CN110646802A - Hydrophone mirror symmetry arc array and arrangement method thereof - Google Patents

Hydrophone mirror symmetry arc array and arrangement method thereof Download PDF

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CN110646802A
CN110646802A CN201910915132.XA CN201910915132A CN110646802A CN 110646802 A CN110646802 A CN 110646802A CN 201910915132 A CN201910915132 A CN 201910915132A CN 110646802 A CN110646802 A CN 110646802A
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array
arc
underwater robot
coordinates
hydrophone
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CN110646802B (en
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聂东虎
庞桐桐
乔钢
周锋
刘凇佐
孙宗鑫
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Harbin Engineering 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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • 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
    • 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
    • G01S7/521—Constructional features

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention provides a hydrophone mirror symmetry arc array and an arrangement method thereof. Initializing the maximum length and the width, and establishing a coordinate system; secondly, calculating the array element spacing; step three, making the transverse aperture of the array equal to the maximum width; estimating array element number; step five: calculating the radius of the single arc array and the included angle of the circle centers between the two ends of the array; step six, calculating the axial aperture of the array, if the circumferential aperture is larger than the maximum length, subtracting one from the array element number, and going to step five; and step seven, calculating the coordinates of the array elements. The mirror symmetry arc array is obtained based on the maximum width and the maximum length of the underwater robot for installation, and is suitable for carrying the unmanned underwater robot.

