CN110716202A - Frequency modulation continuous wave sonar ranging method and device based on resampling - Google Patents
Frequency modulation continuous wave sonar ranging method and device based on resampling Download PDFInfo
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- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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Abstract
The invention relates to a frequency modulation continuous wave sonar distance measurement method and a device based on resampling, wherein the distance measurement method comprises the following steps: generating nonlinear frequency modulation continuous electromagnetic waves through an ultrasonic signal generating module, amplifying the power of the nonlinear frequency modulation continuous electromagnetic waves through a power amplifying module, and respectively driving an underwater ultrasonic transmitting transducer and an ultrasonic transmitting transducer in an air chamber; receiving two paths of returned frequency modulation continuous ultrasonic waves by using an underwater receiving transducer and a receiving transducer in an air chamber respectively; the received two paths of frequency modulation continuous ultrasonic signals are mixed and subjected to band-pass filtering with the original excitation signal to obtain two paths of narrow-band signals with different frequencies; carrying out zero-crossing sampling on the underwater ultrasonic signal by taking the ultrasonic signal in the air chamber as a trigger signal; and (4) performing frequency spectrum analysis on the re-sampled object, extracting the main frequency, and converting the underwater measured distance. The invention can ensure the safety of sonar ranging detection and improve the ranging accuracy.
Description
Technical Field
The invention relates to the technical field of sonar ranging, in particular to the technical field of frequency modulation continuous wave sonar ranging, specifically relates to a ranging method capable of eliminating nonlinear errors of frequency modulation continuous wave sonar, and is particularly suitable for high-precision active detection of underwater target distances by underwater or water surface aircrafts.
Background
With the development of modern submarine technology, the stealth performance of the submarine is remarkably improved, the radiation noise level of the submarine is smaller and smaller, and the active submarine detection sonar is mainly pulse active sonar. Pulse active sonar is mainly adopted in navigation channel surveying and mapping, however, the pulse width of the emitted pulse is short, the irradiation time of the target is short, echo signals can be intercepted after a long time, and the target revisit rate is low. In addition, the traditional pulse active sonar has lower safety, a target to be detected can receive acoustic pulses through a sonar array, and the position of a pulse radiation source can be easily calculated according to the time difference of pulse signals received by different sonars. That is, the pulse active sonar also easily exposes its own position while detecting the target.
In order to overcome the shortcomings of the pulse active sonar, people begin to pay attention to the frequency modulation continuous wave sonar in recent years, and certain progress is made. The frequency modulation continuous wave active sonar utilizes continuously emitted frequency modulation ultrasonic signals to detect a target, has the advantages of continuous tracking, high processing gain, strong anti-interference performance and the like compared with the traditional pulse active sonar, and is a hotspot and development trend of modern anti-submarine warfare. Whatever the principle of sonar, the ranging precision is the most important index of the reliability, and the frequency modulation nonlinearity of the frequency modulation continuous wave excitation source is the main source of the measurement error of the continuous wave active sonar ranging method. Although the frequency-modulated continuous wave active sonar has good target revising rate, the frequency-modulated continuous wave active sonar is easy to find by an enemy submarine, and the position of an emission source of sound waves can be estimated by analyzing the time delay of receiving continuous sound wave signals of our party by the sonar at different positions only by utilizing a receiving sonar array arranged according to a certain topological structure. Therefore, the traditional frequency modulation continuous wave sonar has poor safety and is rarely applied to the military field.
Disclosure of Invention
Aiming at the defects of the prior art and the problems of measurement precision and safety of a continuous wave active sonar ranging method influenced by excitation source frequency modulation nonlinear factors, the invention provides a resampling-based frequency modulation continuous wave sonar ranging method and device, and solves the problems of insufficient measurement precision and low safety in the prior art.
