CN109959898B - Self-calibration method for base type underwater sound passive positioning array - Google Patents
Self-calibration method for base type underwater sound passive positioning array Download PDFInfo
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Abstract
The invention provides a self-calibration method of a base type underwater sound passive positioning array, which comprises array shape calibration, position calibration and direction-finding reference calibration of an underwater array. After the positioning array of the underwater fixed passive positioning system is calibrated by applying the method, the positioning accuracy index of the system meets the design requirement, so that the method is reasonable and feasible, the key technical problem of system coordinate reference unification is effectively solved, the reliability and cost-effectiveness ratio of system development and use are improved by simplifying and optimizing the design, and the method has good military and economic values and can be popularized and applied to other underwater fixed passive positioning systems in principle.
Description
Technical Field
The invention relates to the technical field of underwater tests and tests, in particular to a self-calibration method of a base type underwater sound passive positioning array.
Background
The underwater acoustic passive tracking and positioning system generally receives the radiation noise of an underwater target through an underwater array, then carries out azimuth estimation on a noise source through signal and data processing equipment, and carries out intersection calculation by using azimuth angles obtained by multi-array measurement so as to realize the tracking and positioning of the target. After the underwater measurement array is installed and arranged, the positioning space reference of the system array needs to be measured and calibrated (hereinafter referred to as array calibration), and a uniform and effective positioning coordinate system is established for the correct implementation of the positioning resolving function.
In terms of installation and arrangement, underwater matrixes of underwater sound passive positioning systems include a ship (ship) borne type, a water surface buoy type and a base bottom fixed type. The ship (ship) borne and buoy type underwater sound passive positioning system is in a motor navigation or random floating state due to the use of the time matrix, the system can acquire the position and attitude information of the matrix in real time through the satellite positioning equipment and the attitude measuring equipment, the real-time calibration of the matrix is realized by utilizing the acquired information, and the calibration precision of the space reference can be better ensured due to the adoption of the technologies of high-precision differential satellite positioning, inertial navigation attitude measurement and the like in combination. The array direction-finding reference can be obtained by directly measuring by using compass equipment loaded on the array or indirectly measuring by underwater sound self-calibration, and when the positioning precision requirement is not high, the above mode can generally meet the use requirement.
The base type underwater sound passive tracking and positioning system is a typical base type underwater sound passive tracking and positioning system, three sets of omnidirectional direction-finding matrixes are arranged and fixed at the bottom of a lake in an approximately equilateral triangle long base line array mode, the main function is underwater sound passive tracking and positioning, and the base type underwater sound passive tracking and positioning system has a synchronous type underwater sound tracking and positioning function. The system has high requirement on positioning accuracy, and if the common array calibration mode of the base fixed system is adopted, the main defects are as follows:
(1) The underwater array position can be obtained only by water surface satellite positioning or optical measurement during deployment, but because the deployment ship is influenced by water flow and wind waves, the deployment water point of the array and the final deep water bottom sinking point cannot be guaranteed to be on the same vertical line, so that the deviation of the array position reference may occur to tens of meters or even hundreds of meters, and therefore, the initial position of the array deployment is used as the position coordinate reference of positioning calculation, which causes larger positioning error and is difficult to meet the high-precision positioning requirement;
(2) When the underwater array direction-finding reference is calibrated, if a compass mode is adopted, because the direction-finding precision of the compass is not high, the direction-finding reference obtained by direct measurement inevitably has larger error; if the underwater sound self-calibration mode is adopted, the direction-finding reference obtained by indirect measurement is limited by the position precision of the array, and the effective precision requirement is difficult to guarantee; therefore, the traditional direction-finding reference calibration mode is difficult to meet the requirements of high-precision direction finding and positioning.
