CN109901174B - Method for estimating water entry time of high-speed moving target - Google Patents
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Abstract
The invention discloses an estimation method for the water entry time of a high-speed moving target, belongs to the field of parameter estimation, and aims to solve the problem that the existing water entry time of the high-speed moving target only can obtain a horizontal two-dimensional coordinate of the target and cannot obtain a depth coordinate. The invention relates to a method for estimating the water entry time of a high-speed moving target, which comprises the following specific processes: s1, three-dimensionally positioning a water inlet point of a high-speed moving target by adopting a hyperboloid intersection positioning method to obtain a three-dimensional position coordinate of the water inlet point; s2, calculating the propagation delay between the water inlet point and the receiving point by using sound field software according to the three-dimensional position coordinates of the water inlet point; and S3, estimating the absolute time of the water inlet point of the high-speed moving target according to the propagation delay between the water inlet point and the receiving point obtained in the S2. The method is used for estimating the absolute time of the high-speed target entering water.
Description
Technical Field
The invention relates to an estimation method for the water entry time of a high-speed moving target, belonging to the field of parameter estimation.
Background
The time when the high-speed moving object enters water is an important parameter for evaluating the moving characteristics of the high-speed moving object. The high-speed target can obtain the water entering time by using radar and optical photography, but is greatly influenced by environmental factors such as sea condition weather and the like, and has poor reliability. And strong transient acoustic signals are generated due to interaction of the high-speed moving target and water at the moment of entering water, and are transmitted to the periphery. Because the sound wave is an effective propagation medium in the seawater, the estimation of the water entering time of the high-speed moving target can be effectively and reliably realized by using the hydrophone. A single hydrophone can only estimate the time at which the acoustic signal propagates to that location. In order to estimate the water entry time of the high-speed moving object, the propagation delay of the sound wave between the water entry point and the receiving point needs to be calculated. And the propagation delay is calculated by using acoustic software, so that not only the hydrological condition and the three-dimensional position coordinates of the receiving point but also the three-dimensional position coordinates of the target water-entering point need to be known. The radar and optical photography methods can only obtain the horizontal two-dimensional coordinates of the target, and the depth coordinates are not obtained by means.
Disclosure of Invention
The invention aims to solve the problem that the existing high-speed moving target can only obtain the horizontal two-dimensional coordinate of the target at the time of entering water and cannot obtain the depth coordinate, and provides an estimation method for the time of entering water of the high-speed moving target.
The invention relates to a method for estimating the water entry time of a high-speed moving target, which comprises the following specific processes:
s1, performing three-dimensional positioning on a water inlet point of a high-speed moving target by adopting a hyperboloid intersection positioning method to obtain a three-dimensional position coordinate of the water inlet point;
s2, calculating the propagation delay between the water inlet point and the receiving point by using sound field software according to the three-dimensional position coordinates of the water inlet point;
and S3, estimating the absolute time of the water inlet point of the high-speed moving target according to the propagation delay between the water inlet point and the receiving point obtained in the S2.
Preferably, the specific process of acquiring the three-dimensional position coordinate of the water entry point in S1 is as follows:
s1-1, arranging positioning nodes in an underwater preset sea area of a high-speed moving target, and arranging hydrophones underwater of each positioning node;
s1-2, detecting the underwater position of a hydrophone of each positioning node in real time by using an ultra-short baseline positioning system arranged on a water surface platform to obtain position coordinates of a receiving point;
s1-3, detecting an underwater sound signal of a high-speed target by the aid of hydrophones of all positioning nodes;
s1-4, performing cross correlation on the acoustic signals detected by the positioning nodes, wherein the time corresponding to a correlation peak is the propagation delay difference between the positioning nodes, and obtaining the distance difference from each positioning node to the sound source position;
s1-5, according to the propagation speed of the acoustic signal in the marine environment, the position coordinates of the receiving points obtained in the S1-2 and the distance difference between each positioning node and the sound source position obtained in the S1-4, performing two-dimensional positioning on the water inlet point of the high-speed moving target by using a hyperboloid intersection positioning method to obtain the two-dimensional position coordinates of the water inlet point of the high-speed moving target;
s1-6, positioning the depth of the water inlet point of the high-speed moving target by utilizing a vertical array beam forming algorithm to obtain a depth coordinate of the water inlet point of the high-speed moving target;
and S1-7, carrying out three-dimensional positioning on the water inlet point of the high-speed moving target according to the two-dimensional position coordinate of the water inlet point of the high-speed moving target obtained in the S1-5 and the depth coordinate of the water inlet point of the high-speed moving target obtained in the S1-6, and obtaining the three-dimensional position coordinate of the water inlet point of the high-speed moving target.