In order to achieve the above object, the present invention has the following configurations:
the frequency modulation continuous wave sonar ranging method based on resampling is realized by adopting a resampled frequency modulation continuous wave sonar ranging device, wherein the device comprises an underwater ultrasonic transmitting transducer, an underwater receiving transducer, an ultrasonic transmitting transducer and an ultrasonic receiving transducer in a gas chamber, a low-pressure silencing gas chamber, an ultrasonic signal generating module, a power amplifying module and a signal collecting and processing module;
the distance measuring method comprises the following steps:
(1) generating nonlinear frequency modulation continuous electromagnetic waves through an ultrasonic signal generating module, amplifying the power of the nonlinear frequency modulation continuous electromagnetic waves through a power amplifying module, and respectively driving an underwater ultrasonic transmitting transducer and an ultrasonic transmitting transducer in a gas chamber in a low-pressure silencing gas chamber;
(2) the frequency modulation continuous ultrasonic waves emitted by the ultrasonic emission transducer in the air chamber are transmitted in the low-pressure silencing air chamber, the frequency modulation continuous ultrasonic waves emitted by the underwater ultrasonic emission transducer are transmitted underwater as sonar ranging sound waves, and the transmission time of the ultrasonic waves in the air chamber is far longer than that of the ultrasonic waves transmitted underwater;
(3) receiving two paths of returned frequency modulation continuous ultrasonic waves by using an underwater ultrasonic receiving transducer and an ultrasonic receiving transducer in a gas chamber in a low-pressure silencing gas chamber respectively, and converting ultrasonic signals into two paths of electromagnetic wave signals;
(4) two paths of frequency modulation continuous ultrasonic echo signals received by the signal acquisition and processing module are mixed and subjected to band-pass filtering with original frequency modulation continuous electromagnetic wave signals to obtain two paths of narrow-band signals with different frequencies: the frequency of the air chamber ultrasonic echo signal after mixing and filtering under the condition of the same propagation distance is far greater than that of the underwater ultrasonic echo mixing and filtering signal;
(5) performing zero-crossing sampling on the underwater ultrasonic narrow-band signal subjected to frequency mixing filtering by taking the ultrasonic narrow-band signal in the air chamber subjected to frequency mixing filtering as a trigger signal;
(6) and performing frequency spectrum analysis on the re-sampled underwater ultrasonic narrowband wave signal, extracting a main frequency, and converting the underwater measured distance.
Optionally, the ultrasonic signal generation module generates a frequency modulation continuous electromagnetic wave, wherein the frequency modulation type is linear frequency sweep or triangular frequency sweep, and a nonlinear error in frequency modulation is allowed; the frequency modulation type can also be any non-linear frequency modulation mode, such as sine frequency sweep.
Optionally, the plenum comprises:
a gas chamber main body with a rectangular or circular section is made of carbon steel and other materials;
the left inner wall and the middle inner wall of the air chamber are provided with silencing wedges;
an ultrasonic transmitting transducer and an ultrasonic receiving transducer are arranged on the inner wall of the left side of the air chamber, and the mounting holes are sealed;
the inner wall of the right side of the air chamber is provided with an ultrasonic wave reflecting plate made of alumina (or other materials with larger acoustic impedance);
filling the gas chamber with CO2(or other gases with lower acoustic velocities) to a lower level (within 40 kPa). Optionally, the propagation time of the ultrasonic wave in the gas chamber under the same propagation distance condition is much longer than the propagation time under water, including the following steps:
because the air chamber is filled with low-pressure CO2Gas, CO at 40kPa2The speed of sound of the gas is about 160 m/s;
the propagation speed of the ultrasonic wave in water is about 1500 m/s;
the propagation time of the ultrasonic wave in the air chamber under the condition of the same propagation distance is about 9 times of the propagation time of the ultrasonic wave in water.
