CN110297250A - Initial glancing angle method for solving, correction of sound ray bending method and apparatus based on Taylor expansion - Google Patents
Initial glancing angle method for solving, correction of sound ray bending method and apparatus based on Taylor expansion Download PDFInfo
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- CN110297250A CN110297250A CN201910521054.5A CN201910521054A CN110297250A CN 110297250 A CN110297250 A CN 110297250A CN 201910521054 A CN201910521054 A CN 201910521054A CN 110297250 A CN110297250 A CN 110297250A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of initial glancing angle method for solving, correction of sound ray bending method and apparatus based on Taylor expansion, main purpose is to solve under the influence of Ray-tracing method, using Ray-Tracing Method correct range error when can not accurately know initial glancing angle, caused by oblique distance measurement error increase the problem of.Method key step include: using weighted average velocity of sound estimation oblique distance, calculate initial glancing angle initial value, according to constant gradient Ray-Tracing Method calculation delay deviation, the ray traling calibration model for establishing Taylor expansion, the initial glancing angle of correction, judge that the condition of convergence executes iterative step, corrects sound ray.The present invention can quickly and accurately calculate initial glancing angle and determine most short intrinsic sound ray, solve the problems, such as underwater surface hydrolocation equipment precision ranging.Compared to currently used search and track method, the present invention reduces search range, improves search resolution, improves search time and precision significantly, is simple and efficient, and is suitable for undersea detection and positioning.
Description
Technical field
The invention belongs to Underwater Detections and field of locating technology, and in particular to a kind of initial glancing angle for ray traling
Method for solving, correction of sound ray bending method and apparatus.
Background technique
Ranging is all used in undersea detection and positioning, determines geometric position by oblique distance.When acoustical signal is propagated under water, by
Different salinity, temperature, depth and pressure, spread speed are also different.The different velocities of sound leads to sound wave in water no longer
According to straightline propagation, in terms of section, emission source to the sound ray between hydrophone is a curve, and non-rectilinear, and not only sound ray is long
Degree becomes larger, and the time experienced is also elongated.The common method of ranging is ray traling algorithm, according to Sound speed profile hierarchical simulation sound
Thread path estimates horizontal distance.
Ray traling needs initial glancing angle, tracks sound ray path, accurate initial graze by prime direction of the angle
Angle can also correct the angle measurement error in ultra-short baseline.Usually occurs such scene in practical applications, surveying vessel is to underwater
Fixed transponder is detected, and the round-trip time delay 2t of signal is obtained, and it is accurate to need during time delay translation bit oblique distance
Sound ray glancing angle carry out ray traling.However in addition to small part underwater sound sensor is able to detect outgoing or the incidence side of signal
To most equipment can not accurately know the initial glancing angle of sound ray, and for this, existing method is used within the scope of 0~90 °
The mode of step-searching finds closest initial glancing angle, and this method requires to carry out gamut ray traling, very numerous
It is trivial, and step-length is excessive may skip practical glancing angle, and step-length is too small and leads to inefficiency, and computation burden increases.
Therefore, initial glancing angle how is quickly and accurately locked as current urgent problem to be solved.
Summary of the invention
Goal of the invention: in view of the deficiencies of the prior art, the initial glancing angle based on Taylor expansion that the invention proposes a kind of
Method for solving, correction of sound ray bending method and computer equipment can quickly and accurately obtain initial glancing angle, effectively solve
Under the influence of Ray-tracing method, oblique distance is surveyed caused by being not allowed when correcting range error using Ray-Tracing Method due to initial glancing angle
Measure the problem of error increases.
