CN110646802B - Hydrophone mirror symmetry arc array and arrangement method thereof - Google Patents

Hydrophone mirror symmetry arc array and arrangement method thereof Download PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
array
arc
underwater robot
coordinates
hydrophone
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910915132.XA
Other languages
Chinese (zh)
Other versions
CN110646802A (en
Inventor
聂东虎
庞桐桐
乔钢
周锋
刘凇佐
孙宗鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201910915132.XA priority Critical patent/CN110646802B/en
Publication of CN110646802A publication Critical patent/CN110646802A/en
Application granted granted Critical
Publication of CN110646802B publication Critical patent/CN110646802B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • 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; step two, 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
Array signal processing has wide application in the sonar detection field, and the performance of sonar array signal processing depends on the arrangement array type of array hydrophones to a great extent, and generally speaking, the more array elements of the array, the larger the aperture, and the better the detection performance. 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 is developed rapidly, a detection sonar array is carried on an underwater robot, and detection and tracking of targets can be achieved by using mobility and 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 A m The coordinates of (a) are:
Figure BDA0002215899060000011
m-th array element B m The 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 method for arranging 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 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 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 array 1 ，
Figure BDA0002215899060000026
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 BDA0002215899060000027
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 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 array 2 Equal 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
Figure BDA0002215899060000042
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 five 1 Namely:
Figure BDA0002215899060000043
if D is 1 >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 A m The coordinates of (a) are:
Figure BDA0002215899060000044
wherein A (x) m ,y m ) Representative array element A m The 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 B m The 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 be 0.5m and L be 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 array 2 Equal 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:
Figure BDA0002215899060000051
step five: simultaneous formula
Figure BDA0002215899060000052
And
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
get R6.87284 m, theta 031428, 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 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.
CN201910915132.XA 2019-09-26 2019-09-26 Hydrophone mirror symmetry arc array and arrangement method thereof Active CN110646802B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910915132.XA CN110646802B (en) 2019-09-26 2019-09-26 Hydrophone mirror symmetry arc array and arrangement method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910915132.XA CN110646802B (en) 2019-09-26 2019-09-26 Hydrophone mirror symmetry arc array and arrangement method thereof

Publications (2)

Publication Number Publication Date
CN110646802A CN110646802A (en) 2020-01-03
CN110646802B true CN110646802B (en) 2022-08-02

Family

ID=68992740

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910915132.XA Active CN110646802B (en) 2019-09-26 2019-09-26 Hydrophone mirror symmetry arc array and arrangement method thereof

Country Status (1)

Country Link
CN (1) CN110646802B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5561193A (en) * 1978-10-31 1980-05-08 Oki Electric Ind Co Ltd Ultrasonic wave transmission and reception unit array
EP0031614A1 (en) * 1979-12-17 1981-07-08 North American Philips Corporation Curved array of sequenced ultrasound transducers
EP0621493A1 (en) * 1990-11-20 1994-10-26 Hughes Aircraft Company Dipole moment detection and localization
CN107894583A (en) * 2017-09-28 2018-04-10 北京华航无线电测量研究所 A kind of preprocess method of the antenna array design based on complementary structure
CN107913476A (en) * 2017-12-01 2018-04-17 天津医科大学 Focal regions regulation and control method based on 256 array element hemispherical phase array transducers
CN109031258A (en) * 2018-04-11 2018-12-18 哈尔滨工程大学 A kind of conformal acoustic array of asymmetric
CN109407091A (en) * 2018-10-25 2019-03-01 清华大学 Gothic mimo antenna array and safety check imaging device
CN109541573A (en) * 2018-11-19 2019-03-29 西北工业大学 A kind of element position calibration method being bent hydrophone array
CN109782259A (en) * 2019-03-13 2019-05-21 海鹰企业集团有限责任公司 A method of it reducing arc array directionality and rises and falls

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4629131B2 (en) * 2008-09-03 2011-02-09 大日本印刷株式会社 Image converter