Optionally, the signal acquisition and processing module includes a preamplifier, a high-precision data acquisition card and an information processing unit, and the step (4) includes the following steps:
amplifying two paths of electromagnetic wave signals converted by the two paths of returned ultrasonic waves by using the preamplifier;
the high-precision data acquisition card is used for acquiring the amplified electromagnetic wave signals and transmitting the electromagnetic wave signals to the information processing unit;
acquiring an original frequency modulation continuous electromagnetic wave signal by using a high-precision data acquisition card and transmitting the acquired signal to an information processing unit;
the information processing unit respectively carries out digital frequency mixing on the two paths of amplified electromagnetic wave signals and original frequency-modulated continuous wave electromagnetic wave signals to obtain two paths of frequency-mixed signals;
and the information processing unit performs digital band-pass filtering on the two paths of frequency-mixed signals to filter high-frequency components and low-frequency interference in the frequency-mixed signals.
Optionally, the step (5) includes the steps of:
in order to satisfy the Nyquist sampling law, the propagation time of the ultrasonic wave in the air chamber is at least more than 2 times of the propagation time of the underwater ultrasonic wave;
the information processing unit extracts each zero point of the ultrasonic narrow-band signal in the air chamber after frequency mixing;
the information processing unit calculates the average time interval between the zero points of the ultrasonic narrow-band signals in the air chamber after frequency mixing, and the reciprocal of the average time interval is the sampling frequency of zero-crossing sampling;
extracting corresponding data points from the other path of underwater ultrasonic narrow-band signals subjected to frequency mixing and filtering according to the serial numbers of the zero points;
and reconstructing the underwater ultrasonic signal according to the data points extracted from the underwater ultrasonic narrowband signal and the average time interval.
Optionally, the step (6) includes the following steps:
carrying out fast Fourier transform on the re-sampled underwater ultrasonic signal;
calculating the amplitude-frequency distribution of the underwater ultrasonic narrow-band signal;
extracting the frequency corresponding to the spectral line with the strongest amplitude from the amplitude-frequency distribution of the underwater ultrasonic narrow-band signal;
dividing the frequency corresponding to the spectral line with the strongest amplitude with the average frequency modulation speed of the original frequency modulation continuous wave electromagnetic wave signal to obtain the time delay of the underwater ultrasonic signal;
and obtaining the measured distance by multiplying the time delay by the sound propagation speed in the water.
Optionally, the average frequency modulation speed of the original frequency-modulated continuous wave electromagnetic wave signal refers to a ratio of a difference between a start frequency and an end frequency of the frequency modulation of the frequency-modulated continuous wave electromagnetic wave signal to a period of the frequency modulation.
The embodiment of the invention also provides a resampling-based frequency modulation continuous wave sonar distance measuring device, which is applied to the resampling-based frequency modulation continuous wave sonar distance measuring method.
Optionally, the signal acquisition and processing module includes a preamplifier, a high-precision data acquisition card, and an information processing unit.
Optionally, the plenum comprises:
a gas chamber main body with a rectangular or circular section is made of carbon steel and other materials;
the left inner wall and the middle inner wall of the air chamber are provided with silencing wedges;
an ultrasonic transmitting transducer and an ultrasonic receiving transducer are arranged on the inner wall of the left side of the air chamber, and the mounting holes are sealed;
the inner wall of the right side of the air chamber is provided with an ultrasonic wave reflecting plate made of alumina (or other materials with larger acoustic impedance);
filling the gas chamber with CO2(or other gases with lower acoustic velocities) to a lower level (within 40 kPa).