Technical solution: according to the first aspect of the invention, a kind of initial glancing angle solution side based on Taylor expansion is provided
Method the described method comprises the following steps:
(1) according to Sound speed profile c (z), measurement time delay t, transponder depth H, initial glancing angle θ is estimated by triangle principle0,
It takes and initial glancing angle θ0The mutually sinusoidal Θ at remaining refraction angle0For iterative initial value；
(2) horizontal distance and estimation time delay are sought using constant gradient Ray-Tracing Method according to iterative initial value
(3) calculation delay deviationBy constant gradient ray traling formula Taylor expansion at initial value, according to time delay
Deviation calculates sinusoidal increment and updates initial value；
(4) step 2-3 is repeated, terminates iteration when meeting iteration termination condition, according to sine value Θ at this time0It obtains
Final initial glancing angle θ0=arccos Θ0。
According to the second aspect of the invention, a kind of correction of sound ray bending method is provided, the method is according to first aspect institute
The initial glancing angle method for solving stated obtains initial glancing angle, is acquired based on initial glancing angle according to constant gradient ray traling method
Horizontal distance obtains oblique distance further according to Pythagorean theorem.
According to the third aspect of the invention we, a kind of computer equipment is provided, the equipment includes: one or more processing
Device；Memory；And one or more programs, wherein one or more of programs are stored in the memory, and
It is configured as being executed by one or more of processors, such as first aspect present invention is realized when described program is executed by processor
The method.
The utility model has the advantages that the present invention well solved Underwater Detection and positioning in can not be according to measurement due to Ray-tracing method
Time delay accurately determines initial glancing angle, and then corrects the realistic problem of oblique distance.The present invention is in known depth and Sound speed profile situation
Under, initial glancing angle is pushed away according to the ray traling calibration model of Taylor expansion is counter, final accurate amendment sound ray error.Compared to biography
System method, for the present invention without search, calculation amount is small, and the initial glancing angle estimated has high essence in most of range
Degree, and then Ray-tracing method is had modified, oblique distance measurement accuracy is improved, emulation experiment shows in 3000m depth, range error
No more than 10m.
Detailed description of the invention
Fig. 1 is the sound ray modification method flow chart according to the embodiment of the present invention；
Fig. 2 is the sound ray geometric representation according to the embodiment of the present invention；
Fig. 3 is the Sound speed profile according to the embodiment of the present invention；
Fig. 4 is the sound ray trace according to the different angle of the embodiment of the present invention；
Fig. 5 is to be compared according to the initial graze angle error of the embodiment of the present invention；
Fig. 6 is to be compared according to the horizontal distance error of the embodiment of the present invention；
Fig. 7 is to be compared according to the oblique distance error of the embodiment of the present invention；
The search and track schematic diagram that Fig. 8 is according to the glancing angle of the embodiment of the present invention when being 3.624 °.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.It is to be appreciated that examples provided below
Merely at large and fully disclose the present invention, and sufficiently convey to person of ordinary skill in the field of the invention
Technical concept, the present invention can also be implemented with many different forms, and be not limited to the embodiment described herein.For
The term in illustrative embodiments being illustrated in the accompanying drawings not is limitation of the invention.
Fig. 1 show a kind of sound ray modification method flow chart that the present invention is mentioned, and the present invention is directed under constant depth environment
Subaqueous sound ranging problem proposes a kind of initial glancing angle method for solving based on Taylor expansion, is obtained using Sound speed profile and measurement
Depth, the anti-initial glancing angle for pushing away sound ray of Delay.Basic variable is as shown in Figure 2:
Known quantity: the time delay t that surveying vessel transmitting-receiving sound head measures；The Sound speed profile c (z) in the waters；The depth H of transponder；
Output quantity: the initial glancing angle θ of sound ray0, horizontal distance R and oblique distance r.