Description

Hydrophone mirror symmetry arc array and arrangement method thereof
Technical Field
The invention relates to a hydrophone array and also relates to an arrangement method of the hydrophone array.
Background
The array signal processing has wide application in the field of sonar detection, the performance of the sonar array signal processing depends on the arrangement array type of the array hydrophones to a great extent, and generally, the larger the array element number of the array and the larger the aperture, the better the detection performance is relatively. However, the design of the array is always limited by the space size of the platform, the load weight, the signal processing capability, the application mode and the like, the number of array elements and the aperture cannot be infinitely increased, and therefore, the design of the array type, the number of array elements, the aperture and the like must be comprehensively considered and optimized. In underwater detection, commonly used array types comprise a linear array, a circular array, an area array, a spherical array, a cylindrical array and the like, and the array type underwater detection device has the advantages of regular geometric shape, simple structure, easiness in implementation and the like. Different array designs are often adopted according to different carrying platforms and application scenes. In recent years, unmanned underwater robot technology has been developed rapidly, a detection sonar array is carried on an underwater robot, and detection and tracking of a target can be realized by using the mobility and the autonomous control capability of the robot. However, due to the limitations of load, hydrodynamics, space size and structure, etc., the conventional array is difficult to lay and obtain good detection performance, so a new array must be designed according to the space structure of the underwater robot.
Disclosure of Invention
The invention aims to provide a hydrophone mirror symmetry arc array suitable for being carried by an underwater robot. The invention also aims to provide an arrangement method of the mirror symmetry arc array of the hydrophone.
The hydrophone mirror symmetry arc array of the invention is composed of two arc arrays, each array comprises M array elements, the array element interval is d, the central angle between two end points of the two arc arrays is theta, the radius of a single arc array is R,
m array element AmThe coordinates of (a) are:
Figure BDA0002215899060000011
m array element BmThe coordinates of (a) are:
Figure BDA0002215899060000012
wherein M is 0,1 … M-1.
In the hydrophone mirror symmetry arc array, two arc arrays are carried on the underwater robot, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot.
The arrangement method of the mirror symmetry arc array of the hydrophone comprises the following steps:
the method comprises the following steps: the maximum width and the maximum length of the underwater robot for array installation are respectively W and L, a right-hand coordinate system is established, the anticlockwise direction is the positive direction, the origin of coordinate axes is taken as the array center, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot;
step two: whole array comprises two arc battle arrays, and every arc battle array contains M array elements, and the array element interval is d, and d is decided by system operating frequency, promptly:
Figure BDA0002215899060000021
c is the acoustic velocity of water, f is the working frequency;
step three: let the transverse aperture D of the array2Equal to the maximum width of the underwater robot available for array installation, D2＝W；
Step four: utilizing the maximum length L of the underwater robot for installation according to a formula
Figure BDA0002215899060000022
Estimating the array element number of each arc array possible to install, wherein
Figure BDA0002215899060000023
Represents rounding down;
step five: by utilizing the central angle theta between two end points of the array and the radius of the single arc array as R, a simultaneous formula is formed
Figure BDA0002215899060000024
And
Figure BDA0002215899060000025
obtaining the radius of the arc array;
step six: obtaining the axial aperture D of the array at the moment by utilizing the radius R of the arc array1，
Figure BDA0002215899060000026
If D is1>L, enabling M to be M-1, and turning to the fifth step;
step seven: calculating the array element coordinate of the arc array on the right side of the y axis by using the radius R of the arc array obtained in the fifth step, and obtaining the m-th array element AmThe coordinates of (a) are:
Figure BDA0002215899060000027
wherein A (x)m,ym) Representative array element AmThe coordinates of the corresponding array element, namely the mth array element B are in mirror symmetry with the arc array on the left side of the y axis and the arc array on the right side of the y axis about the y axismThe coordinates of (a) are:
Figure BDA0002215899060000031
wherein M is 0,1 … M-1, and the array elements are distributed according to 2M array element coordinates to obtain a hydrophone array suitable for being carried by the underwater robot.
The invention provides a matrix suitable for carrying an underwater robot. Therefore, the method has the following advantages: firstly, can the adaptation underwater robot spatial structure, satisfy the hydrodynamics requirement, combine the kuppe design, resistance when reducing underwater robot and sailing. And secondly, the traditional array is improved, the problem that the conventional uniform linear array is only used on an underwater robot is solved, the maximum spatial aperture and array element number are obtained under the constraint of limited size, the port and starboard fuzziness is eliminated, and the performance of signal processing is improved.
Drawings
FIG. 1 is a flow chart of the element arrangement steps of the present invention.
Fig. 2 is a mirror symmetric arc array model.
Fig. 3 shows the distribution of mirror symmetry arc array elements when D is 0.5 m.
Detailed Description
The invention is described in more detail below by way of example.
With reference to fig. 1, the method for arranging the hydrophone detection arrays suitable for being carried by the unmanned underwater robot is implemented by the following steps:
the method comprises the following steps: the maximum width and length of the underwater robot available for array installation are denoted by W and L respectively. And establishing a right-hand coordinate system, wherein the anticlockwise direction is the positive direction. The origin of the coordinate axes is used as the array center, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot, as shown in fig. 2.
Step two: whole array comprises two arc battle arrays, and every battle array contains M array elements, and the array element interval is d, and d is decided by system operating frequency, promptly:
Figure BDA0002215899060000032
step three: let the transverse aperture D of the array2Equal to the maximum width of the underwater robot for array installation, i.e., D2 ═ W.
Step four: according to the maximum length L of the underwater robot which can be installed, the array element number which can be installed in each arc array is estimated according to the following formula, namely:
Figure BDA0002215899060000033
wherein
Figure BDA0002215899060000034
Indicating a rounding down.
Step five: as shown in fig. 2, let the central angle between the two end points of the array be θ (in radians) and the radius of the single arc array be R, then:
Figure BDA0002215899060000041
by combining the two formulas, the radius and the central angle theta of the arc array can be solved.
Step six: calculating the axial aperture D of the array at the moment according to the radius R of the arc array obtained in the step five1Namely:
if D is1>And L, enabling M to be M-1, and turning to the fifth step.
Step seven: calculating the array element coordinate of the arc array on the right side of the y axis according to the radius R of the arc array obtained in the step five, and obtaining the m-th array element AmThe coordinates of (a) are:
Figure BDA0002215899060000044
wherein A (x)m,ym) Representative array element AmThe coordinates, the left arc array of the y axis and the right arc array of the y axis are in mirror symmetry about the y axis, so the coordinates of the corresponding array elements can be directly written out, namely the mth array element BmThe coordinates of (a) are:
Figure BDA0002215899060000045
wherein M is 0,1 … M-1. The array elements are distributed according to 2M array element coordinates, and a hydrophone array suitable for being carried by the underwater robot is realized.
Example (c): the maximum width of the underwater robot for installation is 0.5m, the maximum length is 2.3m, the working frequency f is 4kHz, and the underwater sound velocity c is 1500 m/s.
The method comprises the following steps: let W equal to 0.5m and L equal to 4 m. And establishing a right-hand coordinate system, wherein the anticlockwise direction is the positive direction. And the original point of the coordinate axes is taken as the array center, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot.
Step two: whole array comprises two arc battle arrays, and every battle array contains M array elements, and the array element interval is d, and d is decided by system operating frequency, promptly:
Figure BDA0002215899060000046
step three: let the transverse aperture D of the array2Equal to the maximum width of the underwater robot for installing the array, namely D2 is 0.5 m;
step four: according to the maximum length L of the underwater robot which can be installed, the array element number which can be installed in each arc array is estimated according to the following formula, namely:
step five: simultaneous formulasAnd
Figure BDA0002215899060000053
get R7.20917 m, theta 0.32458.
Step six: according to the formula
Figure BDA0002215899060000054
So D1>And L, then M-1-13, and the step five is carried out. Simultaneous formulas
Figure BDA0002215899060000055
And
Figure BDA0002215899060000056
obtaining R is 6.87284m, theta is 0.31428, at this time
Figure BDA0002215899060000057
So D1<L。
Step seven: according to the formula
Figure BDA0002215899060000058
And
Figure BDA0002215899060000059
the array element coordinates are calculated as shown in fig. 3.

