CN110297250B - Initial grazing angle solving method based on Taylor expansion, sound ray bending correction method and equipment - Google Patents

Initial grazing angle solving method based on Taylor expansion, sound ray bending correction method and equipment Download PDF

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CN110297250B
CN110297250B CN201910521054.5A CN201910521054A CN110297250B CN 110297250 B CN110297250 B CN 110297250B CN 201910521054 A CN201910521054 A CN 201910521054A CN 110297250 B CN110297250 B CN 110297250B
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grazing angle
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徐晓苏
金博楠
张涛
李瑶
姚逸卿
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Southeast University
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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
    • 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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Abstract

The invention discloses an initial grazing angle solving method based on Taylor expansion, a sound ray bending correction method and sound ray bending correction equipment, and mainly aims to solve the problem that an inclined distance measurement error is increased due to the fact that the initial grazing angle cannot be accurately obtained when a distance measurement error is corrected by adopting a sound ray tracking method under the influence of sound ray bending. The method mainly comprises the following steps: estimating the slant distance by adopting the weighted average sound velocity, calculating an initial value of an initial grazing angle, calculating time delay deviation according to an equal gradient sound ray tracking method, establishing a Taylor expanded sound ray tracking correction model, correcting the initial grazing angle, judging convergence conditions, executing iteration steps and correcting sound rays. The method can quickly and accurately calculate the initial grazing angle to determine the shortest intrinsic sound ray, and solves the problem of accurate distance measurement of underwater acoustic positioning equipment on the water surface. Compared with the existing search tracking method, the method has the advantages of reducing the search range, improving the search resolution, remarkably improving the search time and precision, being simple and efficient, and being suitable for underwater detection and positioning.

Description

Initial grazing angle solving method based on Taylor expansion, sound ray bending correction method and equipment
Technical Field
The invention belongs to the technical field of underwater acoustic detection and positioning, and particularly relates to an initial grazing angle solving method, a sound ray bending correction method and equipment for sound ray tracking.
Background
The underwater detection and positioning use distance measurement, and the geometric position is determined by the slant distance. When the acoustic signal propagates underwater, the acoustic signal is subjected to different salinity, temperature, depth and pressure, and the propagation speeds of the acoustic signal are different. The different sound velocities result in that the sound wave can not travel in the water according to a straight line any more, and the sound ray from the emission source to the hydrophone is a curve instead of a straight line in section view, so that not only is the length of the sound ray increased, but also the time spent on the sound ray is also increased. The common method for distance measurement is a sound ray tracking algorithm, and a sound ray path is simulated layer by layer according to a sound velocity profile to estimate a horizontal distance.
The sound ray tracking needs an initial grazing angle, the sound ray path is tracked by taking the angle as the starting direction, and the accurate initial grazing angle can correct the direction-finding error in the ultra-short baseline. In practical application, a measuring ship often detects an underwater fixed transponder to obtain the round-trip time delay 2t of a signal, and an accurate sound ray grazing angle is required for sound ray tracking in the process of converting the time delay into the position slant distance. However, except for the fact that a small number of underwater acoustic sensors can detect the outgoing or incoming directions of signals, most equipment cannot accurately acquire the initial grazing angle of sound rays, for this reason, the most approximate initial grazing angle is found by adopting a stepping search mode within the range of 0-90 degrees in the existing method, the method requires sound ray tracking in the whole range, and is very tedious, the actual grazing angle can be skipped if the step length is too large, the efficiency is low if the step length is too small, and the calculation load is increased.
Therefore, how to quickly and accurately lock the initial grazing angle becomes a problem to be solved at present.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects of the prior art, the invention provides an initial grazing angle solving method based on Taylor expansion, a sound ray bending correction method and computer equipment, which can quickly and accurately obtain the initial grazing angle and effectively solve the problem of increased slant range measurement error caused by inaccurate initial grazing angle when a distance measurement error is corrected by adopting a sound ray tracking method under the influence of sound ray bending.
