CN110646802B - A kind of hydrophone mirror symmetrical arc array and its arrangement method - Google Patents

A kind of hydrophone mirror symmetrical arc array and its arrangement method Download PDF

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CN110646802B
CN110646802B CN201910915132.XA CN201910915132A CN110646802B CN 110646802 B CN110646802 B CN 110646802B CN 201910915132 A CN201910915132 A CN 201910915132A CN 110646802 B CN110646802 B CN 110646802B
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聂东虎
庞桐桐
乔钢
周锋
刘凇佐
孙宗鑫
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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
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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Abstract

本发明提供的是一种水听器镜像对称弧型阵及其布置方法。步骤一，初始化最大长度和宽度，建立坐标系；步骤二，计算阵元间距；步骤三，令阵列横向孔径等于最大宽度；步骤四,预估阵元数；步骤五：计算单条弧阵的半径和阵列两端之间圆心夹角；步骤六，计算阵列的轴向孔径，如果周向孔径大于最大长度，则阵元数减一，并转到步骤五；步骤七，计算阵元坐标。本发明基于水下机器人可供安装的最大宽度和最大长度，得到一种镜像对称弧阵，适合无人水下机器人搭载。

Figure 201910915132

The invention provides a mirror-symmetric arc-shaped array of hydrophones and an arrangement method thereof. Step 1, initialize the maximum length and width, and establish a coordinate system; Step 2, calculate the array element spacing; Step 3, make the array transverse aperture equal to the maximum width; Step 4, estimate the number of array elements; Step 5: Calculate the radius of a single arc array and the center angle between the two ends of the array; step 6, calculate the axial aperture of the array, if the circumferential aperture is greater than the maximum length, reduce the number of array elements by one, and go to step 5; step 7, calculate the coordinates of the array element. Based on the maximum width and maximum length of the underwater robot that can be installed, the invention obtains a mirror-symmetrical arc array, which is suitable for unmanned underwater robots to be mounted.

Figure 201910915132

Description

一种水听器镜像对称弧型阵及其布置方法A kind of hydrophone mirror symmetrical arc array and its arrangement method

技术领域technical field

本发明涉及的是一种水听器阵列，本发明也涉及一种水听器阵列的布置方法。The present invention relates to a hydrophone array, and the present invention also relates to a method for arranging a hydrophone array.

背景技术Background technique

阵列信号处理在声纳探测领域具有广泛的应用，声呐阵列信号处理的性能在很大程度上取决于阵列水听器的布放阵型，一般来说，阵列的阵元数越多、孔径越大，探测性能相对越好。然而，阵列的设计总是受所在平台空间尺寸、载荷重量、信号处理能力、应用方式等限制，阵元数、孔径不能无限增加，因此对阵型、阵元数和孔径等的设计必须进行综合考虑和优化。在水下探测中，常用的阵型包括线阵、圆阵、面阵、球阵和圆柱阵等，具有规则几何形状，具有结构简单易于实现等优点。根据不同的搭载平台和应用场景，往往采用不同的阵型设计。近年来，无人水下机器人技术得到了迅猛的发展，在水下机器人上搭载探测声呐阵列，利用机器人的机动性和自主控制能力，可实现对目标的探测、跟踪。但由于载重、流体力学、空间尺寸和结构等的限制，传统常规阵型很难布放和获得较好的探测性能，因此必须根据水下机器人的空间结构设计一种新的阵型。Array signal processing has a wide range of applications in the field of sonar detection. The performance of sonar array signal processing depends to a large extent on the layout of the array hydrophone. Generally speaking, the more elements of the array, the larger the aperture. , the detection performance is relatively better. 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 method, etc. The number of array elements and aperture cannot be increased indefinitely. Therefore, the design of array pattern, array element number and aperture must be comprehensively considered. and optimization. In underwater detection, the commonly used arrays include linear arrays, circular arrays, area arrays, spherical arrays, and cylindrical arrays. They have regular geometric shapes, and have the advantages of simple structure and easy implementation. According to different loading platforms and application scenarios, different formation designs are often used. In recent years, unmanned underwater robot technology has developed rapidly. The underwater robot is equipped with a detection sonar array, and the robot's mobility and autonomous control ability can be used to detect and track the target. However, due to the limitations of load, fluid mechanics, space size and structure, it is difficult for traditional conventional formations to deploy and obtain better detection performance. Therefore, a new formation must be designed according to the spatial structure of underwater robots.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于提供一种适合水下机器人搭载的水听器镜像对称弧型阵。本发明的目的还在于提供一种水听器镜像对称弧型阵的布置方法。The purpose of the present invention is to provide a mirror-symmetrical arc array of hydrophones suitable for carrying on underwater robots. Another object of the present invention is to provide a method for arranging a mirror-symmetrical arc array of hydrophones.