Preferably, the step S2 of acquiring the propagation delay between the water entry point and the receiving point includes:
s2-1, measuring a sound velocity profile of a preset sea area by using a sound velocity profiler;
and S2-2, calculating the propagation delay of the sound waves from the water entry point to each positioning node by using a sound field software calculation method according to the position coordinates of the receiving point obtained in the S1-2, the three-dimensional position coordinates of the water entry point obtained in the S1-7 and the sound velocity profile obtained in the S2-1, namely the propagation delay between the water entry point and the receiving point.
Preferably, the specific process of estimating the absolute time of the water entry point of the high-speed moving target in S3 is as follows:
s3-1, detecting an underwater sound signal of the high-speed target by the hydrophones of all the positioning nodes, and estimating the absolute time of the sound signal reaching all the positioning nodes;
and S3-2, performing data fusion on the results obtained by the S3-1 and the S2-2 by using a minimum mean square error criterion according to the absolute time of the acoustic signal which is obtained by the S3-1 and reaches each positioning node and the propagation delay between the water entry point and the receiving point which is obtained by the S2-2, and obtaining the absolute time of the water entry point of the high-speed moving target.
Preferably, the specific process of estimating the absolute time when the acoustic signal reaches each positioning node in S3-1 is as follows:
detecting a time signal corresponding to the leading edge of an acoustic signal of a high-speed target entering water, solving a signal envelope, analyzing the frequency band and the duration length of the signal when the signal envelope exceeds a threshold, successfully detecting the signal when the frequency band of the signal is below 1kHz, the bandwidth is more than 200Hz and the duration length is more than 200ms and less than 1s, and obtaining the absolute time when the acoustic signal reaches a positioning node at the moment corresponding to the leading edge of the envelope.
The invention has the advantages that: the method for estimating the water entry time of the high-speed moving target comprises the steps of firstly, arranging positioning nodes according to a certain array, strictly synchronizing the clock of each node with a GPS (global positioning system), measuring the sound velocity profile in seawater, and recording the absolute time of arrival of signals received by each positioning node; then, performing cross correlation on signals received by each positioning node to obtain time delay difference, then obtaining the distance difference from each positioning node to the sound source position, and performing three-dimensional positioning on the high-speed target underwater falling point by using a hyperboloid intersection method; and calculating the propagation time of the sound waves from the water entry point to each positioning node by using sound field software, and finally performing data fusion according to a minimum mean square error criterion to obtain the optimal water entry time estimation. The invention not only keeps the advantage of high positioning precision of the long baseline positioning system, but also fully utilizes sound field software, considers the influence of channel characteristics and obtains the accurate water entry time of the high-speed target.
Drawings
FIG. 1 is a schematic diagram of a geometric principle of three-dimensional positioning of a high-speed moving target by setting five positioning nodes;
FIG. 2 is a sound source azimuth map obtained using a vertical array beamforming algorithm;
FIG. 3 is a graph of signal-to-noise ratio versus detection error using a short-time energy method;
FIG. 4 is a graph of the mean square error of the high-speed target entry time estimate versus the number of sound source positions.
Detailed Description
The first embodiment is as follows: the method for estimating the water entry time of the high-speed moving target in the embodiment comprises the following specific processes:
s1, three-dimensionally positioning a water inlet point of a high-speed moving target by adopting a hyperboloid intersection positioning method to obtain a three-dimensional position coordinate of the water inlet point;
s2, calculating the propagation delay between the water inlet point and the receiving point by using sound field software according to the three-dimensional position coordinates of the water inlet point;
and S3, estimating the absolute time of the water inlet point of the high-speed moving target according to the propagation delay between the water inlet point and the receiving point obtained in the S2.