By adopting the distance measuring method and the distance measuring device, the distance measurement of the underwater target with high precision can be realized, including the detection of underwater navigators such as a submarine and the like, targets such as a seabed, channel depth and the like. The distance measurement method and the distance measurement device can realize the correction of the nonlinear error of the modulation source in frequency modulation continuous wave sonar distance measurement, and have wide application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a frequency modulated continuous wave sonar ranging device based on resampling according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a low-pressure noise elimination air chamber in the frequency modulation continuous wave sonar ranging device based on resampling according to an embodiment of the present invention; wherein: m is a low-pressure silencing air chamber, M1 is an ultrasonic receiving transducer, M2 is an ultrasonic transmitting transducer, M3 is a reference sound wave, M4 is a silencing wedge, and M5 is a sound wave reflecting plate;
FIG. 3 is a flowchart of a frequency modulated continuous wave sonar ranging method based on resampling according to an embodiment of the present invention;
fig. 4a and 4b are respectively the time domain and frequency domain distribution of the underwater ultrasonic echo simulation signal after the frequency mixing filtering;
FIG. 4c and FIG. 4d are ultrasonic echo simulation signals in the muffling air chamber after the mixing filtering, respectively;
fig. 5a and 5b are time domain and frequency domain distribution of the resampled underwater ultrasonic echo simulation signal.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
In order to solve the technical problem in the prior art, the invention provides a frequency modulation continuous wave sonar distance measurement method and device based on resampling. Fig. 1 is a schematic diagram showing a system principle configuration of the fm continuous wave sonar distance measuring apparatus according to the present invention. Fig. 2 is a schematic structural diagram of a low-pressure muffling air chamber in the frequency modulation continuous wave sonar ranging device, wherein the low-pressure muffling air chamber is used for reducing the propagation rate of reference sound waves as much as possible: wherein the silencing wedge (made of sound absorption materials such as sponge and the like) is used for eliminating the reflection of the silencing sound wave; the sound wave reflecting plate is made of a material with high acoustic impedance (such as aluminum oxide) and is used for completely reflecting incident ultrasonic waves as far as possible; the gas chamber is filled with CO with lower pressure intensity2Gas (or other gas with low acoustic velocity), CO at low pressure2The sound propagation speed in the gas can be controlled below 150 m/s; the low-pressure silencing air chamber can maximize the difference between the sound velocity and the sound velocity in water, so that the reference sound wave obtains propagation delay as much as possible. The formula for calculating the speed of sound in gas is as follows:
where c is the sound velocity, p is the pressure, k is the specific heat ratio of the gas, and ρ is the density of the gas. The specific heat ratio for CO2 gas was about 1.29 and the density was about 1.98kg/m3Assuming that the pressure p is 30kPa, CO is present at this time2The speed of sound c of the gas is about 140 m/s.
Fig. 3 is a flowchart of the frequency modulated continuous wave sonar ranging method based on resampling according to the present invention. The measuring process is briefly described as follows:
firstly, outputting frequency modulation continuous waves by using an ultrasonic signal generation module and enabling the frequency modulation of the continuous waves to have nonlinearity;
amplifying the frequency modulated continuous waves by using a power amplifier, and then respectively driving an underwater ultrasonic wave transmitting transducer and an ultrasonic wave transmitting transducer in the air chamber, wherein ultrasonic waves emitted by the underwater ultrasonic wave transmitting transducer are used as sonar measuring sound waves, and ultrasonic waves emitted by the transmitting transducer in the air chamber are used as reference sound waves;
the sonar measurement sound wave is reflected by a measured target and then is received by the underwater receiving transducer, and the underwater receiving transducer converts the measurement ultrasonic signal into a first ultrasonic electric signal; the reference sound wave in the air chamber is reflected by the sound wave reflecting plate and then is received by the receiving transducer in the air chamber, and the receiving transducer in the air chamber converts the reference ultrasonic signal into a second ultrasonic electric signal;
the two paths of ultrasonic electric signals are amplified in signal amplitude through a preamplifier; collecting the two amplified ultrasonic electric signals by using a signal acquisition card, and transmitting the two amplified ultrasonic electric signals to a computer;
and performing related digital processing on the two ultrasonic electric signals by using a special software algorithm under a computer platform. The treatment process comprises the following steps:
firstly, mixing two paths of ultrasonic signals with an excitation signal output by an ultrasonic signal generation module respectively, and then carrying out low-pass filtering;
then, taking the processed reference sound wave as a trigger signal to perform zero crossing point trigger sampling on the processed measurement sound wave signal;
reconstructing a measured sound wave signal by taking the average time interval of the processed reference sound wave zero points as the time interval of each sampling point after resampling;
performing FFT (fast Fourier transform) on the reconstructed measured acoustic wave signal to obtain the frequency spectrum distribution of the signal; extracting main frequencies from the frequency spectrum distribution of the signal;
and calculating the distance of the measured target according to the average frequency modulation rate and the measured sound wave signal main frequency.