本发明的水听器镜像对称弧型阵由两条弧形阵构成，每条阵包含M个阵元，阵元间距为d，两条弧形阵两端点之间的圆心角为θ，单条圆弧阵列的半径为R，The mirror-symmetrical arc array of the hydrophone of the present invention is composed of two arc arrays, each array contains M array elements, the array element spacing is d, and the central angle between the two ends of the two arc arrays is θ. The radius of the arc array is R,

第m个阵元Am的坐标为：The coordinates of the mth array element Am are:

Figure BDA0002215899060000011
Figure BDA0002215899060000011

第m个阵元Bm的坐标为：The coordinates of the mth array element B m are:

Figure BDA0002215899060000012
Figure BDA0002215899060000012

其中，m＝0,1…M-1。where m=0,1...M-1.

本发明的水听器镜像对称弧型阵中，两条弧形阵搭载在水下机器人上，x轴方向对应水下机器人的横向，y轴方向对应水下机器人的轴向。In the mirror symmetrical arc array of the hydrophone of the present invention, two arc arrays are mounted on the underwater robot, the x-axis direction corresponds to the lateral direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot.

本发明的水听器镜像对称弧型阵的布置方法包括如下步骤：The method for arranging a mirror-symmetrical arc array of hydrophones of the present invention comprises the following steps:

步骤一：水下机器人可供阵列安装的最大宽度和最大长度分别为W和L，建立右手坐标系，逆时针方向为正方向，以坐标轴的原点为阵列中心，x轴方向对应水下机器人的横向，y轴方向对应水下机器人的轴向；Step 1: The maximum width and maximum length of the underwater robot that can be installed in the array are W and L respectively, and a right-handed coordinate system is established. The counterclockwise direction is the positive direction, the origin of the coordinate axis is the center of the array, and the x-axis direction corresponds to the underwater robot. The lateral direction of the y-axis corresponds to the axial direction of the underwater robot;

步骤二：整个阵列由两条弧形阵构成，每条弧形阵包含M个阵元，阵元间距为d，d由系统工作频率决定，即：Step 2: The entire array is composed of two arc-shaped arrays, each arc-shaped array contains M array elements, and the array element spacing is d, and d is determined by the operating frequency of the system, namely:

Figure BDA0002215899060000021
Figure BDA0002215899060000021

c为水声声速，f为工作频率；c is the speed of sound of water, and f is the working frequency;

步骤三：令阵列的横向孔径D2等于水下机器人可供阵列安装的最大宽度，即D2＝W；Step 3: Make the transverse aperture D 2 of the array equal to the maximum width of the underwater robot that can be installed in the array, that is, D 2 =W;

步骤四：利用水下机器人的可供安装的最大长度L，按照公式

Figure BDA0002215899060000022
预估每条弧阵可能安装的阵元数，其中
Figure BDA0002215899060000023
表示向下取整；Step 4: Use the maximum length L of the underwater robot that can be installed, according to the formula
Figure BDA0002215899060000022
Estimate the number of array elements that may be installed in each arc array, where
Figure BDA0002215899060000023
means round down;