The second embodiment is as follows: in this embodiment, to further explain the first embodiment, the specific process of obtaining the three-dimensional position coordinate of the water entry point in S1 is:
s1-1, arranging positioning nodes in a preset underwater sea area of a high-speed moving target, and arranging hydrophones underwater of each positioning node;
s1-2, detecting the underwater position of a hydrophone of each positioning node in real time by using an ultra-short baseline positioning system arranged on a water surface platform to obtain position coordinates of a receiving point;
s1-3, detecting an underwater sound signal of a high-speed target by the aid of hydrophones of all positioning nodes;
s1-4, performing cross correlation on the acoustic signals detected by the positioning nodes, wherein the time corresponding to a correlation peak is the propagation delay difference between the positioning nodes, and obtaining the distance difference from each positioning node to the sound source position;
s1-5, according to the propagation speed of the acoustic signal in the marine environment, the position coordinates of the receiving points obtained in the S1-2 and the distance difference between each positioning node and the sound source position obtained in the S1-4, performing two-dimensional positioning on the water inlet point of the high-speed moving target by using a hyperboloid intersection positioning method to obtain the two-dimensional position coordinates of the water inlet point of the high-speed moving target;
s1-6, positioning the depth of the water inlet point of the high-speed moving target by utilizing a vertical array beam forming algorithm to obtain a depth coordinate of the water inlet point of the high-speed moving target;
and S1-7, carrying out three-dimensional positioning on the water inlet point of the high-speed moving target according to the two-dimensional position coordinate of the water inlet point of the high-speed moving target obtained in the S1-5 and the depth coordinate of the water inlet point of the high-speed moving target obtained in the S1-6, and obtaining the three-dimensional position coordinate of the water inlet point of the high-speed target.
The third concrete implementation mode: in this embodiment, a second embodiment is further described, in S1-1, positioning nodes are distributed in the underwater preset sea area of the high-speed moving target, and clocks of the positioning nodes are synchronized with the GPS.
The fourth concrete implementation mode: in the following, the embodiment is described with reference to fig. 1, and the embodiment further describes a second embodiment, where S1-1 arranges the positioning nodes in the preset underwater area, and when five positioning nodes are arranged, the formation is:
one positioning node is arranged at the target preset water inlet position, and the other four positioning nodes are uniformly distributed on a circumference which takes the target preset water inlet position as the center of a circle and has the radius of 15 km.
The fifth concrete implementation mode: in the following description of this embodiment with reference to fig. 1, which will be further described as an embodiment two, S1-4 describes a specific method for obtaining the distance difference from each positioning node to the sound source position as follows:
the mathematical model of the hyperboloid intersection positioning method is as follows:
wherein: i and j respectively represent two positioning nodes, i, j belongs to [1,2],i≠j，x i And y i Respectively representing the abscissa and ordinate, x, of the location node i j And y j Respectively representing the abscissa and ordinate, x, of the location node j s And y s Respectively representing the abscissa and ordinate, Δ r, of the acoustic signal ij ＝ct ij Representing the distance difference, t, from the sound source to the localization node i and the localization node j ij And c represents the propagation speed of the acoustic signal in the marine environment.
The sixth specific implementation mode is as follows: in this embodiment, a fifth embodiment is further described, in S1-6, a specific method for obtaining a depth coordinate of a water entry point of a high-speed moving target is as follows:
forming a wave beam for the sound signals received by each positioning node to obtain the azimuth angle theta of the sound source i ；
The depth of each node to the sound source is obtained according to the geometric principle as follows:
and calculating the average value of the depths obtained by each positioning node to obtain the depth positioning value of the water falling point of the high-speed moving target.
The seventh embodiment: in the following, the present embodiment is described with reference to fig. 1, and the second embodiment is further described in this embodiment, where the specific process of acquiring the propagation delay between the water entry point and the receiving point in S2 is as follows:
s2-1, measuring a sound velocity profile of a preset sea area by using a sound velocity profiler;
and S2-2, calculating the propagation delay of the sound waves from the water entry point to each positioning node by using a sound field software calculation method according to the position coordinates of the receiving point obtained in the S1-2, the three-dimensional position coordinates of the water entry point obtained in the S1-7 and the sound velocity profile obtained in the S2-1, namely the propagation delay between the water entry point and the receiving point.