Step 1: choosing initial glancing angle θ0Iterative initial value；
Initial glancing angle is calculated as iterative initial value to be weighted and averaged the oblique distance that the velocity of sound estimates.It is weighted and averaged the velocity of sound in this way
It acquires:
Wherein ci=c (zi) indicate each layer of Sound speed profile acoustic velocity value, zm<H<zm+1, Δ zi=zi+1-ziIt is layer height.Consider
To sound cut open data be it is discrete between depth H there are Resolution Error, define z0=0, zm+1=H, then have c0=c1-g1Δz0For
The surface layer velocity of sound, cm+1=cm+gmΔzmFor the bottom velocity of sound, giFor the sound velocity gradient of each layer, gi=(ci+1-ci)/(zi+1-zi), in this way
Just have
If the time delay measured be t, according to triangle principle calculate refraction angle sine are as follows:
Refraction angle is the angle of sound ray and vertical line, because glancing angle and refraction angle are mutually remaining, the sine at refraction angle follows snell
Law, p are constants:
So the sine at refraction angle is indicated with Θ, initial glancing angle θ0=arccos Θ0, use Θ0As initial value；
Step 2: estimating time delay with constant gradient Ray-Tracing Method
According to constant gradient Ray-Tracing Method, horizontal distance and time delay can be estimated by initial glancing angle:
μ in formulai=ci/c0。
Step 3: calculating initial value increment and correct；
Work as Θ0When > 0, by constant gradient ray traling formula Taylor expansion at initial value:
Wherein
It is higher-order shear deformation, can ignores.Enable time-delay deviation:
Available Θ0Increment:
Initial value is updated based on increment, initial value is corrected as:
Θ0=Θ0+dΘ0
Timing should be noted that no more than certain section, 0 < Θ0< Θmax, in which:
It is the critical value that sound ray is totally reflected.
Step 4: completing iterative process and solve；
Step 2 and step 3 are constantly repeated, is iterated, until Δ t < τ (τ is threshold value) or the number of iterations n are more than upper limit N
Terminate iteration.θ at this time0=arccos Θ0For final initial glancing angle, acquired according to constant gradient tracking corresponding
For terminal level distance, oblique distance can be obtained further according to Pythagorean theorem.
Effect of the invention is further described below by a specific example.The deep-marine-environment of depth of water 3000m is imitated
True test, Sound speed profile is as shown in figure 3, choose the glancing angle θ of 10 different angles from 0~90 °0It is corresponding as test
Horizontal distance R and time delay t are as shown in table 1.Fig. 4 is the sound ray trace schematic diagram of different angle.
The corresponding horizontal distance of the different glancing angles of table 1 and time delay
| θ0 | Θ0 | R(m) | t(s) |
| 87.13° | 0.05 | 141.538 | 2.068144 |
| 80.21° | 0.17 | 486.888 | 2.092947 |
| 70.12° | 0.34 | 1014.897 | 2.181152 |
| 60° | 0.5 | 1603.690 | 2.343158 |
| 50.21° | 0.64 | 2271.849 | 2.592557 |
| 39.65° | 0.77 | 3175.169 | 3.009818 |
| 29.54° | 0.87 | 4333.020 | 3.631203 |
| 19.95° | 0.94 | 5855.171 | 4.531528 |
| 11.48° | 0.98 | 7650.351 | 5.655900 |
| 3.624° | 0.998 | 9674.782 | 6.961336 |
According to actual use demand, the zero-mean white noise that standard deviation is 1ms is added on time delay t, is initially plunderred by counter push away of t
Firing angle θ0When with horizontal distance R, the present invention is compared with experience sound velocity method, conventional search tracing.It is right in addition to time delay t
The velocity of sound in Fig. 3 chooses the Sound speed profile put individually and white noise is added as actual measurement, and white noise mean value is zero, standard deviation
For 0.1m/s.
Experience sound velocity method converts oblique distance for time delay using the experience velocity of sound, uses the weighted average velocity of sound empirically sound here
Speed,Experience sound velocity method does not consider Ray-tracing method, and horizontal distance and glancing angle can be asked by triangle relation
Out.
Search and track method and the present invention consider the influence of Ray-tracing method, need first to calculate sharp again after initial glancing angle
Ray traling is carried out with constant gradient Ray-Tracing Method, finds out corresponding horizontal distance and oblique distance.Therefore the precision of initial glancing angle
The precision and property easy to use of oblique distance are determined with calculating speed.