步骤五：利用阵列两端点之间的圆心角θ、单条圆弧阵列的半径为R，联立公式

Figure BDA0002215899060000024
和
Figure BDA0002215899060000025
得到弧弧形阵的半径；Step 5: Using the central angle θ between the two ends of the array and the radius of a single arc array as R, the simultaneous formula
Figure BDA0002215899060000024
and
Figure BDA0002215899060000025
Get the radius of the arc array;

步骤六：利用弧形阵半径R，得到此时阵列的轴向孔径D1，

Figure BDA0002215899060000026
如果D1>L,令M＝M-1，转到步骤五；Step 6: Use the radius R of the arc array to obtain the axial aperture D 1 of the array at this time,
Figure BDA0002215899060000026
If D 1 >L, let M=M-1, go to step 5;

步骤七：利用步骤五所得的弧形阵半径R，计算y轴右侧弧阵的阵元坐标，则第m个阵元Am的坐标为：Step 7: Using the radius R of the arc array obtained in step 5, calculate the array element coordinates of the arc array on the right side of the y-axis, then the coordinates of the mth array element Am are:

Figure BDA0002215899060000027
Figure BDA0002215899060000027

其中A(xm,ym)代表阵元Am坐标，y轴左侧弧形阵与y轴右侧弧形阵关于y轴镜像对称，因此对应阵元坐标、即第m个阵元Bm的坐标为：Among them, A(x m , y m ) represents the coordinates of the array element A m . The arc array on the left side of the y-axis and the arc array on the right side of the y-axis are mirror-symmetrical about the y-axis, so the corresponding array element coordinates, that is, the mth array element B The coordinates of m are:

Figure BDA0002215899060000031
Figure BDA0002215899060000031

其中，m＝0,1…M-1，按照2M个阵元坐标布放阵元，得到适合水下机器人搭载的水听器阵列。Among them, m=0,1...M-1, array elements are arranged according to the coordinates of 2M array elements, and a hydrophone array suitable for underwater robots is obtained.

本发明提供了一个适合水下机器人搭载的阵型。因此具有如下优点：一是能够适配水下机器人空间结构，满足流体力学要求，结合导流罩设计，降低水下机器人航行时的阻力。二是对传统阵型进行改进，解决以往只在水下机器人上使用均匀线阵的情况，在有限尺寸约束下获得了最大的空间孔径和阵元数，消除左右舷模糊，提高了信号处理的性能。The invention provides a formation suitable for the underwater robot to carry. Therefore, it has the following advantages: First, it can adapt to the space structure of the underwater robot, meet the requirements of hydrodynamics, and reduce the resistance of the underwater robot when it is sailing in combination with the design of the shroud. The second is to improve the traditional array to solve the situation of only using uniform linear arrays on underwater robots in the past, to obtain the largest spatial aperture and number of array elements under limited size constraints, to eliminate starboard and starboard blur, and to improve the performance of signal processing .

附图说明Description of drawings

图1是本发明阵元排布步骤的流程图。FIG. 1 is a flow chart of the array element arrangement steps of the present invention.

图2是镜像对称弧阵模型。Figure 2 is a mirror-symmetric arc-array model.

图3是在D＝0.5m时，镜像对称弧阵阵元分布。Figure 3 shows the distribution of mirror-symmetric arc array elements when D=0.5m.

具体实施方式Detailed ways

下面举例对本发明做更详细的描述。The present invention will be described in more detail with examples below.

结合图1，本发明的一种适合无人水下机器人搭载的水听器探测阵列的布置方法，通过如下步骤实现：1, a method for arranging a hydrophone detection array suitable for an unmanned underwater robot of the present invention is realized by the following steps:

步骤一：令水下机器人可供阵列安装的最大宽度和最大长度分别用W和L表示。建立右手坐标系，逆时针方向为正方向。以坐标轴的原点为阵列中心，x轴方向对应水下机器人的横向，y轴方向对应水下机器人的轴向，如图2所示。Step 1: Let the maximum width and maximum length of the underwater robot for array installation be denoted by W and L respectively. A right-handed coordinate system is established, and the counterclockwise direction is the positive direction. Taking the origin of the coordinate axis as the center of the array, the x-axis direction corresponds to the lateral direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot, as shown in Figure 2.