The frequency modulation rate B of the nonlinear frequency modulation continuous wave sent by the ultrasonic signal generation module is assumed as follows:
B＝10000+15000t+1500t2
wherein t is time. And setting the initial frequency of the original frequency modulation excitation signal output by the ultrasonic signal generation module to be 10kHz, namely the original excitation signal S0Can be expressed as:
in the formula, A0For the output gain factor of the original excitation signal,
is the initial phase of the original excitation signal. The power amplifier is used for amplifying the power of the signal to drive the ultrasonic transmitting transducer in the underwater and the air chamber.
Assuming propagation time of ultrasonic wave in the gas chamber as taurPropagation time of ultrasonic wave in water is taumThen, the two ultrasonic waves are received by the receiving transducer, amplified by the preamplifier, collected by the signal acquisition card, mixed with the original excitation signal, and finally subjected to low-pass filtering to obtain the following two signals:
wherein t is time, SmIs sonar after the treatmentMeasuring ultrasonic signals, AmAnd
respectively the gain coefficient and the initial phase; srFor the reference ultrasonic signal after the foregoing processing, ArAndrespectively its gain factor and initial phase. Setting the measured distance Dm1.5m, the sound velocity in water is 1500m/s, at which time τmIs 0.001 s; if the cavity length of the low-pressure silencing air chamber is 1.4m and the sound velocity in the silencing air chamber is 140m/s, then tau is measured at the momentrIs 0.01s, and satisfies the Nyquist sampling law. Gain coefficient A of two-path signalsmAnd Ar10, and the initial phases of the two signals are 0.1 pi. The time domain distribution and the frequency domain distribution of the two signals are shown in fig. 4a to 4 d. As can be seen from fig. 4a and 4b, the measured signal is obviously uneven in density distribution in the time domain, and exhibits a certain bandwidth distribution in the frequency domain, the dominant frequency of the measured signal is not obvious, and the frequency spectrum of the measured signal does not have unimodal property. Therefore, we cannot directly extract the main frequency of the signal from the frequency domain of the signal to calculate the measured distance. The frequency corresponding to the maximum value of the frequency spectrum of the measuring signal shown in fig. 4a and 4b is 14Hz, and the average frequency modulation rate of the signal source is 26500Hz/s, if the measuring signal delay is calculated by using the frequency, the delay is calculated to be 0.00053s, and the corresponding measured distance is 0.79m, which is far away from the preset value. Therefore, the influence of the nonlinearity of the frequency modulation of the signal source on the accuracy of the frequency-modulated continuous wave sonar ranging is great.
The measurement signals shown in fig. 4a and 4b are zero-cross trigger sampled by using the reference signals shown in fig. 4c and 4d, and the measurement signals are reconstructed with the average interval time of the reference signal zero points as the sampled time interval. As shown in fig. 5a and 5b, the time domain distribution and the frequency domain distribution of the reconstructed measured signal are shown, and it can be inferred that the density distribution of the reconstructed signal is uniform, and the frequency domain has unimodal property, which is a near single frequency signal. The spectral distribution of the signal totally reflects the above presumption, the signal has a single peak with a peak frequency of 26Hz, if the frequency is used to calculate the measurement signal delay, the calculated delay is 0.00098s, the corresponding measured distance is 1.47m, which almost completely coincides with the preset value; if the measured signal time delay and the measured distance are calculated by using the central frequency of the 3dB bandwidth of the signal frequency domain, the signal time delay and the measured distance can completely accord with the preset value. Therefore, the sonar ranging method well eliminates ranging errors caused by frequency modulation nonlinearity of the signal source.
On the other hand, on the premise that the signal source has nonlinear frequency modulation, the measurement signal cannot be demodulated without the reference sound wave signal. The method is favorable for active sonar ranging, an enemy naval vessel can only receive measured sound wave signals of our party by using a receiving sonar array and cannot obtain reference sound wave signals, and therefore under the action of strong nonlinear frequency modulation, the position of a signal source of our party cannot be accurately demodulated only by the measured sound wave signals. Therefore, the sonar ranging method has good detection safety.