Disclosure of Invention
The embodiment of the invention provides a self-calibration method of a base type underwater sound passive positioning array, and aims to solve the problem that a traditional direction-finding reference calibration mode is difficult to meet high-precision direction finding and positioning requirements.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
a self-calibration method for a base type underwater sound passive positioning array comprises array calibration, position calibration and direction finding reference calibration of the underwater array, and specifically comprises the following steps:
step 1: measuring the length of an underwater basic array base line; the method for synchronous distance measurement is adopted, and specifically comprises the following steps: the underwater measurement array underwater acoustic signal transceiving function is utilized to control the underwater arrays to transmit synchronous underwater acoustic signals in turn in a time-sharing mode, other arrays which do not transmit signals receive the synchronous signals and transmit the synchronous signals to system signal processing equipment to complete synchronous time delay estimation, and the system data processing equipment calculates the length of a base line between the underwater arrays by utilizing a synchronous distance measurement principle shown in the formula (1).
L＝ct (1)
In the formula, L is the length of a base line, C is the sound velocity, and t is the synchronous time delay;
step 2: and (3) underwater array position calibration: after the length of the base line is determined, establishing a relative coordinate system x '-y' taking a certain base array as an origin, and obtaining the position coordinates of each base array under the relative coordinate system of the base array; the relative coordinate system x '-y' and the east-north absolute coordinate system x-y used for the final positioning calculation of the system have certain translation amount (delta x, delta y) and rotation amount (theta)
The calculation method of the translation amount (delta x, delta y) and the rotation amount (theta) comprises the following steps:
three sets of underwater matrixes are utilized to receive cooperative positioning acoustic signals transmitted by a water surface target sound source, the system realizes the relative positioning of the target sound source based on the spherical surface intersection principle and by adopting a sound ray correction method under a matrix relative coordinate system, more than three measurement point positions at different positions are ensured during calibration, and the relative positioning position is P' i (x′ i ，y′ i ) (i =1,2,3, …), i denotes the number of different measurement positions;
the system simultaneously receives the positioning data of the DGPS equipment which is arranged at the same position as the target sound source and is used as the positioning standard, the DGPS positioning is based on an east-north absolute coordinate system, and the positioning position is P i (x i ，y i ) (i =1,2,3, …); the data processing module automatically brings different array core translation amounts and rotation amounts (delta x, delta y and theta) in a certain range through a traversal trial method, and calculates P 'through a plane coordinate conversion formula (2)' i (i＝1，2，3, …) in the new position nP i (nx i ，ny i )(i＝1，2，3，…)；
Calculating a corrected new position NP in a traversal i (nx i ，y i ) (i =1,2,3, …) and DGPS position P i (x i ，y i ) (i =1,2,3, …) total root mean square error δ a See formula (3);
in the formula (3), M is the number of measured point positions, N is the number of samples measured per point position, nx i_j And ny i_j To locate the sample value for the underwater sound in the jth group of i measurement points,
and &>
The method is a statistical mean value of multiple measurements of the DGPS at the point i, namely a reference nominal value during position calibration;
assuming that the traversal calculation times of the automatic position calibration is K, a group of correction quantities delta P can be obtained after the traversal calculation is finished i (Δx i ，Δy i ，θ i i =1,2,3, …, K) and corresponding set of total root mean square errors δ a_i I =1,2,3, …, K, and a group of correction values (Δ x, Δ y, θ) corresponding to the minimum value of the total root mean square error is the optimal correction value for position calibration;
and step 3: calibrating the underwater passive array high-precision direction finding; on the basis of accurate calibration of the position of the array, an underwater acoustic passive direction finding self-calibration mode is utilized, an array direction finding correction value, namely an included angle between a 0-degree direction finding base line of the array and a 0-degree direction finding base line of a geodetic coordinate is obtained through indirect measurement, and therefore the underwater passive array high-accuracy direction finding calibration is completed, the specific method is as follows:
a coordinate system established by tracking, positioning and resolving of the underwater sound passive tracking system is a rectangular coordinate system, wherein the x axis is in the east direction, the y axis is in the north direction, and the x axis is taken as a system 0-degree direction-finding baseline, namely a geodetic coordinate 0-degree direction-finding baseline; a1, A2 and A3 respectively represent three underwater passive direction-finding matrixes of the system, and the positions of the three underwater passive direction-finding matrixes in an east-north absolute coordinate system are respectively A1 (x) 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 )；
The A2 array transmits a passive direction-finding underwater acoustic signal to simulate noise, the A1 array receives and processes the underwater acoustic simulation noise signal to complete passive direction finding of the A2 array, the measured azimuth angle of the A2 array relative to the A1 array is alpha', the absolute azimuth angle of the A2 array to the A1 array is alpha under a system east-north rectangular coordinate system, and the alpha can be calculated according to the formula (4):
adding correction quantity delta alpha to the relative direction-finding value alpha ', wherein delta alpha = alpha' -alpha, so that the relative passive direction-finding values of the A1 array are corrected and unified into an absolute direction-finding value of a direction-finding base line with the x axis of a system coordinate system as 0 degrees, and then the A1 array direction-finding calibration is completed;
and in the same way, the direction-finding reference correction quantities of the A2 array and the A3 array are obtained through measurement and calculation respectively, and the self-calibration of the underwater sound passive positioning array is completed.