The technical scheme is as follows: according to a first aspect of the present invention, there is provided a taylor expansion-based initial grazing angle solving method, the method comprising the steps of:
(1) according to sound velocity profile c (z), measuring time delay t and transponder depth H, estimating initial grazing angle theta by trigonometric principle0Taking the angle theta of grazing incidence with the initial0The sine theta of the complementary angle of refraction0Is an iteration initial value;
(2) according to the iteration initial value, the equal gradient sound ray tracking method is used for solving the horizontal distance and estimating the time delay
Figure BDA0002096696160000021
(3) Calculating time delay deviation
Figure BDA0002096696160000022
Carrying out Taylor expansion on the equal-gradient sound ray tracking formula at an initial value, calculating a sine increment according to the time delay deviation and updating the initial value;
(4) repeating the steps 2-3 until the iteration is finished when the iteration finishing condition is met, and finishing the iteration according to the sine value theta at the moment0To obtain the final initial grazing angle theta0＝arccosΘ0。
According to a second aspect of the present invention, an acoustic ray bending correction method is provided, in which an initial grazing angle is obtained according to the initial grazing angle solving method of the first aspect, a horizontal distance is obtained according to an equal-gradient acoustic ray tracking method based on the initial grazing angle, and an oblique distance is obtained according to the pythagorean theorem.
According to a third aspect of the present invention, there is provided a computer apparatus, the apparatus comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured for execution by the one or more processors, which when executed by the processors implement the method according to the first aspect of the invention.
Has the advantages that: the invention well solves the practical problem that the initial grazing angle can not be accurately determined according to the measurement delay due to the bending of sound rays in the underwater sound detection and positioning, and further the skew distance can be corrected. Under the condition of known depth and sound velocity profile, the initial grazing angle is reversely deduced according to the acoustic ray tracking correction model of Taylor expansion, and finally the acoustic ray error is accurately corrected. Compared with the traditional method, the method has the advantages that the search is not needed, the calculation amount is small, the estimated initial grazing angle has extremely high precision in most of ranges, the sound ray bending is further corrected, the slant distance measurement precision is improved, and simulation experiments show that the distance measurement error is not more than 10m within the depth of 3000 m.
Drawings
FIG. 1 is a flow chart of a sound ray correction method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a sound ray geometry according to an embodiment of the present invention;
FIG. 3 is a sound velocity profile according to an embodiment of the present invention;
FIG. 4 is a diagram of sound ray trajectories at different angles according to an embodiment of the present invention;
FIG. 5 is a comparison of initial glancing angle errors according to an embodiment of the invention;
FIG. 6 is a horizontal distance error comparison according to an embodiment of the present invention;
FIG. 7 is a slope error comparison according to an embodiment of the present invention;
fig. 8 is a schematic diagram of search tracking at a grazing angle of 3.624 ° according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings. It should be understood that the following embodiments are provided only for the purpose of thoroughly and completely disclosing the present invention and fully conveying the technical concept of the present invention to those skilled in the art, and the present invention may be embodied in many different forms and is not limited to the embodiments described herein. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention.
Fig. 1 is a flow chart of a sound ray correction method provided by the invention, and the invention provides an initial grazing angle solving method based on taylor expansion for the underwater acoustic ranging problem under a constant depth environment, and the initial grazing angle of a sound ray is reversely deduced by using a sound velocity profile and depth and time delay information obtained by measurement. The basic variables are shown in FIG. 2:
known amounts are: measuring time delay t measured by a ship sound receiving and transmitting head; a sound velocity profile c (z) of the body of water; the depth H of the transponder;
output quantity: initial grazing angle theta of sound ray0Horizontal distance R and slant distance R.
Step 1: selecting an initial glancing angle theta0The initial value of iteration of (1);
and calculating an initial grazing angle by using the slope distance estimated by the weighted average sound velocity as an iteration initial value. The weighted average speed of sound is obtained by:
Figure BDA0002096696160000031
wherein c isi＝c(zi) Representing the sound velocity values, z, of the layers of the sound velocity profilem<H<zm+1，Δzi＝zi+1-ziIs the layer height. Defining z taking into account that the acoustic profile data is discrete and that there is a resolution error between the depth H0＝0，zm+1When H, then has c0＝c1-g1Δz0Is the superficial acoustic velocity, cm+1＝cm+gmΔzmIs the bottom layer sound velocity, giIs the acoustic velocity gradient of each layer, gi＝(ci+1-ci)/(zi+1-zi) Thus, there are
Figure BDA0002096696160000032
If the measured time delay is t, calculating the sine of the refraction angle according to the triangular principle as follows:
Figure BDA0002096696160000033
the refraction angle is the angle between the sound ray and the vertical line, because the grazing angle and the refraction angle are complementary, the sine of the refraction angle follows the snell law, and p is a constant:
Figure BDA0002096696160000034
so the sine of the angle of refraction is denoted by theta, the initial grazing angle theta0＝arccosΘ0Using theta0As an initial value;
step 2: time delay estimation by equal gradient sound ray tracing method
Figure BDA0002096696160000035
According to the equal gradient sound ray tracking method, the horizontal distance and the time delay can be estimated from the initial grazing angle:
Figure BDA0002096696160000041
in the formula ofi＝ci/c0。
And step 3: calculating and correcting initial value increment;
when theta is higher than theta0When the value is more than 0, the equal gradient sound ray tracing formula is subjected to Taylor expansion at the initial value:
Figure BDA0002096696160000042
wherein
Figure BDA0002096696160000043
Figure BDA0002096696160000047
The high order is infinitesimal and can be ignored. And enabling time delay deviation:
Figure BDA0002096696160000044
theta can be obtained0Increment of (d):
Figure BDA0002096696160000045
updating the initial value based on the increment, the initial value being corrected to:
Θ0＝Θ0+dΘ0
when correcting, it should be noted that it cannot exceed a certain interval, 0 < theta0＜ΘmaxWherein:
Figure BDA0002096696160000046
is the critical value of total reflection of the sound ray.