The frequency modulation continuous wave sonar distance measurement method and device based on resampling have the following beneficial effects:
the method and the device can eliminate the influence of frequency modulation nonlinear factors of a frequency modulation continuous wave sonar signal source on distance measurement, and greatly improve the precision of frequency modulation continuous wave active sonar distance measurement. Under the condition that a signal source artificially introduces nonlinear frequency modulation, the method and the device can accurately demodulate the distance of a measured target, and an enemy submarine cannot estimate the position of the signal source because a reference signal cannot be obtained, so that the safety of sonar detection is ensured, and the method and the device have very wide application prospects in the civil and military fields.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (9)
1. A frequency modulation continuous wave sonar distance measurement method based on resampling is characterized in that a frequency modulation continuous wave sonar distance measurement device is adopted, and the frequency modulation continuous wave sonar distance measurement device comprises an underwater ultrasonic wave transmitting transducer and a receiving transducer, an ultrasonic wave transmitting transducer and a receiving transducer in an air chamber, a low-pressure noise elimination air chamber, an ultrasonic signal generation module, a power amplification module and a signal acquisition and processing module; the method comprises the following steps:
(1) generating nonlinear frequency modulation continuous electromagnetic waves through an ultrasonic signal generating module, amplifying the power of the nonlinear frequency modulation continuous electromagnetic waves through a power amplifying module, and respectively driving an underwater ultrasonic transmitting transducer and an ultrasonic transmitting transducer in an air chamber;
(2) the frequency modulation continuous ultrasonic waves emitted by the ultrasonic emission transducer in the air chamber are used as reference sound waves to be transmitted in the air chamber, and the frequency modulation continuous ultrasonic waves emitted by the underwater ultrasonic emission transducer are used as sonar ranging sound waves to be transmitted underwater;
(3) receiving two paths of returned frequency modulation continuous ultrasonic waves by using an underwater ultrasonic receiving transducer and an ultrasonic receiving transducer in the air chamber respectively, and converting the two paths of returned frequency modulation continuous ultrasonic waves into two paths of electromagnetic wave signals respectively;
(4) the signal acquisition and processing module is used for respectively mixing two paths of electromagnetic wave signals converted by the returned ultrasonic waves with original frequency modulation continuous electromagnetic wave signals to obtain two paths of narrow-band signals with different frequencies: ultrasonic narrow-band signals and underwater ultrasonic narrow-band signals in the air chamber;
(5) performing zero-crossing sampling on the underwater ultrasonic narrow-band signal after frequency mixing by taking the ultrasonic narrow-band signal in the air chamber after frequency mixing as a trigger signal;
(6) and carrying out spectrum analysis on the re-sampled underwater ultrasonic narrow-band signal, extracting a main frequency, and converting the underwater measured distance.
2. The frequency modulation continuous wave sonar ranging method based on resampling as claimed in claim 1, wherein the signal collecting and processing module comprises a preamplifier, a high precision data collecting card and an information processing unit, the step (4) comprises the following steps:
amplifying two paths of electromagnetic wave signals converted by the two paths of returned ultrasonic waves by using the preamplifier;
the high-precision data acquisition card is used for acquiring the amplified electromagnetic wave signals and transmitting the electromagnetic wave signals to the information processing unit;
acquiring an original frequency modulation continuous electromagnetic wave signal by using a high-precision data acquisition card and transmitting the acquired signal to an information processing unit;
the information processing unit respectively carries out digital frequency mixing on the two paths of amplified electromagnetic wave signals and original frequency-modulated continuous wave electromagnetic wave signals to obtain two paths of frequency-mixed signals;
and the information processing unit performs digital band-pass filtering on the two paths of frequency-mixed signals to filter high-frequency components and low-frequency interference in the frequency-mixed signals.