Claims (3)

1. A hydrophone mirror symmetry arc array is characterized in that: the array is composed of two arc arrays, each array comprises M array elements, the spacing between the array elements is d, the central angle between two end points of the two arc arrays is theta, the radius of the single arc array is R, and the mth array element is AmThe coordinates of (a) are:
m array element BmThe coordinates of (a) are:
Figure FDA0002215899050000012
wherein M is 0,1 … M-1.
2. The hydrophone mirror symmetry arc array of claim 1, wherein: the two arc arrays are carried on the underwater robot, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot.
3. A hydrophone mirror symmetry arc array layout method as in claim 2, characterized by:
the method comprises the following steps: the maximum width and the maximum length of the underwater robot for array installation are respectively W and L, a right-hand coordinate system is established, the anticlockwise direction is the positive direction, the origin of coordinate axes is taken as the array center, the x-axis direction corresponds to the transverse direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot;
step two: whole array comprises two arc battle arrays, and every arc battle array contains M array elements, and the array element interval is d, and d is decided by system operating frequency, promptly:
Figure FDA0002215899050000013
c is the acoustic velocity of water, f is the working frequency;
step three: let the transverse aperture D of the array2Equal to the maximum width of the underwater robot available for array installation, D2＝W；
Step four: utilizing the maximum length L of the underwater robot for installation according to a formula
Figure FDA0002215899050000014
Estimating the array element number of each arc array possible to install, whereinRepresents rounding down;
step five: by utilizing the central angle theta between two end points of the array and the radius of the single arc array as R, a simultaneous formula is formed
Figure FDA0002215899050000016
And
Figure FDA0002215899050000017
obtaining the radius of the arc array;
step six: obtaining the axial aperture D of the array at the moment by utilizing the radius R of the arc array1，
Figure FDA0002215899050000021
If D is1>L, enabling M to be M-1, and turning to the fifth step;
step seven: calculating the array element coordinate of the arc array on the right side of the y axis by using the radius R of the arc array obtained in the fifth step, and obtaining the m-th array element AmThe coordinates of (a) are:
Figure FDA0002215899050000022
wherein A (x)m,ym) Representative array element AmThe coordinates of the corresponding array element, namely the mth array element B are in mirror symmetry with the arc array on the left side of the y axis and the arc array on the right side of the y axis about the y axismThe coordinates of (a) are:
wherein M is 0,1 … M-1, and the array elements are distributed according to 2M array element coordinates to obtain a hydrophone array suitable for being carried by the underwater robot.
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