In the step 1, multiple measurements are adopted to ensure a certain sample book, the sample variance is counted and calculated, the gross error is eliminated according to the 3 sigma error discrimination criterion, and then the statistical average value is taken to calculate the distance.
Preferably, in step 2, the search algorithm of the automatic position calibration traversal is divided into two steps of coarse search and fine search, which are specifically described as follows:
c) Rough search: firstly, estimating the array center position and the rotation amount C (cx, cy, theta) of the underwater array according to the position of the water distribution point recorded by the water surface DGPS device after the array is distributed c ) Assuming that the array position arrangement error is D and the rotation error is R, thenThe coarse search range is set to cx-D ≦ Δ x ≦ cx + D, cy-D ≦ Δ y ≦ cy + D, and θ c -R≤θ≤θ c + R, the search steps of the three correction quantities are L respectively 1x ＝D/100，L 1y = D/100 and L 1R = R/10, performing rough traversal calculation with a large step size within a given relatively large error range, and comparing to obtain a group of correction quantities C corresponding to the minimum value in the total root mean square error 1 (cx 1 ，cy 1 ，θ c1 )；
d) Fine searching: search range set to cx 1 -L 1x ≤Δx≤cx 1 +L 1x ，cy 1 -L 1y ≤Δy≤cy 1 +L 1y And theta c1 -L 1R ≤θ≤θ c1 +L 1R The search steps of the three correction amounts are respectively L 2x ＝L 1x /10，L 2y ＝L 1y 10 and L 2R ＝L 1R And/10, performing fine traversal calculation with a small step size in a relatively small error range obtained by rough search, and comparing to obtain a group of correction quantities C corresponding to the minimum value in the total root mean square error 2 (cx 2 ，cy 2 ，θ c2 ) That is, the final matrix position correction Δ x = cx 2 ，Δy＝cy 2 ，θ＝θ c2 。
Calculating the positions of three sets of underwater matrixes in the geodetic absolute coordinate system according to the formula (2) by using a group of correction quantities (delta x, delta y and theta) with the minimum total root mean square error after traversing search is finished, wherein the positions are A1 (x) 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 ) And completing the position calibration of the underwater array.
The invention has the beneficial effects that: the embodiment of the invention provides a self-calibration method of a base type underwater sound passive positioning array, which comprises array calibration, position calibration and direction-finding reference calibration of an underwater array. After the positioning array of the underwater fixed passive positioning system with the fixed base is calibrated by applying the method disclosed by the invention, the positioning accuracy index of the system meets the design requirement, so that the method disclosed by the invention is reasonable and feasible, the key technical problem of system coordinate reference unification is effectively solved, the reliability and cost-effectiveness ratio in the development and use of the system are improved by simplifying and optimizing the design, and the method has good military and economic values, and can be popularized and applied to other underwater fixed passive positioning systems in principle.
Drawings
Fig. 1 is a schematic diagram of calibration of a position of a bottom-mounted underwater acoustic passive positioning array according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a direction finding calibration of the bottom-mounted underwater acoustic passive positioning array provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides a self-calibration method for a bottom-mounted underwater acoustic passive positioning array, including the following steps:
the method comprises the following steps of firstly, completing the measurement of the lengths (the distances between every two matrixes) of three sets of underwater matrixes based on the underwater sound synchronous distance measurement principle, and realizing the formation calibration of the underwater matrixes.