3. A resampling-based frequency modulated continuous wave sonar ranging method according to claim 4, wherein the step (5) comprises the steps of:
the information processing unit extracts each zero point of the ultrasonic narrow-band signal in the air chamber after frequency mixing;
the information processing unit calculates the average time interval between the zero points of the ultrasonic narrow-band signals in the air chamber after frequency mixing, and the reciprocal of the average time interval is the sampling frequency of zero-crossing sampling;
extracting corresponding data points from the other path of underwater ultrasonic narrow-band signals subjected to frequency mixing and filtering according to the serial numbers of the zero points;
and reconstructing the underwater ultrasonic narrow-band signal according to the data points extracted from the underwater ultrasonic narrow-band signal and the average time interval.
4. The resampling-based frequency modulated continuous wave sonar ranging method according to claim 1, wherein the step (6) comprises the steps of:
carrying out fast Fourier transform on the re-sampled underwater ultrasonic signal;
calculating the amplitude-frequency distribution of the underwater ultrasonic narrow-band signal;
extracting the frequency corresponding to the spectral line with the strongest amplitude from the amplitude-frequency distribution of the underwater ultrasonic narrow-band signal;
dividing the frequency corresponding to the spectral line with the strongest amplitude with the average frequency modulation speed of the original frequency modulation continuous wave electromagnetic wave signal to obtain the time delay of the underwater ultrasonic signal;
and obtaining the measured distance by multiplying the time delay by the sound propagation speed in the water.
5. The resampling-based frequency modulated continuous wave sonar ranging method according to claim 4, wherein the average frequency modulation speed of the original frequency modulated continuous wave electromagnetic wave signal is a ratio of a difference between a start frequency and an end frequency of the frequency modulation of the frequency modulated continuous wave electromagnetic wave signal to a period of the frequency modulation.
6. A resampling-based frequency modulated continuous wave sonar ranging method according to claim 1, wherein the gas cell comprises:
a gas chamber main body;
the silencing wedges are attached to the inner wall of the left side and the inner wall of the middle of the air chamber main body;
an ultrasonic transmitting transducer in the air chamber and an ultrasonic receiving transducer in the air chamber are arranged on the inner wall of the left side of the air chamber main body, and mounting holes of the ultrasonic transmitting transducer in the air chamber and the ultrasonic receiving transducer in the air chamber are sealed;
the ultrasonic wave reflecting plate is arranged on the inner wall of the right side of the air chamber main body;
and filling gas with the sound velocity smaller than a preset sound velocity threshold value in the air chamber main body, and controlling the air pressure of the air chamber to be smaller than the preset air pressure threshold value.
7. A frequency modulation continuous wave sonar distance measuring device based on resampling is characterized by being applied to the frequency modulation continuous wave sonar distance measuring method based on resampling according to any one of claims 1 to 6, and the device comprises an underwater ultrasonic transmitting transducer, an underwater receiving transducer, an ultrasonic transmitting transducer, an ultrasonic receiving transducer, a low-pressure noise elimination air chamber, an ultrasonic signal generating module, a power amplification module and a signal acquisition and processing module.
8. A resampling-based frequency modulated continuous wave sonar ranging device according to claim 7, wherein the signal acquisition and processing module comprises a preamplifier, a high precision data acquisition card and an information processing unit.
9. A resampling-based frequency modulated continuous wave sonar ranging apparatus as defined in claim 7, wherein the gas chamber comprises:
a gas chamber main body;
the silencing wedges are attached to the inner wall of the left side and the inner wall of the middle of the air chamber main body;
an ultrasonic transmitting transducer in the air chamber and an ultrasonic receiving transducer in the air chamber are arranged on the inner wall of the left side of the air chamber main body, and mounting holes of the ultrasonic transmitting transducer in the air chamber and the ultrasonic receiving transducer in the air chamber are sealed;
the ultrasonic wave reflecting plate is arranged on the inner wall of the right side of the air chamber main body;
and filling gas with the sound velocity smaller than a preset sound velocity threshold value in the air chamber main body, and controlling the air pressure of the air chamber to be smaller than the preset air pressure threshold value.
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