean square error that high-speed target enters the water moment, it is assumed that is respectively at the time of each positioning node reception signal
420s, 422s, 425s, 423s, 419s, signal-to-noise ratio 10dB consider the detection time error due to caused by signal-to-noise ratioChoosing
The smallest mean square error in Fig. 4 is selected, weight is calculated according to minimum mean square error criterion, high-speed object is finally calculated enters water
Moment is 409.7387s.
Claims (9)
1. the estimation method that high-speed moving object enters the water moment, which is characterized in that the detailed process of this method are as follows:
S1, the localization method that crossed using hyperboloid carry out three-dimensional localization to the place of entry of high-speed moving object, obtain place of entry
Three-dimensional location coordinates；
S2, the three-dimensional location coordinates according to place of entry calculate the propagation delay between place of entry and receiving point using sound field software；
S3, according to the propagation delay between the S2 place of entry obtained and receiving point to absolute moment of high-speed moving object place of entry
Estimated.
2. the estimation method that high-speed moving object according to claim 1 enters the water moment, which is characterized in that obtained described in S1
The detailed process of the three-dimensional location coordinates of place of entry are as follows:
S1-1, positioning node is laid in the default sea area of water that enters of high-speed moving object, the underwater cloth of each positioning node, which discharges water, to be listened
Device；
S1-2, using each positioning node of ultra short baseline locating system real-time detection being arranged on surface platform hydrophone water
Lower position, obtains the position coordinates of receiving point；
S1-3, each positioning node hydrophone detection high-speed target enter the acoustical signal of water；
S1-4, cross-correlation is carried out to the acoustical signal that each positioning node detects, the relevant peaks corresponding time is each positioning node
Between propagation delay it is poor, obtain each positioning node to sound source position range difference；
The position coordinates and S1-4 for the receiving point that S1-5, the speed propagated in marine environment according to acoustical signal, S1-2 are obtained obtain
Each positioning node to the range difference of sound source position, cross localization method to the place of entry of high-speed moving object using hyperboloid
Two-dimensional localization is carried out, the two-dimensional position coordinate of high-speed moving object place of entry is obtained；
S1-6, it is positioned using place of entry depth of the vertical array beamforming algorithm to high-speed moving object, obtains high speed and transport
The depth coordinate of moving-target place of entry；
S1-7, the high-speed motion mesh obtained according to the two-dimensional position coordinate and S1-6 of the S1-5 high-speed moving object place of entry obtained
The depth coordinate for marking place of entry carries out three-dimensional localization to the place of entry of high-speed moving object, obtains the three-dimensional of high-speed target place of entry
Position coordinates.
3. the estimation method that high-speed moving object according to claim 2 enters the water moment, which is characterized in that described in S1-1
The default sea area of water that enters of high-speed moving object lays positioning node, and the clock of each positioning node is synchronous with GPS.
4. the estimation method that high-speed moving object according to claim 2 enters the water moment, which is characterized in that described in S1-1
Enter the default sea area of water and lays positioning node, when laying five positioning nodes, formation are as follows:
One positioning node cloth is placed on target to preset into water position, remaining four positioning node is evenly distributed on default with target
Enter on the circumference that water level is set to the center of circle, radius is 15km.
5. the estimation method that high-speed moving object according to claim 2 enters the water moment, which is characterized in that obtained described in S1-4
Each positioning node to sound source position range difference method particularly includes:
Hyperboloid crosses the mathematical model of localization method are as follows:
Wherein: i and j respectively indicates two positioning nodes, i, j ∈ [1,2 ..., 5], i ≠ j, xiAnd yiRespectively indicate positioning node
The abscissa and ordinate of i, xjAnd yjRespectively indicate the abscissa and ordinate of positioning node j, xsAnd ysRespectively indicate acoustical signal
Abscissa and ordinate, Δ rij=ctijIndicate range difference of the sound source to positioning node i and positioning node j, tijIt indicates to use
The delay inequality that cross-correlation method is estimated, c indicate the speed that acoustical signal is propagated in marine environment.
6. the estimation method that high-speed moving object according to claim 5 enters the water moment, which is characterized in that obtained described in S1-6
Obtain the depth coordinate of high-speed moving object place of entry method particularly includes:
The acoustical signal received to each positioning node does Wave beam forming, obtains the azimuth angle theta of sound sourcei；
Each node is obtained to the depth of sound source according to geometrical principle are as follows:
The depth calculation average value that each positioning node is obtained, obtain high-speed moving object enters water drop point depth localization value.
7. the estimation method that high-speed moving object according to claim 2 enters the water moment, which is characterized in that obtained described in S2
The detailed process of propagation delay between place of entry and receiving point are as follows:
S2-1, the Sound speed profile that default sea area is measured using Sound speed profile instrument；
The place of entry three-dimensional location coordinates and S2-1 that S2-2, the receiving point position coordinates obtained according to S1-2, S1-7 are obtained obtain
Sound speed profile, calculate the propagation delay that sound wave reaches from place of entry each positioning node using sound field software calculation method, as
Propagation delay between place of entry and receiving point.
8. the estimation method that high-speed moving object according to claim 7 enters the water moment, which is characterized in that height described in S3
The detailed process that the absolute moment of fast moving target place of entry is estimated are as follows:
S3-1, each positioning node hydrophone detection high-speed target enter the acoustical signal of water, estimation acoustical signal reaches each positioning node
The absolute moment；
S3-2, place of entry and the reception at the absolute moment that each positioning node is reached according to the acoustical signal that S3-1 is obtained and S2-2 acquisition
Propagation delay between point carries out data fusion to the result that S3-1 and S2-2 is obtained, obtains using minimum mean square error criterion
The absolute moment of high-speed moving object place of entry.
9. the estimation method that high-speed moving object according to claim 8 enters the water moment, which is characterized in that estimate described in S3-1
Meter acoustical signal reaches the detailed process at the absolute moment of each positioning node are as follows:
Detection high-speed target enters the corresponding time signal in acoustical signal forward position of water, seeks signal envelope, and signal envelope is more than thresholding
When, the frequency band and time duration of signal are analyzed, when signal band is 1kHz or less, band is wider than 200Hz and duration
When length is greater than 200ms less than 1s, signal detection success, as acoustical signal reaches positioning node at the time of envelope forward position corresponds to
The absolute moment.
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| CN202133774U (en) * | 2011-06-10 | 2012-02-01 | 哈尔滨工程大学 | Track measure system of underwater high speed object |
| JP5716219B1 (en) * | 2014-02-13 | 2015-05-13 | 防衛省技術研究本部長 | Position estimation method and position estimation apparatus |
| CN107084723A (en) * | 2017-05-12 | 2017-08-22 | 中国人民解放军91550部队 | A kind of underwater sailing body movement locus method of estimation under marine environment |
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