Because the three sets of basic arrays are arranged at the similar depth, namely in the same sound velocity layer, the influence of underwater sound environment is negligible, and the length of the basic array is directly realized by a synchronous distance measurement method. The synchronous distance measurement method comprises the following steps: the underwater measurement array underwater acoustic signal transceiving function is utilized to control the underwater arrays to transmit synchronous underwater acoustic signals in turn in a time-sharing mode, other arrays which do not transmit signals receive the synchronous signals and transmit the synchronous signals to system signal processing equipment to complete synchronous time delay estimation, and the system data processing equipment calculates the length of a base line between the underwater arrays by utilizing a synchronous distance measurement principle shown in the formula (1).
L＝ct (1)
In formula (1): c is sound velocity, the unit is m/s, and the sound velocity is obtained through accurate measurement of an external sound velocity sensor; t is synchronous time delay, the unit is s, and the system signal processing equipment estimates and obtains the time delay; l is the base length in m.
In the calibration of the array form of the array, because the sound velocity c and the synchronous time delay t are directly obtained through measurement, multiple times of measurement can be carried out for reducing random errors and improving the measurement precision, a certain sample number (such as more than 30 times) is ensured, during data processing, the sample variance is counted and calculated, the gross error is eliminated according to a3 sigma error judgment criterion, and then the statistical average value is taken for distance calculation. After the array form of the matrixes is calibrated, a relative coordinate system with a certain matrix as an original point can be established, and the position coordinates of each matrix under the relative coordinate system of each matrix can be obtained.
And secondly, indirectly measuring to obtain the position coordinates of the array by using an underwater acoustic synchronous positioning principle and a software automatic parameter searching method on the basis of array shape calibration, and realizing high-precision position calibration of the underwater array.
As shown in fig. 1, after the formation calibration of the underwater matrix is completed, a matrix x '-y' relative coordinate system is established, but certain translation (Δ x, Δ y) and rotation (θ) exist between the matrix relative coordinate system and an "east-north" x-y absolute coordinate system used for final positioning calculation of the system. The function to be completed by the position calibration of the underwater array is to obtain the translation amount and the rotation amount (delta x, delta y and theta) of the array center between the self coordinate system of the array and the 'east-north' absolute coordinate system through measurement and data processing, and complete the conversion from the relative coordinate system of the array to the 'east-north' absolute coordinate system of the system by utilizing the rectangular coordinate conversion principle, thereby obtaining the position information of three sets of underwater arrays under the absolute coordinate system and providing the array position reference for the next array direction-finding calibration and the final passive positioning calculation.
As shown in attached figure 1, during calibrating of the array position, three sets of underwater arrays receive cooperative positioning acoustic signals transmitted by a water surface target sound source, the system realizes relative positioning of the target sound source based on the spherical intersection principle and by adopting a sound ray correction method under a relative coordinate system of the arrays, more than three measurement point positions at different positions are ensured during calibration, and the relative positioning position is P' i (x′ i ，y′ i ) (i =1,2,3, …), i denotes the serial number of the different measurement positions.The system simultaneously receives the positioning data of DGPS equipment which is arranged at the same position as the target sound source and serves as the positioning standard, the DGPS positioning is based on an 'east-north' absolute coordinate system, and the positioning position is P i (x i ，y i ) (i =1,2,3, …). The data processing software automatically brings different array core translation amounts and rotation amounts (delta x, delta y and theta) in a certain range through a traversal trial method, and calculates P 'through a plane coordinate conversion formula (2)' i New position nP of (i =1,2,3, …) i (nx i ，ny i )(i＝1，2，3，…)。
Calculating the corrected new position NP in traversal i (nx i ，y i ) (i =1,2,3, …) and DGPS position P i (x i ，y i ) (i =1,2,3, …) total root mean square error δ a See formula (3).
In the formula (3), M is the number of points to be measured (not less than 3), N is the number of samples to be measured per point (more than 30 groups), and nx is i_j And ny i_j To locate the sample value for the underwater sound in the jth group of i measurement points,
and &>
Is the statistical mean of multiple measurements of the DGPS at the i-point, i.e., the reference nominal value in position calibration.