步骤二：整个阵列由两条弧形阵构成，每条阵包含M个阵元，阵元间距为d，d由系统工作频率决定，即：Step 2: The entire array is composed of two arc-shaped arrays, each of which contains M array elements, and the array element spacing is d, and d is determined by the operating frequency of the system, namely:

Figure BDA0002215899060000032
Figure BDA0002215899060000032

步骤三：令阵列的横向孔径D2等于水下机器人可供阵列安装的最大宽度，即D2＝W。Step 3 : Make the transverse aperture D2 of the array equal to the maximum width of the underwater robot that can be installed in the array, that is, D2=W.

步骤四：根据水下机器人的可供安装的最大长度L，按照下列公式预估每条弧阵可能安装的阵元数，即：Step 4: According to the maximum length L of the underwater robot that can be installed, estimate the number of array elements that may be installed in each arc array according to the following formula, namely:

Figure BDA0002215899060000033
Figure BDA0002215899060000033

其中

Figure BDA0002215899060000034
表示向下取整。in
Figure BDA0002215899060000034
Indicates rounded down.

步骤五：如图2所示，令阵列两端点之间的圆心角为θ(单位为弧度)，单条圆弧阵列的半径为R，则：Step 5: As shown in Figure 2, let the central angle between the two ends of the array be θ (unit is radian), and the radius of a single arc array is R, then:

Figure BDA0002215899060000041
Figure BDA0002215899060000041

Figure BDA0002215899060000042
Figure BDA0002215899060000042

联立上述两公式，可求解弧阵的半径和圆心角θ。By combining the above two formulas, the radius of the arc matrix and the central angle θ can be solved.

步骤六：根据步骤五所得的弧阵半径R，计算此时阵列的轴向孔径D1，即：Step 6: According to the arc array radius R obtained in Step 5, calculate the axial aperture D 1 of the array at this time, namely:

Figure BDA0002215899060000043
Figure BDA0002215899060000043

如果D1>L,令M＝M-1，转到第五步。If D 1 >L, let M=M-1, go to the fifth step.

步骤七：根据步骤五所得的弧阵半径R，计算y轴右侧弧阵的阵元坐标，则第m个阵元Am的坐标为：Step 7: Calculate the array element coordinates of the arc array on the right side of the y-axis according to the radius R of the arc array obtained in step 5, then the coordinates of the mth array element Am are:

Figure BDA0002215899060000044
Figure BDA0002215899060000044

其中A(xm,ym)代表阵元Am坐标，y轴左侧弧阵与y轴右侧弧阵关于y轴镜像对称，因此对应阵元坐标可直接写出，即第m个阵元Bm的坐标为：Among them, A(x m , y m ) represents the coordinates of the array element A m , and the arc matrix on the left side of the y-axis and the arc matrix on the right side of the y-axis are mirror-symmetrical about the y-axis, so the coordinates of the corresponding array elements can be written directly, that is, the mth matrix The coordinates of element B m are:

Figure BDA0002215899060000045
Figure BDA0002215899060000045

其中，m＝0,1…M-1。按照2M个阵元坐标布放阵元，实现适合水下机器人搭载的水听器阵列。where m=0,1...M-1. The array elements are arranged according to the coordinates of 2M array elements to realize a hydrophone array suitable for underwater robots.

例：水下机器人可供安装的最大宽度0.5m，最大长度2.3m，工作频率f＝4kHz，水声声速c＝1500m/s。For example: the maximum width of the underwater robot that can be installed is 0.5m, the maximum length is 2.3m, the working frequency f=4kHz, and the underwater sound speed c=1500m/s.