Fig. 5 is that the error of the present invention and experience sound velocity method, the calculated initial glancing angle of search and track method compare, and can be seen
Experience sound velocity method error is larger out, and the present invention is at big glancing angle (transponder is near underface), the present invention and search and track
Method is compared to there is certain error, this is because Θ0Making to need in calculating process near 0 is zero in face of denominator or negative is opened
The problem of side, a series of approximate processing increases error, and when especially time delay error is larger, situation is more serious.But exist
After glancing angle approximately is less than 80 °, advantage of the invention is highlighted, and the computational accuracy of initial glancing angle is consistently higher than search and track method,
Especially in low-angle glancing angle, search and track method error becomes larger.This is mainly due to when low-angle, time delay is to glancing angle
Minor change is very sensitive, and step-size in search is relatively large to result in biggish error.
The size of initial graze angle error is reflected in velocity of sound tracing calculating horizontal distance and then becomes apparent, and oblique distance error is then
With horizontal distance error corresponding change, as shown in Figure 6 and Figure 7.Oblique distance error of the present invention about 10 ° of angle of release immediately below sound source
It is interior larger, the smallest error is all had in furthermore most of range.Search and track method under small glancing angle horizontal range error,
Oblique distance error becomes larger continuous increase with the error of the initial glancing angle of search, or even not as good as experience sound velocity method.This empirical value
The results are shown in Table 2.
The initial graze angle error of table 2, horizontal distance error and the comparison of oblique distance error
Search and track method is largely attempted with certain step length searching needs, and precision also suffers from the shadow of compensation resolution ratio
It rings.Search range can be reduced with the glancing angle that experience sound velocity method provides, in big initial glancing angle, the range very little, but work as
When initially glancing angle is larger, the glancing angle and practical glancing angle gap that experience sound velocity method obtains are larger, and the workload of search remains unchanged
It is very huge, as shown in Figure 8.
In conclusion the present invention well solved Underwater Detection and positioning in Ray-tracing method and can not according to measurement time delay
It accurately determines initial glancing angle, and then corrects the realistic problem of oblique distance.The present invention is in known depth and Sound speed profile, root
Initial glancing angle is pushed away according to the ray traling calibration model of Taylor expansion is counter, final accurate amendment sound ray error.Compared to tradition side
Method, for the present invention without search, calculation amount is small, and the initial glancing angle estimated has high precision in most of range, into
And Ray-tracing method is had modified, the oblique distance measurement accuracy of raising.
Based on technical concept identical with embodiment of the method, according to another embodiment of the present invention, a kind of computer is provided
Equipment, the equipment include: one or more processors；Memory；And one or more programs, wherein one or more
A program is stored in the memory, and is configured as being executed by one or more of processors, described program quilt
Each step when processor executes in implementation method embodiment.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Invention is explained in detail referring to above-described embodiment for pipe, it should be understood by those ordinary skilled in the art that: still
It can be with modifications or equivalent substitutions are made to specific embodiments of the invention, and without departing from any of spirit and scope of the invention
Modification or equivalent replacement, should all cover within the scope of the claims of the present invention.
Claims (8)
1. a kind of initial glancing angle method for solving based on Taylor expansion, which is characterized in that the described method comprises the following steps:
(1) according to Sound speed profile c (z), measurement time delay t, transponder depth H, initial glancing angle θ is estimated by triangle principle0, take with
Initial glancing angle θ0The mutually sinusoidal Θ at remaining refraction angle0For iterative initial value；
(2) horizontal distance and estimation time delay are sought using constant gradient Ray-Tracing Method according to iterative initial value
(3) calculation delay deviationBy constant gradient ray traling formula Taylor expansion at initial value, according to time-delay deviation
It calculates sinusoidal increment and updates initial value；
(4) step 2-3 is repeated, terminates iteration when meeting iteration termination condition, according to sine value Θ at this time0It obtains final
Initial glancing angle θ0=arccos Θ0。
2. the initial glancing angle method for solving according to claim 1 based on Taylor expansion, which is characterized in that the step
1 includes:
(11) velocity of sound is weighted and averaged according to Sound speed profile data and transponder depth calculation:
Wherein ci=c (zi) indicate each layer of Sound speed profile acoustic velocity value, zm<H<zm+1, Δ zi=zi+1-ziIt is layer height, and has
(12) measure time delay be t, according to triangle principle calculate refraction angle sine are as follows:
(13) because glancing angle and refraction angle are mutually remaining, the sine at refraction angle follows snell law, and p is constant:
So the sine at refraction angle is indicated with Θ, initial glancing angle θ0=arccos Θ0, use Θ0As initial value.