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5561193A (en) * 1978-10-31 1980-05-08 Oki Electric Ind Co Ltd Ultrasonic wave transmission and reception unit array
EP0031614A1 (en) * 1979-12-17 1981-07-08 North American Philips Corporation Curved array of sequenced ultrasound transducers
EP0621493A1 (en) * 1990-11-20 1994-10-26 Hughes Aircraft Company Dipole moment detection and localization
CN107894583A (en) * 2017-09-28 2018-04-10 北京华航无线电测量研究所 A kind of preprocess method of the antenna array design based on complementary structure
CN107913476A (en) * 2017-12-01 2018-04-17 天津医科大学 Focal regions regulation and control method based on 256 array element hemispherical phase array transducers
CN109031258A (en) * 2018-04-11 2018-12-18 哈尔滨工程大学 A kind of conformal acoustic array of asymmetric
CN109407091A (en) * 2018-10-25 2019-03-01 清华大学 Gothic mimo antenna array and safety check imaging device
CN109541573A (en) * 2018-11-19 2019-03-29 西北工业大学 A kind of element position calibration method being bent hydrophone array
CN109782259A (en) * 2019-03-13 2019-05-21 海鹰企业集团有限责任公司 A method of it reducing arc array directionality and rises and falls

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
"Kite-type passive acoustic detection system for underwater small targets";Donghu Nie 等;《2014 Oceans - St. John"s》;20141231;第1-5页 *
"Metrology method for Error Vector Magnitude based on ellipse on IQ coordinates";Zhang Rui 等;《79th ARFTG Microwave Measurement Conference》;20121231;第1-4页 *
"圆环形聚焦声场的构建与调控";郑莉 等;《物理学报》;20160112;第1-10页 *
"基于反射镜的水下声成像系统建模与仿真";吴爽;《中国优秀硕士论文全文数据库》;20120515;全文 *
"基于矢量有限元法的结构电磁兼容特性数值仿真研究";石峥;《中国优秀硕士论文全文数据库》;20090415;全文 *

Also Published As

Publication number Publication date
CN110646802A (en) 2020-01-03

Similar Documents

Publication Publication Date Title
US10506337B2 (en) Frequency-invariant beamformer for compact multi-ringed circular differential microphone arrays
EP2168396B1 (en) Augmented elliptical microphone array
EP1429581B1 (en) Method of broadband constant directivity beamforming for non linear and non axi-symmetric sensor arrays embedded in a obstacle
WO2019237621A1 (en) Sparse optimization method based on cross-shaped three-dimensional imaging sonar array
US20030235112A1 (en) Interferometric imaging method apparatus and system
EP0869697A2 (en) A steerable and variable first-order differential microphone array
CN105005038A (en) Improved acoustic vector array coherent source DOA estimation algorithm
CN110646802B (en) Hydrophone mirror symmetry arc array and arrangement method thereof
CN113607447A (en) Acoustic-optical combined fan fault positioning device and method
CN111504253A (en) Underwater three-dimensional acoustic three-dimensional array determination method for wave glider
CN107271989B (en) Low-beam sidelobe MIMO sonar array with optimal rotation angle
CN110736976B (en) Method for estimating performance of sonar beam former of any array
CN109541526B (en) Circular ring array azimuth estimation method by using matrix transformation
CN113296056B (en) Sound array configuration and sound source positioning method and system
Alon et al. Spherical microphone array with optimal aliasing cancellation
CN110554358B (en) Noise source positioning and identifying method based on virtual ball array expansion technology
US20230350061A1 (en) Sonar beam shape controlling horn
CN115061089B (en) Sound source positioning method, system, medium, equipment and device
CN212332885U (en) Multi-element acoustic array towing body based on vertical low-resistance follow-up line type design
CN113691294B (en) Near-field sparse array antenna beam establishing method and device
CN113491137A (en) Flexible differential microphone array with fractional order
Wang et al. Subarray beam-space adaptive beamforming combined with array shape estimation based on non-acoustic sensor
Taguchi et al. Investigation on optimal microphone arrangement of spherical microphone array to achieve shape beamforming
CN112946566B (en) Tug maneuvering method for tug linear array to distinguish left and right sides of target
CN111976895B (en) Multi-element acoustic array towing body based on vertical low-resistance follow-up linear design

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant