CN110703203A - Underwater pulsed sound positioning system based on multi-acoustic wave glider - Google Patents

Underwater pulsed sound positioning system based on multi-acoustic wave glider Download PDF

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CN110703203A
CN110703203A CN201911005285.7A CN201911005285A CN110703203A CN 110703203 A CN110703203 A CN 110703203A CN 201911005285 A CN201911005285 A CN 201911005285A CN 110703203 A CN110703203 A CN 110703203A
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awg
node
module
data
target
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孙大军
兰华林
吕云飞
梅继丹
师俊杰
滕婷婷
靳建嘉
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Harbin Engineering University
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Abstract

The invention provides an underwater pulse sound positioning system based on a multi-acoustic wave glider, relates to the technical field of underwater positioning, and aims to solve the problems that a buoy mode and long-base-line positioning of a surface ship in the prior art are difficult to maintain a good array for a long time, so that the positioning accuracy is reduced, and the cost is high. The invention can obtain the position information of the base station in real time through the satellite, can keep a better array type through position control, realizes high-precision positioning, and can obtain the energy required by long-term work of each node through the solar sailboard by the wave glider, thereby having relatively low cost.

Description

Underwater pulsed sound positioning system based on multi-acoustic wave glider
Technical Field
The invention relates to the technical field of underwater positioning, in particular to an underwater pulsed sound positioning system based on a multi-acoustic wave glider.
Background
The existing underwater pulse sound positioning system has the highest precision and is a long baseline positioning system, and the working modes comprise a submerged buoy mode, a water surface ship mode and the like which are distributed at the sea bottom.
For long baseline positioning based on a subsurface buoy mode, a transponder and a beacon are anchored on the seabed, the positions of all stations are measured in advance, and after signals are synchronously received, the signal time delay difference between nodes is estimated in a data processing center for positioning calculation. The method has the advantages that the position of the base station is fixed, the array type can be kept in the optimal state with high positioning precision, and the problems that the arrangement is difficult, the calibration consumes time, and the method is particularly suitable for the deep sea condition exist.
For buoy mode and long baseline positioning of a surface ship, the positions of the base stations can be accurately measured in real time through a satellite, each base station synchronously receives acoustic signals radiated by a target to be positioned, and then the time delay difference of the signals transmitted to each base station is estimated for positioning calculation. The defect is that the buoy position changes with ocean currents and waves, so that a good array is difficult to maintain for a long time, and the positioning accuracy is reduced; and for the surface ship, although the array type of the long-baseline base station can be controlled, a plurality of surface ships work simultaneously, the cost is higher, and especially the requirement on the tonnage of the ship under the open sea condition is high. Therefore, the position control capability of the water surface base station and the cost of the positioning system are mutually restricted, and the positioning precision of the long baseline is influenced.
Disclosure of Invention
The purpose of the invention is: aiming at the problems that a buoy mode and a long baseline positioning of a surface ship in the prior art are difficult to keep a good array type for a long time, so that the positioning precision is reduced, and the cost is high, the underwater pulse sound positioning system based on the multi-acoustic wave glider is provided.
The technical scheme adopted by the invention to solve the technical problems is as follows: underwater pulsed sound positioning system based on multi-acoustic wave glider comprises: a shore station processing center and an AWG node,
the shore station processing center is used for storing the data transmitted by the AWG node, resolving the target position and displaying the processing result,
the AWG node is used for receiving and processing target acoustic signals in water, acquiring GPS position information and time of each AWG node through a GPS after signal detection and direction finding, transmitting data to a shore station processing center,
the signal detection adopts energy detection, and the detailed steps of the signal detection are as follows: firstly, suppose that any hydrophone receiving signal of AWG is S (T), the time length is T, and the signals are overlappedIs integrated to obtain
Figure BDA0002242559840000021
And E (n) is compared with a set noise threshold C, if E (n) is larger than C, the pulse signal exists in the time period, otherwise, no pulse signal exists.
Further, the shore station processing center comprises a shore station data communication module, a shore station GPS positioning and time service module, a shore station data storage module, a shore station data resolving module and a display control platform,
the shore station data communication module is used for transmitting target acoustic signals, GPS information and time data which are received by the AWG node between the AWG node and the shore station processing center;
the shore station GPS positioning and timing module is used for receiving GPS signals and acquiring position information of the AWG node and time information corresponding to the position information;
the shore station data storage module is used for storing the data transmitted by the AWG node and the resolved data;
the display control platform is used for displaying relevant information obtained after data is processed and resolved;
the AWG node comprises a node data communication module, a node GPS positioning time service module, a node control module, a node data processing module, a power supply module, an autonomous positioning module and a hydrophone array module;
the node data communication module is used for transmitting data such as target acoustic signals, GPS information, time and the like received by the AWG node between the shore station processing center and the AWG node;
the node GPS positioning time service module is used for acquiring real-time GPS position information and time of each node of the AWG;
the node control module comprises a ship body control unit and a data control unit, wherein the ship body control unit is used for controlling navigation of the AWG, and the data control unit is used for controlling data transmission;
the node data processing module is used for carrying out signal detection on the data received by the AWG node and eliminating wild values;
the power supply module is used for supplying power to each module of the AWG node;
the autonomous positioning module is used for processing the detected target signal and then performing positioning calculation to obtain the required target position information;
the hydrophone array module is used for receiving acoustic signals in water.
Further, the outlier rejection processing includes single-node data outlier rejection and multi-node data outlier rejection.
The method comprises the steps of firstly carrying out molecular band orientation estimation on a target signal, carrying out histogram statistics on an orientation estimation result to obtain a space spectrum of the target signal, an estimated target orientation and amplitude-frequency characteristics corresponding to the orientation, then obtaining the orientation range of targets in a plurality of AWG enclosure regions relative to each AWG according to an AWG array type, and when the orientation of the estimated target is not in a mutual spectrum range, considering the target as a wild point and removing the wild point.
Further, the specific steps of the single-node data wild point elimination are as follows: firstly, the orientation of the pulse signal relative to the ith AWG is theta (t)iIf the position difference between a certain time position and the position of the adjacent time point is large and the change trend of the whole position along with the time is not met, the point is regarded as a wild point, the signal detected at the moment is not the target pulse signal, and the moment is rejectedThe detected signal.
Further, the specific steps of the multi-node data field point elimination are as follows: firstly, the correlation coefficient between the characteristic frequency spectrums of the target signals corresponding to the nodes is calculated, and when the correlation coefficient value is less than 0.3, the detected nodes are considered to be wild points.
Further, the autonomous positioning module adopts hyperbolic curve intersection positioning, and the specific steps are as follows: numbering m AWGs respectively, and obtaining the positions of hydrophones connected with the AWGs according to a GPS loaded on the AWGs and a depth meter loaded on a hydrophone array, wherein the positions of the hydrophones are (x)1,y1,z1)、(x2,y2,z2)…(xm,ym,zm) The signals received by one path of sound pressure hydrophone of the m AWG are respectively
S11(t)、S21(t)…Sm1(t) according to the cross-correlation formula
Figure BDA0002242559840000031
Respectively cross-correlating 2-m AWG receiving signals with 1 AWG receiving signals to obtain the time delay difference tau of the receiving signals among the AWG nodes1jJ 2, 3 … m, j representing the node number associated with AWG1 received signal, τ1jEstablishing a hyperbolic positioning model for the time delay difference between the No. 1 AWG receiving signal and the No. j AWG receiving signal
Figure BDA0002242559840000032
Wherein r is1j＝cτ1j(4)
c is the speed of sound, r1jThe difference value between the distance from the No. 1 AWG node to the target sound source and the distance from the No. j AWG node to the target sound source,
the above formula is positioned at the position (x)1,y1,z1) And (3) expanding to obtain:
Figure BDA0002242559840000033
in the formula, epsilon1And εm-1Is a high order small quantity, which can be ignored;
Figure BDA0002242559840000034
τ′12and τ'1mThe time delay difference from the sound source to each base station is obtained theoretically according to the geometric relation
Figure BDA0002242559840000041
The position (x, y, z) of the sound source is obtained, where the position (x, y, z) of the sound source is a value after each iteration, is a known quantity,
the initial value of the sound source position (x, y, z) is set as the coordinate (x) of the matrix 11，y1，z1) Substituting the initial value of the sound source position into a theoretical time delay difference calculation formula to obtain the theoretical time delay difference tau 'at the sound source position'12And τ'1mThe actually measured time delay difference tau12And τ1mIs different from theoretical time delay difference by delta tau12And Δ τ1mIntroducing an error equation to obtain sound source position errors delta x, delta y and delta z, adding the errors to the sound source position (x, y, z) to obtain a new sound source position, continuously calculating the errors, and continuously correcting the sound source position until the obtained position error is less than CxAnd (3) the sound source position at the moment is the finally obtained target sound source position coordinate.
Furthermore, the power module adopts a solar panel.
The invention has the beneficial effects that: the invention provides an underwater pulsed sound positioning system based on a multi-acoustic wave glider by utilizing an acoustic wave glider. The invention can obtain the position information of the base station in real time through the satellite, can keep a better array type through position control, realizes high-precision positioning, and can obtain the energy required by long-term work of each node through the solar sailboard by the wave glider, thereby having relatively low cost.
Drawings
FIG. 1 is a geometric configuration of an underwater pulsed acoustic positioning system for a multi-acoustic wave glider
Fig. 2 is a system composition of the present invention.
Fig. 3 is a single node configuration diagram.
Fig. 4 is a flow chart of a positioning algorithm.
Fig. 5 is a four element cross array.
Fig. 6 is a flow chart of quaternary cross array orientation estimation.
Fig. 7 is a circular array type.
Fig. 8 is a flowchart of circular array azimuth estimation.
FIG. 9 is a vector geometric relationship of the vibration velocity of a vector hydrophone.
FIG. 10 is a flow chart of vector hydrophone orientation estimation.
Detailed Description
The first embodiment is as follows: specifically describing the present embodiment with reference to fig. 1 to 4, the underwater impulsive sound positioning system based on multiple acoustic wave gliders according to the present embodiment includes: a shore station processing center and a plurality of AWG nodes,
the shore station processing center is used for storing the data transmitted by the AWG node, resolving the target position and displaying the processing result,
the AWG node is used for receiving and processing target acoustic signals in water, acquiring GPS position information and time of each AWG node through a GPS after signal detection and direction finding, and transmitting data to a shore station processing center.
The positioning system comprises a shore station processing center and a plurality of AWG nodes. The function of the shore station processing center is used for storing and calculating the target position of the data transmitted by the AWG node and displaying the processing result. The AWG node is used for receiving and processing target acoustic signals in water, acquiring GPS position information and time of each AWG node through a GPS after signal detection and direction finding, transmitting data to a shore station processing center,
the signal detection adopts energy detection, and the detailed steps of the signal detection are as follows: firstly, suppose that any hydrophone receiving signal of AWG is S (T), the time length is T, and the signals are overlapped
Figure BDA0002242559840000051
Is integrated to obtain
Figure BDA0002242559840000052
And E (n) is compared with a set noise threshold C, if E (n) is larger than C, the pulse signal exists in the time period, otherwise, no pulse signal exists.
As shown in fig. 2, the shore station processing center includes a data communication module, a GPS positioning and time service module, a data storage module, a data calculation module, and a display control platform.
The data communication module of the shore station processing center is used for transmitting data such as target sound signals, GPS information, time and the like received by the AWG node between the AWG node and the shore station processing center;
the GPS positioning and time service module of the shore station processing center receives GPS signals and obtains the position information of the AWG node and the time information corresponding to the position information;
the data storage module of the shore station processing center is used for storing the data transmitted by the AWG node and the resolved data;
and the display and control platform of the shore station processing center is used for displaying relevant information obtained after data is processed and resolved.
The AWG node comprises a data communication module, a GPS positioning time service module, a control module, a data processing module, a power supply module, an autonomous positioning module and a hydrophone array module.
The data communication module of the AWG node is used for transmitting data such as target acoustic signals, GPS information and time received by the AWG node between the shore station processing center and the AWG node;
the GPS positioning time service module of the AWG node is used for acquiring real-time GPS position information and time of each AWG node;
the control module of the AWG node refers to two aspects of ship body control and data control;
the ship body control of the AWG node is used for controlling the navigation of the AWG; a data control for controlling transmission of data;
the data processing module of the AWG node is used for carrying out signal detection, wild value elimination and other processing on the data received by the AWG node;
the solar cell panel/power supply module of the AWG node is used for converting solar energy into electric energy and supplying power to each module of the AWG node;
the automatic positioning module of the AWG node is used for processing the detected target signal and obtaining the required target position information through positioning calculation;
figure 1 reference number 1, acoustic wave glider AWG 1; 2. number 2 acoustic wave glider AWG 2; 3. 3 acoustic wave glider AWG 3; 4. 4 acoustic wave glider AWG 4; 5. a pulsed sound source; 6. the sea floor; 7. and a shore station processing center.
FIG. 3, 1, GPS/radio antenna; 2. a solar panel/power module; 3. a surface vessel; 4. a high frequency beacon; 5. an umbilical cable; 6. a hauling rope; 7. a load-bearing cable; 8. an electronic compartment; 9. a hydrophone and a pressure sensor.
The working flow of the underwater pulsed sound positioning system based on the multi-acoustic wave glider is shown in figure 4:
(1) acquiring marine environment parameters of a test sea area;
obtaining sea depth historical data in modes of a chart and the like or carrying out field measurement by using a multi-beam sonar to obtain the sea depth of a tested sea area and ensure that the sea bottom is relatively flat;
and historical data or sound velocity profile information measured by a sound velocity profiler is used for ensuring that the sonar transducer avoids a thermocline when working.
(2) Arranging the AWG;
determining the number of AWGs (arrayed waveguide gratings) according to the sea depth, the sound velocity profile and the positioning area required by the task and designing an optimal array type; the AWG number is greater than 2.
Electrifying a system with multiple AWGs, and carrying out time synchronization on each AWG by using a pulse per second signal of a GPS;
the AWG is deployed from a ship, and the AWG sails to a specified position by sending a command through a satellite.
(3) Detecting a pulse signal;
detecting a pulse signal by using an energy detection method:
segmenting the received signal according to a certain window length and calculating the signal energy of the received signal, and if the value exceeds a set detection threshold, determining that a pulse signal is detected;
(4) single-node data outlier rejection
And calculating the position of the pulse signal detected in the geodetic coordinate system, judging whether the position is located in the surrounding area of the AWG, and if not, considering that the result is a wild point and rejecting the wild point.
(5) AWG underwater array position calculation
The two beacons transmit signals in a certain period, the underwater acoustic array carries out band-pass filtering after receiving the signals, the signals are respectively related to reference signals, the time delay difference of the signals is calculated, and the horizontal distance of the underwater acoustic array relative to the GPS is obtained; meanwhile, the underwater acoustic array carries out direction finding on the beacon signal to obtain the direction of the beacon relative to the acoustic array;
synthesizing the horizontal distance and the direction of the beacon relative to the acoustic array to obtain the relative position of the acoustic array; and adding the GPS position to obtain the absolute position of the acoustic array.
(6) Transmitting the data signal and the position back to the processing center;
the short section of transient sound signal is transmitted back to a processing center of an onshore base station after the transient sound signal is detected through radio transmission/satellite/unmanned aerial vehicle relay, wherein the transmitted back data content comprises AWGID, signal detection time, AWG longitude and latitude coordinates, pulse data, a target position and a corresponding frequency spectrum;
(7) multi-node data outlier rejection;
and calculating the correlation coefficient among the characteristic frequency spectrums of the target signals received by the nodes, and when the correlation coefficient is smaller than a certain value, considering that the detected result is a wild point and removing the wild point.
(8) Positioning and resolving a target hyperbola;
and (3) performing correlation estimation on the detected pulse signals to obtain the time delay difference of the received signals between the base stations, and calculating the position of the target by using a hyperbolic positioning method.
The following provides a specific implementation of the present invention in conjunction with a positioning algorithm flow chart: (note: there are 4 ways of quaternary cross array, circular array, vector orientation estimation and single sound pressure hydrophone are given according to the difference of hydrophone array form of each AWG node and the difference of signal processing method)
The first embodiment is as follows:
(1) obtaining environmental parameters:
and (3) obtaining the sea depth of the operation sea area by using a depth finder or side sweeping to ensure that the sea bottom is as flat as possible. And measuring the sound velocity profile information of the operation sea area by using a sound velocity profiler to ensure that the hydrophones on the AWG avoid the operation of the jump layer.
(2) AWG laying:
four AWGs are arranged at corresponding positions according to a certain geometric array, and the array can be four vertexes of a square with the side length of 2 kilometers. Each AWG is connected with a hydrophone array. The hydrophone matrix is located at a depth of about 20 meters from the water surface.
(3) Pulse signal detection
Respectively carrying out pulse signal detection on signals received by each AWG hydrophone, wherein the detection method adopts energy detection, supposing that any one of the AWG hydrophones receives a signal S (T), has the time length of T, and overlaps
Figure BDA0002242559840000071
Is integrated to obtain
Figure BDA0002242559840000072
And E (n) is compared with a set noise threshold C, if E (n) is larger than C, the pulse signal exists in the time period, otherwise, no pulse signal exists. Where T is typically required to be greater than 2 times the desired pulse width.
(4) Single-node data outlier rejection
There are mainly two standards
The first standard: and eliminating by adopting whether the estimated direction is matched with the encircled area or not.
And performing molecular band azimuth estimation on the target signal, and performing histogram statistics on an azimuth estimation result to obtain a spatial spectrum of the target signal, an estimated target azimuth and amplitude-frequency characteristics corresponding to the azimuth.
And calculating the position range of the target in the four AWG encircled areas relative to each AWG according to the AWG array type, and when the position of the estimated target is not in the cross-spectrum range, considering the target as a wild point and removing the wild point.
And a second standard:
the orientation of the pulse signal relative to the ith AWG is theta (t)iIf the difference between the azimuth of a certain time and the azimuth of the adjacent time point is large and the overall azimuth change trend along with the time is not met, the point is regarded as a wild point, the signal detected at the moment is not the target pulse signal, and the signal detected at the moment is rejected.
(5) Data return
And the returned data has an azimuth spectrum corresponding to the target, an amplitude spectrum corresponding to the target, the ID of the AWG, a timestamp, a position and a received target signal through the relay return of the radio/satellite/unmanned aerial vehicle.
(6) Multi-node data field elimination
In order to realize the purpose of the invention, the correlation of the characteristic frequency spectrum of the target signal received by each node is utilized for further outlier rejection.
The specific method comprises the following steps: and (4) calculating a correlation coefficient between the target signal characteristic spectrums corresponding to the nodes, and considering that the detected outliers are when the correlation coefficient value is less than 0.3.
(7) Hyperbolic curve intersection positioning
The four AWGs are numbered No. 1, No. 2, No. 3 and No. 4 respectively, and the positions of the hydrophones connected with the four AWGs are (x) according to the GPS loaded on the AWG and the depth meter loaded on the hydrophone array1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)。
The signals received by one path of sound pressure hydrophone in the four AWGs with the numbers of 1, 2, 3 and 4 are S respectively11(t)、S21(t)、S31(t)、S41(t) according to the cross-correlation formula
Figure BDA0002242559840000081
Respectively cross-correlating the AWG received signals No. 2, 3 and 4 with the AWG received signal No. 1 to obtain the time delay difference tau of the received signals among the AWG nodes1jJ 2, 3, 4, j represents the node number associated with AWG1 received signal, τ1jIs the time delay difference between the AWG No. 1 received signal and the AWG No. j received signal.
Establishing hyperbolic positioning model
Figure BDA0002242559840000091
Wherein r is1j＝cτ1j(4)
c is the speed of sound, r1jThe difference value between the distance from the No. 1 AWG node to the target sound source and the distance from the No. j AWG node to the target sound source is obtained.
The above formula is positioned at the position (x)1,y1,z1) And (3) expanding to obtain:
in the formula, epsilon1、ε2And ε3Is a high order small quantity, which can be ignored;
Figure BDA0002242559840000093
τ′13and τ'14The time delay difference from the sound source to each base station is obtained theoretically according to the geometric relation
Figure BDA0002242559840000094
The position (x, y, z) of the sound source is obtained as a known quantity after each iteration.
The initial value of the sound source position (x, y, z) is set as the coordinates of the matrix 1(x1，y1，z1) Substituting the initial value of the sound source position into a theoretical time delay difference calculation formula to obtain the theoretical time delay difference tau 'at the sound source position'12，τ′13And τ'14The actually measured time delay difference tau12，τ13And τ14Is different from theoretical time delay difference by delta tau12，Δτ13And Δ τ14Introducing an error equation to obtain sound source position errors delta x, delta y and delta z, adding the errors to the sound source position (x, y, z) to obtain a new sound source position, continuously calculating the errors, and continuously correcting the sound source position until the obtained position error is less than CxAnd (3) the sound source position at the moment is the finally obtained target sound source position coordinate.
Example two: as shown in fig. 5 and 6, the orientation estimation of the quaternary cross matrix is implemented as follows:
the four-element cross array consists of 4 hydrophones on the same plane, a left-hand rectangular coordinate system is defined by taking the center of the four-element cross array as an origin in the plane, and the positions of the four array elements are respectively as follows: array element 1(a,0), array element 2(0, a), array element 3(-a,0), array element 4(0, -a), 2a is the distance of the diagonal array elements. A compass is arranged right below the quaternary cross array, the north direction of the compass points to the array element 1 from the center, and the compass is rigidly connected with the quaternary cross array.
The received signals of the four hydrophones are s respectively1(t)，s2(t)，s3(t) and s4(t) sampling the signal to obtain s1(n)，s2(n)，s3(n)，s4(n) after being respectively windowed, are
x1(n)＝s1(n)w(n) (7)
x2(n)＝s2(n)w(n) (8)
x3(n)＝s3(n)w(n) (9)
x4(n)＝s4(n)w(n) (10)
Taking discrete Fourier transform:
Figure BDA0002242559840000101
Figure BDA0002242559840000102
Figure BDA0002242559840000104
cross-spectra were found in the analysis band:
Figure BDA0002242559840000105
Figure BDA0002242559840000111
wherein H represents a complex conjugate.
And correcting the cross spectrum by combining compass measurement values.
Figure BDA0002242559840000113
From pair P 'at integration time'13And P'24Performing integral calculation
Figure BDA0002242559840000114
Figure BDA0002242559840000115
Finding the direction of the signal at each frequency point
Figure BDA0002242559840000116
To pair
Figure BDA0002242559840000117
And performing histogram statistics, and adding the powers in the same direction.
S(θ)＝∑P11(k) (22)
The space spectrum characteristic of the target signal is obtained, and the target position theta is assumed to be the target
Figure BDA0002242559840000118
The third embodiment is as follows: as shown in fig. 7 and 8, the circular array azimuth is estimated as follows:
using uniform circular array with array element number M to estimate orientation, assuming array manifold as (d)x，dy)
dx＝RcosmΔθ,dy＝RsinmΔθ，
Figure BDA0002242559840000119
The received signals of M array elements of the circular array 1 are represented as [ x1(n) x2(n) x3(n) … xM(n)]。
Firstly, Fourier transform is respectively carried out on each channel signal to obtain
[X1(k) X2(k) X3(k) … XM(k)]
Respectively carrying out sub-band filtering on each array element signal after Fourier transform, wherein the center frequency of the ith sub-band is kiThe filter pass band of the sub-band is
Figure BDA0002242559840000121
Wherein the content of the first and second substances,
Figure BDA0002242559840000122
is the upper limit frequency of the ith sub-band,is the ith subLower limit frequency of band, obtained after filtering molecular band
Figure BDA0002242559840000124
Wherein the content of the first and second substances,
Figure BDA0002242559840000125
for each subband filtering result of array element 1, kiRepresenting the center frequency of the ith subband.
Calculating each sub-band signal of array element 1Power P (k) ofi)，
Figure BDA0002242559840000127
And respectively performing primary beam forming on the M-element array filtering result of each sub-band.
Take the ith sub-band as an example, when the center frequency of the sub-band signal is kiAnd compensating the phase difference of the filtered signals of each array element.
Setting the circle center of the circular array as a reference point and the phase difference of the array element m relative to the array center as
Figure BDA0002242559840000128
Wherein tau isnThe time delay of the signal received by the array element m relative to the center of the array,
Figure BDA0002242559840000129
wherein, theta is the signal direction,
Figure BDA00022425598400001210
m is 0, 1 … M-1, c is the speed of sound.
Searching the signal direction theta from 0 to 359 DEG, and obtaining the signal direction theta after phase compensation
Figure BDA00022425598400001211
Compensating phase difference of each array element signal and summing to obtain a basic array output signal S (k)i，θ)，
Wherein the content of the first and second substances,
Figure BDA00022425598400001213
determining power of output signal of array
P＝|S(ki，θ)|2(30)
Obtaining the energy P (theta) of each wave beam, wherein the azimuth theta corresponding to the maximum energy is the sub-band, namely the frequency is kiThe signal orientation of (c).
For each frequency point kiAll the wave beams are formed once to obtain the azimuth, and then the azimuth theta (k) corresponding to each frequency point is obtainedi)。
According to the direction theta (k) of each frequency pointi) The self-spectrum P (k) of each frequency pointi) Histogram statistics is carried out, namely self-spectrum energy of frequency points in the same direction is accumulated to obtain
P(α)＝∑P(ki) (31)
Where P (k)i) Satisfies alpha-delta alpha<θ(ki)<α + Δ α, Δ α being angular interval, Pα(ki) The self-spectrum energy corresponding to the frequency point in the alpha direction is shown, and P (alpha) is the energy sum in the alpha direction. In the histogram statistic result P (α), the direction with the largest energy is the estimated direction of the target signal.
Example four: as shown in fig. 9 and 10, the orientation estimation of the vector hydrophone is performed as follows:
collecting acoustic signals radiated by a target to be detected at the same point by using a vector hydrophone, wherein the acoustic signals comprise one path of sound pressure signal p (n) and two paths of vibration velocity signals vx(n) and vy(n)，N is more than 0 and less than Q, Q is the number of samples of each path of signal, and the directions of the two paths of vibration speed signals are positioned on the same horizontal plane and are mutually vertical; wherein v isx(n) direction to true north, vyThe (n) direction is opposite to the true east.
Firstly, linear phase band-pass filtering is carried out on the signal to make the signal be a working frequency band and the frequency band of the band-pass filter be fL，fH]Order is N, and obtaining after filtering
Figure BDA0002242559840000131
And
Figure BDA0002242559840000132
respectively carrying out N-point Fourier transform on the signals to obtain P (k), Vx(k)，Vy(k) Obtaining cross spectrum and self spectrum
Figure BDA0002242559840000133
Figure BDA0002242559840000134
P(k)＝P(k)PH(k) (34)
The real part calculates the arc tangent to obtain the direction theta (k) of different frequency points,
Figure BDA0002242559840000135
wherein the value range of k is k1＜k＜k2And is and
Figure BDA0002242559840000141
Figure BDA0002242559840000142
wherein f issFor signal sampling frequency, fLAnd fHRespectively operating frequency bandLower limit frequency and upper limit frequency.
According to the direction theta (k) of each frequency point, carrying out histogram statistics on the self-spectrum P (k) of each frequency point, namely accumulating the self-spectrum energy of all frequency points in the same direction to obtain
P(α)＝∑P(k) (38)
Where P (k) satisfies α - Δ α < θ (k) < α + Δ α, Δ α being an angular interval, Pα(k) And P (alpha) is the energy sum in the alpha direction. In the histogram statistic result P (α), the direction with the largest energy is the estimated direction of the target signal.
Example five:
and if the hydrophone of each AWG node is a single hydrophone, the outlier rejection of the fourth step and the outlier rejection of the sixth step are not needed.
The hydrophone array module of the AWG node is used for receiving the acoustic signal in water, and it should be noted that the specific implementation is only for explaining and explaining the technical solution of the present invention, and the protection scope of the claims should not be limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.

Claims (8)

1. Pulse sound positioning system under water based on many acoustics wave glider, its characterized in that includes: a shore station processing center and an AWG node,
the shore station processing center is used for storing the data transmitted by the AWG node, resolving the target position and displaying the processing result,
the AWG node is used for receiving and processing target acoustic signals in water, acquiring GPS position information and time of each AWG node through a GPS after signal detection and direction finding, transmitting data to a shore station processing center,
the signal detection adopts energy detection, and the detailed steps of the signal detection are as follows: firstly, suppose that any hydrophone receiving signal of AWG is S (T), the time length is T, and the signals are overlapped
Figure FDA0002242559830000011
Is integrated to obtain
Figure FDA0002242559830000012
And E (n) is compared with a set noise threshold C, if E (n) is greater than C, a pulse signal exists in the time period, otherwise, no pulse signal exists.
2. The multi-acoustic wave glider-based underwater impulsive sound positioning system of claim 1, wherein: the shore station processing center comprises a shore station data communication module, a shore station GPS positioning and time service module, a shore station data storage module, a shore station data resolving module and a display control platform,
the shore station data communication module is used for transmitting target acoustic signals, GPS information and time data which are received by the AWG node between the AWG node and the shore station processing center;
the shore station GPS positioning and timing module is used for receiving GPS signals and acquiring position information of the AWG node and time information corresponding to the position information;
the shore station data storage module is used for storing the data transmitted by the AWG node and the resolved data;
the display control platform is used for displaying relevant information obtained after data is processed and resolved;
the AWG node comprises a node data communication module, a node GPS positioning time service module, a node control module, a node data processing module, a power supply module, an autonomous positioning module and a hydrophone array module;
the node data communication module is used for transmitting data such as target acoustic signals, GPS information, time and the like received by the AWG node between the shore station processing center and the AWG node;
the node GPS positioning time service module is used for acquiring real-time GPS position information and time of each node of the AWG;
the node control module comprises a ship body control unit and a data control unit, wherein the ship body control unit is used for controlling navigation of the AWG, and the data control unit is used for controlling data transmission;
the node data processing module is used for carrying out signal detection on the data received by the AWG node and eliminating wild values;
the power supply module is used for supplying power to each module of the AWG node;
the autonomous positioning module is used for processing the detected target signal and then performing positioning calculation to obtain the required target position information;
the hydrophone array module is used for receiving acoustic signals in water.
3. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 2, wherein: the wild value elimination processing comprises single-node data wild point elimination and multi-node data wild point elimination.
4. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 3, wherein: the method comprises the specific steps of firstly carrying out molecular band orientation estimation on a target signal, carrying out histogram statistics on an orientation estimation result to obtain a space spectrum of the target signal, an estimated target orientation and amplitude-frequency characteristics corresponding to the orientation, then obtaining the orientation range of targets in a plurality of AWG enclosure regions relative to each AWG according to an AWG array type, and when the orientation of the estimated target is not in a cross-spectrum range, considering the target as a wild point and removing the wild point.
5. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 3, wherein: the method comprises the following specific steps of: firstly, the orientation of the pulse signal relative to the ith AWG is theta (t)iIf the difference between the azimuth of a certain time and the azimuth of the adjacent time point is large and the overall azimuth change trend along with the time is not met, the point is regarded as a wild point, the signal detected at the moment is not the target pulse signal, and the signal detected at the moment is rejected.
6. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 3, wherein: the specific steps of the multi-node data field point elimination are as follows: firstly, the correlation coefficient between the characteristic frequency spectrums of the target signals corresponding to the nodes is calculated, and when the correlation coefficient value is less than 0.3, the detected nodes are considered to be wild points.
7. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 2, wherein: the autonomous positioning module adopts hyperbolic curve intersection positioning, and the specific steps are as follows: numbering m AWGs respectively, and obtaining the positions of hydrophones connected with the AWGs according to a GPS loaded on the AWGs and a depth meter loaded on a hydrophone array, wherein the positions of the hydrophones are (x)1，y1，z1)、(x2，y2，z2)…(xm，ym，zm) The signals received by one path of sound pressure hydrophone of the m AWG are respectively
S11(t)、S21(t)...Sm1(t) according to the cross-correlation formula
Figure FDA0002242559830000021
Respectively cross-correlating 2-m AWG receiving signals with 1 AWG receiving signals to obtain the time delay difference tau of the receiving signals among the AWG nodes1jJ-2, 3.. m, j represents a node number associated with AWG1 received signal, τ1jEstablishing a hyperbolic positioning model for the time delay difference between the No. 1 AWG receiving signal and the No. j AWG receiving signal
Figure FDA0002242559830000031
Wherein r is1j＝cτ1j(4)
c is the speed of sound, r1jThe difference value between the distance from the No. 1 AWG node to the target sound source and the distance from the No. j AWG node to the target sound source,
the above formula is positioned at the position (x)1，y1，z1) And (3) expanding to obtain:
Figure FDA0002242559830000032
in the formula, epsilon1And εm-1Is a high order small quantity, which can be ignored;
Figure FDA0002242559830000033
τ′12and τ'1mThe time delay difference from the sound source to each base station is obtained theoretically according to the geometric relation
Figure FDA0002242559830000034
The position (x, y, z) of the sound source is obtained, where the position (x, y, z) of the sound source is a value after each iteration, is a known quantity,
the initial value of the sound source position (x, y, z) is set as the coordinate (x) of the matrix 11，y1，z1) Substituting the initial value of the sound source position into a theoretical time delay difference calculation formula to obtain the theoretical time delay difference tau 'at the sound source position'12And τ'1mThe actually measured time delay difference tau12And τ1mIs different from theoretical time delay difference by delta tau12And Δ τ1mIntroducing an error equation to obtain sound source position errors delta x, delta y and delta z, adding the errors to the sound source position (x, y, z) to obtain a new sound source position, continuously calculating the errors, and continuously correcting the sound source position until the obtained position error is less than CxAnd (3) the sound source position at the moment is the finally obtained target sound source position coordinate.
8. The multi-acoustic wave glider-based underwater pulsed acoustic positioning system of claim 2, wherein: the power module adopts a solar cell panel.
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