3. the initial glancing angle method for solving according to claim 2 based on Taylor expansion, which is characterized in that the step
The calculation formula for estimating horizontal distance and time delay by initial glancing angle in 2 is as follows:
μ in formulai=ci/c0, c0=c1-g1Δz0For the surface layer velocity of sound, cm+1=cm+gmΔzmFor the bottom velocity of sound, giFor the velocity of sound of each layer
Gradient, gi=(ci+1-ci)/(zi+1-zi)。
4. the initial glancing angle method for solving according to claim 3 based on Taylor expansion, which is characterized in that the step
3 include:
(31) work as Θ0When > 0, by constant gradient ray traling formula Taylor expansion at initial value:
Wherein
It is higher-order shear deformation, is ignored；
(32) Θ is obtained0Increment:
(33) initial value: Θ is updated0=Θ0+dΘ0, and meet 0 < Θ0< Θmax, whereinIt is sound ray hair
The critical value of raw total reflection.
5. the initial glancing angle method for solving according to claim 1 based on Taylor expansion, which is characterized in that the iteration
Termination condition is that time-delay deviation is lower than specified threshold or the number of iterations reaches predetermined number of times.
6. a kind of correction of sound ray bending method, which is characterized in that the method is according to claim 1 described in any one of -5
Initial glancing angle method for solving obtains initial glancing angle, acquires level according to constant gradient ray traling method based on initial glancing angle
Distance obtains oblique distance further according to Pythagorean theorem.
7. a kind of computer equipment, which is characterized in that the equipment includes:
One or more processors；
Memory；And
One or more programs, wherein one or more of programs are stored in the memory, and be configured as by
One or more of processors execute, and realize when described program is executed by processor such as any one of claim 1-5 institute
The method stated.
8. a kind of computer readable storage medium, for storing computer program, the computer program is being executed by processor
Shi Shixian is the method as described in any one of claim 1-5.
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| PCT/CN2019/105178 WO2020252945A1 (en) | 2019-06-17 | 2019-09-10 | Taylor expansion-based initial grazing angle solving method, and sound ray bending correction method and device |
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| CN113671443A (en) * | 2021-08-16 | 2021-11-19 | 西北工业大学 | Deep sea target positioning method of underwater acoustic sensor network based on grazing angle sound ray correction |
| CN113671443B (en) * | 2021-08-16 | 2024-04-16 | 西北工业大学 | Hydroacoustic sensor network deep sea target positioning method based on glancing angle sound ray correction |
| CN114397643A (en) * | 2021-12-22 | 2022-04-26 | 山东科技大学 | Sound ray correction method based on ultra-short baseline underwater sound positioning system |
| CN114397643B (en) * | 2021-12-22 | 2024-04-26 | 山东科技大学 | Acoustic ray correction method based on ultra-short baseline underwater acoustic positioning system |
| CN114355287A (en) * | 2022-01-04 | 2022-04-15 | 湖南大学 | Ultra-short baseline underwater acoustic ranging method and system |
| CN114355287B (en) * | 2022-01-04 | 2023-08-15 | 湖南大学 | Ultra-short baseline underwater sound distance measurement method and system |
| CN117252035A (en) * | 2023-11-14 | 2023-12-19 | 天津大学 | Method for determining incidence angle of water surface aircraft |
| CN117252035B (en) * | 2023-11-14 | 2024-02-13 | 天津大学 | Method for determining incidence angle of water surface aircraft |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020252945A1 (en) | 2020-12-24 |
| CN110297250B (en) | 2021-04-06 |
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