Assuming that the traversal calculation times of the automatic position calibration is K, a group of correction quantities delta P can be obtained after the traversal calculation is completed i (Δx i ，Δy i ，θ i i =1,2,3, …, K) and corresponding set of total root mean square errors δ a_i (i =1,2,3, …, K), total mean squareThe set of corrections (Δ x, Δ y, θ) corresponding to the minimum value of the root error is the optimal correction for the position calibration.
The automatic position calibration traversal search algorithm is divided into two steps of rough search and fine search, and the specific description is as follows:
e) Rough search: firstly, estimating the array center position and the rotation amount C (cx, cy, theta) of the underwater array according to the position of the water distribution point recorded by the water surface DGPS device after the array is distributed c ) Assuming that the matrix position layout error is D and the rotation error is R, the rough search range is set to cx-D ≤ Δ x ≤ cx + D, cy-D ≤ Δ y ≤ cy + D and θ c -R≤θ≤θ c + R, the search steps of the three correction amounts are L respectively 1x ＝D/100，L 1y = D/100 and L 1R = R/10, performing rough traversal calculation with a large step size within a given relatively large error range, and comparing to obtain a group of correction quantities C corresponding to the minimum value in the total root mean square error 1 (cx 1 ，cy 1 ，θ c1 )；
f) Fine searching: search range set to cx 1 -L 1x ≤Δx≤cx 1 +L 1x ，cy 1 -L 1y ≤Δy≤cy 1 +L 1y And theta c1 -L 1R ≤θ≤θ c1 +L 1R The search steps of the three correction amounts are respectively L 2x ＝L 1x /10，L 2y ＝L 1y 10 and L 2R ＝L 1R And/10, performing fine traversal calculation with a small step size in a relatively small error range obtained by rough search, and comparing to obtain a group of correction quantities C corresponding to the minimum value in the total root mean square error 2 (cx 2 ，cy 2 ，θ c2 ) That is, the final matrix position correction Δ x = cx 2 ，Δy＝cy 2 ，θ＝θ c2 。
Calculating the positions of three sets of underwater matrixes in the geodetic absolute coordinate system according to the formula (2) by using a group of correction quantities (delta x, delta y and theta) with the minimum total root mean square error after traversing search is finished, wherein the positions are A1 (x) 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 ) Go to completionAnd (4) calibrating the position of the underwater matrix.
In the calibration of the array position, when the system carries out synchronous positioning on a water surface target sound source, because the sound source is positioned on the water surface, the sound source and the array are positioned in different sound velocity layers with larger span, if a traditional average sound velocity method is utilized to carry out direct distance measurement intersection, a positioning result is influenced by serious bending of sound rays under severe hydrological conditions to generate larger errors, and the calibration precision of the array position is difficult to ensure.
Meanwhile, in order to reduce the influence of random errors in measurement and further improve the calibration precision, the underwater sound positioning and the DGPS positioning are measured for multiple times at each point position during calibration measurement, a certain number of samples (for example, more than 30 times) is ensured, the variance of the samples is counted and calculated during data processing, and then the DGPS statistical mean value and the total root mean square error are calculated as input values for searching the optimal correction quantity after the coarse difference is removed according to a3 sigma error judgment criterion.
And thirdly, on the basis of accurate calibration of the position of the array, indirectly measuring to obtain an array direction-finding correction value (an included angle between a 0-degree direction-finding baseline of the array and a 0-degree direction-finding baseline of a geodetic coordinate) by using an underwater passive direction-finding self-calibration mode, and realizing high-accuracy direction-finding calibration of the underwater passive array.
According to the underwater array direction-finding base array calibration method, the measurement of the direction-finding correction values of the underwater base arrays can be well realized by using the underwater signal transceiving functions of the base arrays under the condition of not changing any software and hardware design of the system according to the position information of three sets of base arrays of the underwater passive tracking system, which is obtained through position self-calibration, so that the direction-finding references of the three sets of underwater base arrays are unified.