步骤一：令W＝0.5m，L＝4m。建立右手坐标系，逆时针方向为正方向。以坐标轴的原点为阵列中心，x轴方向对应水下机器人的横向，y轴方向对应水下机器人的轴向。Step 1: Let W=0.5m, L=4m. A right-handed coordinate system is established, and the counterclockwise direction is the positive direction. Taking the origin of the coordinate axis as the center of the array, the x-axis direction corresponds to the lateral direction of the underwater robot, and the y-axis direction corresponds to the axial direction of the underwater robot.

步骤二：整个阵列由两条弧形阵构成，每条阵包含M个阵元，阵元间距为d，d由系统工作频率决定，即：Step 2: The entire array is composed of two arc-shaped arrays, each of which contains M array elements, and the array element spacing is d, and d is determined by the operating frequency of the system, namely:

Figure BDA0002215899060000046
Figure BDA0002215899060000046

步骤三：令阵列的横向孔径D2等于水下机器人可供阵列安装的最大宽度，即D2＝0.5m；Step 3 : Make the transverse aperture D2 of the array equal to the maximum width of the underwater robot that can be installed in the array, that is, D2=0.5m;

步骤四：根据水下机器人的可供安装的最大长度L，按照下列公式预估每条弧阵可能安装的阵元数，即：Step 4: According to the maximum length L of the underwater robot that can be installed, estimate the number of array elements that may be installed in each arc array according to the following formula, namely:

Figure BDA0002215899060000051
Figure BDA0002215899060000051

步骤五：联立公式

Figure BDA0002215899060000052
和
Figure BDA0002215899060000053
解得R＝7.20917m,θ＝0.32458。Step 5: Simultaneous formula
Figure BDA0002215899060000052
and
Figure BDA0002215899060000053
The solution is R=7.20917m, θ=0.32458.

步骤六：根据公式

Figure BDA0002215899060000054
所以D1>L，则M＝M-1＝13，转到步骤五。联立公式
Figure BDA0002215899060000055
和
Figure BDA0002215899060000056
解得R＝6.87284m,θ＝0.31428，此时
Figure BDA0002215899060000057
所以D1<L。Step 6: According to the formula
Figure BDA0002215899060000054
So D1>L, then M=M-1=13, go to step five. Simultaneous formula
Figure BDA0002215899060000055
and
Figure BDA0002215899060000056
The solution is R=6.87284m, θ=0.31428, at this time
Figure BDA0002215899060000057
So D1<L.

步骤七：根据公式

Figure BDA0002215899060000058
和
Figure BDA0002215899060000059
计算阵元坐标，如图3所示。Step 7: According to the formula
Figure BDA0002215899060000058
and
Figure BDA0002215899060000059
Calculate the coordinates of the array elements, as shown in Figure 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 A m The coordinates of (a) are:
Figure FDA0003646151510000011
m-th array element B m The coordinates of (a) are:
Figure FDA0003646151510000012
wherein M is 0,1 … M-1; d 2 Is the lateral aperture of the array.
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 FDA0003646151510000013
c is the acoustic velocity of water, f is the working frequency;
step three: let the transverse aperture D of the array 2 Equal to the maximum width of the underwater robot available for array installation, D 2 ＝W；
Step four: utilizing the maximum length L of the underwater robot for installation according to a formula
Figure FDA0003646151510000014
Estimating the array element number of each arc array possible to install, wherein
Figure FDA0003646151510000015
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 FDA0003646151510000016
And
Figure FDA0003646151510000017
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 array 1 ，
Figure FDA0003646151510000021
If D is 1 >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 A m The coordinates of (a) are:
Figure FDA0003646151510000022
wherein A (x) m ,y m ) Representative array element A m The 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 axis m The coordinates of (a) are:
Figure FDA0003646151510000023
wherein M is 0,1 … M-1, and the array elements are distributed according to 2M array element coordinates to obtain the hydrophone array suitable for being carried by the underwater robot.
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