The specific implementation mode eight: the present embodiment is described below with reference to fig. 1, and the seventh embodiment is further described in the present embodiment, and the specific process of estimating the absolute time of the water entry point of the high-speed moving object in S3 is:
s3-1, detecting an underwater sound signal of the high-speed target by the hydrophones of all the positioning nodes, and estimating the absolute time of the sound signal reaching all the positioning nodes;
and S3-2, performing data fusion on the results obtained by the S3-1 and the S2-2 by using a minimum mean square error criterion according to the absolute time of the acoustic signal reaching each positioning node obtained by the S3-1 and the propagation delay between the water entry point and the receiving point obtained by the S2-2, and obtaining the absolute time of the water entry point of the high-speed moving target.
The specific implementation method nine: in the following, the present embodiment is described with reference to fig. 1, and the eighth embodiment is further described in the present embodiment, where the specific process of estimating the absolute time when the acoustic signal reaches each positioning node in S3-1 is as follows:
detecting a time signal corresponding to the leading edge of an acoustic signal of a high-speed target entering water, solving a signal envelope, analyzing the frequency band and the duration length of the signal when the signal envelope exceeds a threshold, successfully detecting the signal when the frequency band of the signal is below 1kHz, the bandwidth is more than 200Hz and the duration length is more than 200ms and less than 1s, and obtaining the absolute time when the acoustic signal reaches a positioning node at the moment corresponding to the leading edge of the envelope.
The detailed implementation mode is ten: in this embodiment, the ninth embodiment is further described, in S3-2, the specific method for obtaining the absolute time of the water entry point of the high-speed moving target by using the minimum mean square error criterion to perform data fusion is as follows:
acquiring propagation delay tau of sound waves from water entry point to each positioning node by utilizing sound field software calculation method i ；
The estimated acoustic signal entry time for each positioning node is expressed as:
wherein:
representing the absolute time when the acoustic signal detected by each positioning node reaches each positioning node;
the estimation of the signal water-entering time is independent, and then the estimation time of the high-speed moving object water-entering is expressed as:
wherein: omega i Representing the weight coefficients.
The concrete implementation mode eleven: in this embodiment, a weight coefficient ω is further described with respect to a tenth embodiment i The acquisition method comprises the following steps:
wherein:
T S representing the real moment when the high-speed moving object enters water.
The working principle of the invention is as follows:
when 5 positioning nodes are arranged, the geometric principle of three-dimensional positioning is carried out on the high-speed moving object:
5 positioning nodes are distributed at the position 500 m deep in the sea, a three-dimensional left-hand coordinate system is established by taking the position of the No. 5 positioning node as an origin, and the positions of the array elements are respectively as follows: (0, 0), (-10 km, -15km, 0), (-10km, 15km, 0), (10 km, -15km, 0), (10km, 15km, 0);
when a hyperbola intersection method is used for carrying out two-dimensional positioning on a high-speed object underwater signal, firstly, a cross-correlation method is used for solving the time delay difference from the signal to each positioning node, and then the distance difference from a sound source to each node position is obtained;
the mathematical model of the hyperboloid intersection positioning method is as follows:
wherein: i and j represent two positioning nodes, i, j ∈ [1,2],i≠j，x i And y i Respectively representing the abscissa and ordinate, x, of the location node i j And y j Respectively representing the abscissa and ordinate, x, of the location node j s And y s Respectively representing the abscissa and the ordinate, Δ r, of the acoustic signal ij ＝ct ij Representing the distance difference, t, from the sound source to the localization node i and the localization node j ij Representing the time delay difference estimated by adopting a cross-correlation method;
linearization is carried out according to the least square principle to obtain an error equation:
wherein:
b i,j ＝ρ i,0 -ρ j,0 -Δr ij ；
writing the error equation in vector form:
wherein:
order:
then:
solving the equation by adopting a least square method to obtain:
the positioning accuracy graph obtained by the hyperbolic positioning method is high in positioning accuracy near the central node.