The calibration principle is shown in fig. 2, a coordinate system established by the omnidirectional high-precision underwater sound passive tracking system by tracking, positioning and resolving is a rectangular coordinate system, wherein the x axis is the east-ward direction, the y axis is the north-ward direction, and the x axis is the system 0-degree direction-finding baseline (the geodetic coordinate is 0-degree direction-finding baseline). A1, A2 and A3 are eachThree underwater passive direction-finding matrixes of the system are represented, and after the matrixes are arranged and subjected to position self-calibration, the positions of three sets of underwater matrixes in an east-north absolute coordinate system are obtained and are respectively A1 (x) 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 )。
When three sets of underwater direction-finding matrixes are designed, own 0-degree direction-finding baselines are set, but due to the randomness of arrangement on a lake, the 0-degree direction-finding baselines of the three sets of matrixes after arrangement cannot be ensured to point to the specified x-axis direction. Therefore, before the system pure orientation passive intersection positioning calculation, fixed correction values are added to the 0-degree direction-finding baselines of the three sets of basic arrays respectively, so that the 0-degree direction-finding baselines of the three sets of basic arrays uniformly point to the x-axis direction of the system.
As shown in fig. 2, after the calibration of the array position is completed, a passive direction-finding underwater acoustic signal (analog noise) is transmitted through the A2 array, the A1 array receives and processes the underwater acoustic analog noise signal to complete the passive direction finding of the A2 array, and because the A1 array deviates from the 0 ° direction-finding base line, the measured azimuth angle of the A2 array relative to the A1 array is α' (relative direction-finding value); according to the absolute position coordinates of the matrixes A1 and A2 shown in fig. 2, under the rectangular coordinate system of the system "east-north", the absolute azimuth angle of A2 to A1 is α, and α can be calculated according to the formula (4):
the purpose of the system matrix direction finding calibration is to add a correction amount Δ α (Δ α = α '- α) to the relative direction finding value α', and then unify the relative passive direction finding value of the A1 matrix into an absolute direction finding value of a direction finding baseline having the x axis of the system coordinate system as 0 °.
Similarly, the direction-finding reference correction quantities of the A2 array and the A3 array are respectively obtained through measurement and calculation. When the system is actually used, the three corrected absolute direction-finding values and the array absolute coordinate values are used for positioning and resolving the underwater target, and then tracking and positioning of the underwater target can be accurately realized.
In the embodiment of the invention, in the calibration of the array direction finding, the relative direction finding value is directly obtained through underwater acoustic measurement, so that the random error is reduced, the measurement precision is improved, multiple times of measurement can be carried out, a certain number of samples (such as more than 30 times) are ensured, during data processing, the sample variance is counted and calculated, the gross error is eliminated according to a3 sigma error judgment criterion, and then the statistical average value is taken for direction finding correction.
The method described by the invention effectively solves the self-calibration problem of the positioning array of the fixed underwater sound passive tracking system under the severe hydrological condition, overcomes the defect of poor calibration precision in the traditional underwater array positioning calibration of the passive tracking and positioning array under pure water depending on water surface satellite/optical measurement and array direction finding calibration by utilizing a compass device, establishes and unifies the space coordinate reference for realizing high-precision underwater sound passive tracking and positioning calculation of the system, and is mainly characterized in that:
(1) The single set of underwater array adopts an active and passive composite array design, and has the functions of receiving and transmitting underwater acoustic signals, and three sets of arrays form an underwater acoustic passive tracking and positioning array;
(2) Under the premise of designing the underwater sound signal receiving and transmitting combined array, the distance measurement between every two of the three sets of arrays is completed by using the underwater sound synchronous distance measurement function, so that the high-precision array shape calibration of the underwater sound passive tracking positioning array is realized;
(3) On the basis of array shape calibration, a positive array center parameter is continuously adjusted and adjusted by using a mode of comparing an underwater acoustic synchronous positioning principle with a water surface DGPS (standard) positioning principle, and the position coordinate of an underwater array is obtained through indirect measurement, so that the high-precision position calibration of the underwater array is realized;
(4) On the basis of accurate calibration of the array position, an underwater passive array direction finding self-calibration mode is utilized to indirectly measure and obtain an array direction finding correction value, so that high-accuracy direction finding calibration of an underwater passive array is realized;
(5) The software comprehensively applies the technologies or algorithms such as sound ray correction, measurement sample statistical calculation, automatic fast search and matching and the like, and the accuracy, automation and intellectualization level of the array calibration are further improved.
The self-calibration method for the underwater passive positioning space reference provided by the embodiment of the invention is implemented and completed in project development, a lake test is carried out to verify and examine the system after the implementation is completed, and a test result shows that the system positioning accuracy index meets the design requirement after the system positioning array is calibrated by using the method. The method is reasonable and feasible, effectively solves the key technical problem of coordinate reference unification of the system, improves the reliability and cost-effectiveness ratio in the development and use of the system through simplification and optimization design, has good military and economic values, and can be popularized and applied to other underwater fixed passive positioning systems in principle.
In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.
Claims (3)
1. A self-calibration method of a base type underwater sound passive positioning array is characterized by comprising array calibration, position calibration and direction finding reference calibration of the underwater array, and specifically comprises the following steps:
step 1: measuring the length of an underwater basic array base line; the method for synchronous distance measurement is specifically as follows: measuring the underwater acoustic signal transceiving function by using an underwater array, controlling the underwater array to transmit synchronous underwater acoustic signals in turn in a time-sharing manner, receiving the synchronous underwater acoustic signals by using other arrays which do not transmit signals and transmitting the signals to system signal processing equipment to complete synchronous time delay estimation, and calculating by using a synchronous ranging principle shown as a formula (1) by using the system data processing equipment to obtain the length of a base line between the underwater arrays;
L＝ct (1)
in the formula, L is the length of a base line, C is the sound velocity, and t is the synchronous time delay;
step 2: calibrating the position of the underwater array: after the length of the basic line is determined, establishing a relative coordinate system x '-y' taking any basic array as an origin, and obtaining the position coordinates of each basic array under the relative coordinate system of the basic array; translation (delta x, delta y) and rotation theta exist between the relative coordinate system x '-y' and an east-north absolute coordinate system x-y used for final positioning calculation of the system;
the calculation method of the translation amount (delta x, delta y) and the rotation amount theta comprises the following steps:
three sets of underwater matrixes are utilized to receive cooperative positioning acoustic signals transmitted by a water surface target sound source, the underwater sound passive tracking system realizes the relative positioning of the target sound source based on the spherical intersection principle and by adopting an acoustic ray correction method under a relative coordinate system of the matrixes, more than three measurement point positions at different positions are ensured during calibration, and the relative positioning position is P i ′(x′ i ，y′ i ) I =1,2,3, …, i indicates the serial numbers of different measurement points;
the system simultaneously receives the positioning data of DGPS equipment which is arranged at the same position as the target sound source and serves as the positioning standard, the DGPS positioning is based on an east-north absolute coordinate system, and the positioning position is P i (x i ，y i ) (ii) a The data processing module automatically brings different array core translation amounts and rotation amounts (delta x, delta y and theta) into the array core through a traversal trial method, and calculates P through a plane coordinate conversion formula (2) i ' New position NP i (nx i ，ny i )；
Calculating the corrected new position NP in traversal i (nx i ，ny i ) And DGPS position P i (x i ，y i ) Total root mean square error delta a See formula (3);
in the formula (3), M is the number of points to be measured, N is the number of samples to be measured per point, nx i_j And ny i_j To locate the sample value for the underwater sound in the jth group of i measurement points,
and &>
The method is a statistical mean value of multiple measurements of the DGPS at the i measurement point position, namely a reference nominal value during position calibration;
assuming that the traversal calculation times of the automatic position calibration is K, a group of correction quantities delta P is obtained after the traversal calculation is finished j (Δx j ，Δy j ，θ j ) J =1,2,3, …, K and corresponding set of total root mean square errors δ a_j A group of translation amount and rotation amount (delta x, delta y, theta) corresponding to the minimum value in the total root-mean-square error is the optimal correction amount of the position calibration;
and step 3: calibrating an underwater array high-precision direction-finding reference; on the basis of accurate calibration of the position of the array, an underwater acoustic passive direction finding self-calibration mode is utilized, an array direction finding correction value, namely an included angle between a 0-degree direction finding base line of the array and a 0-degree direction finding base line of a geodetic coordinate is obtained through indirect measurement, and therefore the underwater array high-accuracy direction finding reference calibration is completed, the specific method is as follows:
a coordinate system established by the underwater sound passive tracking system tracking, positioning and resolving is a rectangular coordinate system, wherein the x axis is in the east-righting direction, the y axis is in the north-righting direction, and the x axis is taken as a system 0-degree direction-finding baseline, namely an earth coordinate 0-degree direction-finding baseline; a1, A2 and A3 respectively represent three underwater passive direction-finding matrixes of the system, and the positions of the three underwater passive direction-finding matrixes in an east-north absolute coordinate system are respectively A1 (x) 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 )；
The method comprises the following steps that an A2 array transmits a passive direction finding underwater sound signal to simulate noise, the A1 array receives and processes the underwater sound simulation noise signal to complete passive direction finding of the A2 array, the measured azimuth angle of the A2 array relative to the A1 array is alpha', the absolute azimuth angle of the A2 array to the A1 array is alpha under a system east-north rectangular coordinate system, and the alpha is calculated according to the formula (4):
adding correction quantity delta alpha to the opposite azimuth angle alpha ', wherein delta alpha = alpha' -alpha, so that the relative passive direction-finding values of the A1 array are corrected and unified into an absolute direction-finding value of a direction-finding base line with the x axis of a system coordinate system as 0 degrees, and then the calibration of the A1 array direction-finding reference is completed;
and in the same way, the direction-finding reference correction quantities of the A2 array and the A3 array are obtained through measurement and calculation respectively, and the underwater sound passive positioning array self-calibration is completed.
2. The self-calibration method for the bottom-mounted underwater acoustic passive positioning array as claimed in claim 1, wherein in step 1, multiple measurements are adopted to ensure the number of samples, the variance of the samples is calculated, the gross error is eliminated according to a3 σ error discrimination criterion, and then the statistical average is taken to calculate the distance.
3. The self-calibration method for the bottom-mounted underwater acoustic passive positioning array as claimed in claim 2, wherein in the step 2, the search algorithm of the automatic position calibration traversal is divided into two steps of coarse search and fine search, which are specifically described as follows:
a) Rough search: after the array is laid, estimating the translation amount and rotation amount C (cx, cy, theta) of the estimated array center of the underwater array according to the position of the laid water point recorded by the water surface DGPS device c ) Assuming that the matrix position layout error is D and the rotation error is R, the rough search range is set to cx-D ≤ Δ x ≤ cx + D, cy-D ≤ Δ y ≤ cy + D and θ c -R≤θ≤θ c + R, the search steps of the three correction quantities are L respectively 1x ＝D/100，L 1y = D/100 and L 1R And = R/10, performing rough traversal calculation with a larger step size within a given relatively larger error range, and comparing to obtain a set of translation amount and rotation amount C corresponding to the minimum value in the total root mean square error 1 (cx 1 ，cy 1 ，θ c1 )；
b) Fine searching: search range set to cx 1 -L 1x ≤Δx≤cx 1 +L 1x ，cy 1 -L 1y ≤Δy≤cy 1 +L 1y And theta c1 -L 1R ≤θ≤θ c1 +L 1R Three ofThe search step length of the correction amount is L 2x ＝L 1x /10，L 2y ＝L 1y 10 and L 2R ＝L 1R And/10, performing fine traversal calculation with a small step size in a relatively small error range obtained by rough search, and comparing to obtain a group of correction quantities C corresponding to the minimum value in the total root mean square error 2 (cx 2 ，cy 2 ，θ c2 ) That is, the final matrix position correction Δ x = cx 2 ，Δy＝cy 2 ，θ＝θ c2 ；
Calculating the positions of the three sets of underwater matrixes under the absolute coordinate system of the ground according to the formula (2) by using a group of translation amount and rotation amount (delta x, delta y, theta) with the minimum total root mean square error after traversing search is finished, wherein the positions are A1 (x, y and theta) respectively 1 ，y 1 )、A2(x 2 ，y 2 ) And A3 (x) 3 ，y 3 ) And completing the position calibration of the underwater array.
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