And 4, step 4: completing an iterative process and solving;
continuously repeating the step 2 and the step 3, and iterating until delta t<τ (τ is a threshold) or the number of iterations N exceeds an upper limit N to end the iteration. Theta at this time0＝arccosΘ0For the final initial grazing angle, the corresponding is determined according to the equal gradient tracking method
Figure BDA0002096696160000051
The final horizontal distance is obtained according to the Pythagorean theorem.
The effects of the present invention will be further described below by way of a specific example. A simulation test is carried out on a deep sea environment with the water depth of 3000m, the sound velocity profile of the simulation test is shown in figure 3, and grazing angles theta of 10 different angles are selected from 0-90 DEG0As a test, the corresponding horizontal distance R and time delay t are shown in table 1. Fig. 4 is a schematic diagram of sound ray traces at different angles.
TABLE 1 horizontal distance and time delay for different grazing angles
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 the actual use requirement, adding zero mean white noise with standard deviation of 1ms into the time delay t, and reversely deducing the initial grazing angle theta from t0And the horizontal distance R, the method is compared with an empirical sound velocity method and a traditional search tracking method. Except for the time delay t, individual points are selected for the sound velocity in fig. 3, white noise is added to be used as a sound velocity profile of actual measurement, the average value of the white noise is zero, and the standard deviation is 0.1 m/s.
The empirical sound velocity method converts the time delay into the slope distance by using the empirical sound velocity, wherein the weighted average sound velocity is used as the empirical sound velocity,
Figure BDA0002096696160000052
the empirical sound velocity method does not consider the sound ray bending, and the horizontal distance and the grazing angle can be obtained by a triangular relation.
The search tracking method and the method consider the influence of sound ray bending, and need to calculate an initial grazing angle and then use an equal-gradient sound ray tracking method to track the sound ray so as to calculate the corresponding horizontal distance and the corresponding slant distance. Therefore, the accuracy and the calculation speed of the initial glancing angle determine the accuracy and the convenience of use of the slope distance.
FIG. 5 shows the initial grazing angle calculated by the empirical sound velocity method and the search and tracking methodCompared with the error of the method, the empirical sound velocity method has larger error, and the method has certain error compared with the search tracking method when the grazing angle is large (the transponder is near right below), because the theta0Near 0, the problem that the denominator is zero or the negative number is squared needs to be faced in the operation process, a series of approximation processing increases errors, and especially when the delay error is large, the situation is more serious. However, after the grazing angle is about less than 80 degrees, the advantages of the invention are obvious, the calculation precision of the initial grazing angle is always higher than that of the search tracking method, and especially, the error of the search tracking method becomes larger at a small-angle grazing angle. This is mainly due to the fact that at small angles, the delay is very sensitive to small changes in the grazing angle, and the search step size is relatively large, resulting in large errors.
The size of the initial grazing angle error is more obvious when the horizontal distance is calculated by the sound velocity tracking method, and the slant distance error changes along with the horizontal distance error, as shown in fig. 6 and 7. The pitch error of the present invention is larger in the opening angle of about 10 ° directly below the sound source, and the error is minimized in most of the range. The horizontal distance error and the slant distance error of the search tracking method under a small grazing angle are increased along with the increase of the error of the initial grazing angle of the search, even the search tracking method is not as good as the empirical sound velocity method. The results of the numerical values of this experiment are shown in Table 2.
TABLE 2 initial glancing angle error, horizontal distance error, and slope error comparison
Figure BDA0002096696160000061
The search tracking method needs a large number of attempts to search in a certain step size, and the precision is also influenced by the compensation resolution. The grazing angle provided by the empirical sound velocity method can reduce the search range, the range is very small when the initial grazing angle is large, but when the initial grazing angle is large, the difference between the grazing angle obtained by the empirical sound velocity method and the actual grazing angle is large, and the search workload is still very large, as shown in fig. 8.