Forming beams of the acoustic signals received by each node to obtain an azimuth angle theta of the acoustic source i ；
The depth of each node to the sound source is obtained according to the geometric principle as follows:
and calculating the average value of the depths obtained by each positioning node to obtain the depth positioning value of the water falling point of the high-speed moving target.
FIG. 2 is a azimuth diagram of a sound source obtained by a vertical array beam forming algorithm, the sampling frequency is 10kHz, the sound source is assumed to be a hyperbolic frequency modulation signal with a frequency band of 0.1kHz-1kHz multiplied by a complex exponential attenuation signal, the pulse width is 0.2ms, and the signal-to-noise ratio is 10dB.
Calculating the propagation time tau of the positioned sound source to each positioning node by using Bellhop sound field software i 。
For propagation losses in seawater, including diffusion, absorption and scattering losses, the volume absorption coefficient is usually calculated using the Thorp formula, and the sea surface reflection coefficient is calculated using the formula given by Marsh et al.
The time of entry of the signal estimated by each positioning node may be expressed as:
wherein:
the received signal arrival time is recorded for each positioning node.
The method is characterized in that a short-time energy method is utilized to detect a high-speed moving target, a signal form is assumed to be a hyperbolic frequency modulation signal with a frequency band of 0.1kHz-1kHz multiplied by a complex exponential decay signal, and the arrival time of the signal detected by each positioning node is influenced by a signal-to-noise ratio, so that the signal arrival time is influenced by the signal-to-noise ratio
Has a certain error
FIG. 3 shows the detection error obtained by the short-time energy detection method
And the relation graph of the signal-to-noise ratio shows that the short-time energy method has higher requirement on the signal-to-noise ratio, and the higher the signal-to-noise ratio is, the higher the detection precision is.
The estimates of the signal entry moments are independent, and the resulting entry moment of the high-speed object is expressed as:
wherein:
representing the final estimated moment of entry into the water, ω, of the high-speed object i Representing the weight coefficients.
According to the minimum mean square error criterion (MMSE), the weight coefficient omega i Determined according to the following equation:
wherein:
T S representing the real moment when the high-speed moving object enters water.
The estimated time when the high-speed object enters the water is the most accurate.
FIG. 4 shows the mean square error of the time when the high-speed target enters the water, assuming that the time when each positioning node receives the signal is respectively 420s, 422s, 425s, 423s, 419s, and the SNR is 10dB, and considering the detection time error caused by the SNR
And selecting the minimum mean square error in the figure 4, calculating a weight according to a minimum mean square error criterion, and finally calculating to obtain the water inlet time of the high-speed object to be 409.7387s.
Claims (2)
1. The method for estimating the water entry time of the high-speed moving target is characterized by comprising the following specific processes:
s1, performing three-dimensional positioning on a water inlet point of a high-speed moving target by adopting a hyperboloid intersection positioning method to obtain a three-dimensional position coordinate of the water inlet point;
s2, calculating the propagation delay between the water inlet point and the receiving point by using sound field software according to the three-dimensional position coordinates of the water inlet point;
s3, estimating the absolute time of the water inlet point of the high-speed moving target according to the propagation delay between the water inlet point and the receiving point obtained in the S2;
s1, the specific process of acquiring the three-dimensional position coordinates of the water inlet point comprises the following steps:
s1-1, arranging positioning nodes in an underwater preset sea area of a high-speed moving target, and arranging hydrophones underwater of each positioning node;
s1-2, detecting the underwater position of a hydrophone of each positioning node in real time by using an ultra-short baseline positioning system arranged on a water surface platform to obtain position coordinates of a receiving point;
s1-3, detecting an underwater sound signal of a high-speed target by a hydrophone of each positioning node;
s1-4, performing cross correlation on the acoustic signals detected by the positioning nodes, wherein the time corresponding to a correlation peak is the propagation delay difference between the positioning nodes, and obtaining the distance difference from each positioning node to the sound source position;
s1-5, according to the propagation speed of the acoustic signal in the marine environment, the position coordinates of the receiving points obtained in the S1-2 and the distance difference from each positioning node to the sound source position obtained in the S1-4, performing two-dimensional positioning on the water inlet point of the high-speed moving target by using a hyperboloid intersection positioning method to obtain two-dimensional position coordinates of the water inlet point of the high-speed moving target;