In conclusion, the method and the device well solve the practical problem that the initial grazing angle cannot be accurately determined according to the measurement delay because the sound ray is bent in the underwater sound detection and positioning process, and further the skew distance is corrected. Under the condition of known depth and sound velocity profile, the initial grazing angle is reversely deduced according to the acoustic ray tracking correction model of Taylor expansion, and finally the acoustic ray error is accurately corrected. Compared with the traditional method, the method has the advantages that the search is not needed, the calculation amount is small, the estimated initial grazing angle has extremely high precision in most ranges, the sound ray bending is further corrected, and the slant distance measurement precision is improved.
Based on the same technical concept as the method embodiment, according to another embodiment of the present invention, there is provided a computer apparatus including: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, which when executed by the processors implement the steps in the method embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (6)

1. A Taylor expansion-based initial grazing angle solving method is characterized by comprising the following steps:
(1) according to sound velocity profile c (z), measuring time delay t and transponder depth H, estimating initial grazing angle theta by trigonometric principle0Taking the angle theta of grazing incidence with the initial0The sine theta of the complementary angle of refraction0Specifically, the method includes the following steps:
(11) calculating a weighted average sound velocity from the sound velocity profile data and the transponder depth:
Figure FDA0002825373690000011
wherein c isi＝c(zi) Representing the sound velocity values, z, of the layers of the sound velocity profilem<H<zm+1，Δzi＝zi+1-ziIs of layer height and has
Figure FDA0002825373690000012
(12) Measuring the time delay as t, and calculating the sine of the refraction angle according to the triangle principle as follows:
Figure FDA0002825373690000013
(13) because the grazing and refraction angles are complementary, the sine of the refraction angle follows snell's law, p is a constant:
Figure FDA0002825373690000014
so the sine of the angle of refraction is denoted by theta, the initial grazing angle theta0＝arccosΘ0Using theta0As an initial value;
(2) according to the iteration initial value, the equal gradient sound ray tracking method is used for solving the horizontal distance and estimating the time delay
Figure FDA0002825373690000015
(3) Calculating time delay deviation
Figure FDA0002825373690000016
Carrying out Taylor expansion on the equal-gradient sound ray tracking formula at an initial value, calculating a sine increment according to the time delay deviation and updating the initial value, wherein the method specifically comprises the following steps:
(31) when theta is higher than theta0When the value is more than 0, the equal gradient sound ray tracing formula is subjected to Taylor expansion at the initial value:
Figure FDA0002825373690000017
wherein
Figure FDA0002825373690000018
，μi＝ci/c0，c0Is the surface acoustic velocity,
Figure FDA0002825373690000019
the high order is infinitesimal, which is ignored;
(32) to obtain theta0Increment of (d):
Figure FDA0002825373690000021
(33) updating an initial value: theta0＝Θ0+dΘ0And satisfies the relation 0 < theta0＜ΘmaxWherein
Figure FDA0002825373690000022
Is the critical value of total reflection of the sound ray;
(4) repeating the steps (2) to (3) until the iteration is ended when the iteration ending condition is met, and according to the sine value theta at the moment0To obtain the final initial grazing angle theta0＝arccosΘ0。
2. The taylor expansion-based initial grazing angle solving method according to claim 1, wherein the calculation formula for estimating the horizontal distance and the time delay from the initial grazing angle in the step (2) is as follows:
Figure FDA0002825373690000023
in the formula ofi＝ci/c0，c0＝c1-g1Δz0Is the superficial acoustic velocity, cm+1＝cm+gmΔzmIs the bottom layer sound velocity, giIs the acoustic velocity gradient of each layer, gi＝(ci+1-ci)/(zi+1-zi)。
3. The taylor expansion-based initial grazing angle solving method according to claim 1, wherein the iteration end condition is that a time delay deviation is below a specified threshold or the number of iterations reaches a specified number.
4. A sound ray bending correction method, characterized in that the method obtains an initial grazing angle according to the initial grazing angle solving method of any one of claims 1 to 3, obtains a horizontal distance according to an equal gradient sound ray tracking method based on the initial grazing angle, and obtains a slant distance according to the pythagorean theorem.
5. A computer device, the device comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs when executed by the processors implement the method of any of claims 1-3.
6. A computer-readable storage medium storing a computer program which, when executed by a processor, implements the method of any one of claims 1-3.
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