s1-6, positioning the depth of the water inlet point of the high-speed moving target by utilizing a vertical array beam forming algorithm to obtain a depth coordinate of the water inlet point of the high-speed moving target;
s1-7, carrying out three-dimensional positioning on the water inlet point of the high-speed moving target according to the two-dimensional position coordinate of the water inlet point of the high-speed moving target obtained in the S1-5 and the depth coordinate of the water inlet point of the high-speed moving target obtained in the S1-6 to obtain the three-dimensional position coordinate of the water inlet point of the high-speed moving target;
s1-1, arranging positioning nodes in a preset underwater sea area of a high-speed moving target, wherein the clock of each positioning node is synchronous with a GPS;
s1-1, arranging positioning nodes in a preset underwater sea area, wherein when five positioning nodes are arranged, the array type is as follows:
one positioning node is arranged at a target preset water inlet position, and the other four positioning nodes are uniformly distributed on a circumference which takes the target preset water inlet position as the center of a circle and has the radius of 15 km;
s1-4, the specific method for obtaining the distance difference from each positioning node to the sound source position comprises the following steps:
the mathematical model of the hyperboloid intersection positioning method is as follows:
wherein: i and j represent two positioning nodes, i, j ∈ [1,2],i≠j，x i And y i Respectively representing the abscissa and ordinate, x, of the location node i j And y j Respectively representing the abscissa and ordinate, x, of the positioning node j s And y s Respectively representing the abscissa and the ordinate, Δ r, of the acoustic signal ij ＝ct ij Representing the distance difference, t, from the sound source to the localization node i and the localization node j ij The time delay difference estimated by adopting a cross-correlation method is shown, and c represents the propagation speed of the acoustic signal in the marine environment;
s1-6, the specific method for obtaining the depth coordinate of the water entry point of the high-speed moving target comprises the following steps:
forming the beam of the sound signal received by each positioning nodeObtaining azimuth angle theta of sound source i ；
The depth of each node to the sound source is obtained according to the geometric principle as follows:
calculating the average value of the depths obtained by each positioning node to obtain the depth positioning value of the water falling point of the high-speed moving target;
s3, the specific process of estimating the absolute time of the water inlet point of the high-speed moving target comprises the following steps:
s3-1, detecting an underwater sound signal of the high-speed target by the hydrophones of all the positioning nodes, and estimating the absolute time of the sound signal reaching all the positioning nodes;
s3-2, according to the absolute time when the acoustic signal reaches each positioning node obtained in the S3-1 and the propagation time delay between the water entry point and the receiving point obtained in the S2-2, performing data fusion on the results obtained in the S3-1 and the S2-2 by using a minimum mean square error criterion to obtain the absolute time of the water entry point of the high-speed moving target;
s3-1, the specific process of estimating the absolute time of the acoustic signal reaching each positioning node is as follows:
detecting a time signal corresponding to the leading edge of an acoustic signal of a high-speed target entering water, solving a signal envelope, analyzing the frequency band and the duration length of the signal when the signal envelope exceeds a threshold, successfully detecting the signal when the frequency band of the signal is below 1kHz, the bandwidth is more than 200Hz and the duration length is more than 200ms and less than 1s, and obtaining the absolute time when the acoustic signal reaches a positioning node at the moment corresponding to the leading edge of the envelope.
2. The method for estimating the water entry time of the high-speed moving object according to claim 1, wherein the specific process of obtaining the propagation delay between the water entry point and the receiving point in S2 is as follows:
s2-1, measuring a sound velocity profile of a preset sea area by using a sound velocity profiler;
and S2-2, calculating the propagation delay of the sound waves from the water entry point to each positioning node by using a sound field software calculation method according to the position coordinates of the receiving point obtained in the S1-2, the three-dimensional position coordinates of the water entry point obtained in the S1-7 and the sound velocity profile obtained in the S2-1, namely the propagation delay between the water entry point and the receiving point.
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