CN110879396A - Frogman and underwater vehicle detection device based on multi-base sonar - Google Patents
Frogman and underwater vehicle detection device based on multi-base sonar Download PDFInfo
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- CN110879396A CN110879396A CN201811033943.9A CN201811033943A CN110879396A CN 110879396 A CN110879396 A CN 110879396A CN 201811033943 A CN201811033943 A CN 201811033943A CN 110879396 A CN110879396 A CN 110879396A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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Abstract
The invention discloses a novel frogman and underwater vehicle detection device in the underwater field, which uses high-frequency sound waves as detection media, is anchored on the seabed (or riverbed) of an important water channel and a port, and realizes interception and alarm of small targets such as underwater frogmans and underwater vehicles through a multi-base transceiving separation mode. The invention comprises the following steps: the floating ball, the bearing composite cable, the acoustic emission module, the acoustic receiving module and the anchor seat. The device is tied on the sea bed (or river bed) of an important water channel and a port through an anchor, the sound wave receiving and transmitting module receives sound signals according to a program to form an acoustic fence, data are fed back to a shore base station, and if the receiving and transmitting are abnormal, the frogman and the underwater vehicle can be detected through tracking judgment. The invention adopts a multi-base mode to improve the background interference resistance of the sonar, does not influence the water/underwater navigation, has simple structure and wide monitoring range, and is more suitable for the detection of frogmans and underwater vehicles.
Description
Technical Field
The invention belongs to the technical field of underwater motion small target detection, and mainly adopts a multi-base sonar mode, uses a high-frequency sound wave beam transceiver module as a detection instrument, and anchors are tied at two sides of a water channel to realize effective interception and alarm on small targets such as underwater frogmans, underwater vehicles and the like.
Background
The underwater fighter can be equipped with various modern high-precision equipment and dive into enemy navy ports and navy military bases to carry out destruction activities, and the underwater fighter poses a great threat to surface naval vessels of navy, military ports, docks, civil ports, offshore drilling platforms and important facilities on the seaside.
In recent years, many studies on the development of the acoustic and non-acoustic detection technologies of frogs or underwater vehicles such as UUVs, frogs and the like have been made in many countries, and certain achievements have been obtained, and commercial frogs detection sonar products such as the mediu watchdog 360 of quintic corporation, the DDS series of DSIT corporation in israel, the SM2000/9000 series of norwegian constibuster corporation, the digital multi-beam frogs detection sonar of acoustic institute of domestic academy of sciences, and the like have been provided. The products adopt a single-base high-frequency active frogman detection sonar mode, and the problems of complex channels and serious background interference, namely the background interference of shallow sea is mainly reverberation, so that a false alarm phenomenon of 'coming of wolf' is easy to occur, are inevitable. Although some efforts have been made in these respects, the patent of wangson et al (application No. 201010574059.3) proposes a mode using an underwater sonar camera, an optical technique using an acoustic lens to improve resolution, and the patent of chenmunujin et al (application No. 201210364141.2) separates the sonar from the attitude indicator and manufactures a mooring platform to maintain the depth of the sonar, but the above all adopt an active sonar mode combining transmission and reception, and cannot avoid the problems of complicated channel and serious background interference.
The multi-base sonar has the working characteristics of active sonar and passive sonar, and the detection distance is obviously higher than that of single-base sonar under the same condition. However, most of conventional multi-base sonars receive target echoes in different directions by using a receiver, and have the problem of direct wave suppression, and royal english teachers of the university of northwest industry indicate that the direct waves only undergo single-path transmission in 'research on target characteristics of double/multi-base active sonar' and 'review on technical development of double/multi-base sonar' of Zhao Baoqing thesis in navy academy of sciences, so that the direct waves easily cover the target echoes, so that the target positioning cannot be realized by the double-base sonars, and the time-equal arrival ellipses are defined by the time duration and the time of direct arrival of the acoustic waves, and in the ellipse, the echoes are covered by the direct waves and cannot be detected.
Disclosure of Invention
1. Objects of the invention
The invention provides a frogman and underwater vehicle detection device based on multi-base sonar, which adopts a mode of transmitting, receiving and separating and corresponding transmitting and receiving, directly uses direct waves as a medium for detecting frogmans and underwater vehicles, avoids the defects of the conventional multi-base sonar, improves the capability of resisting background interference, and has the advantages of simple structure, low cost and good detection effect.
2. Technical scheme
The frogman and underwater vehicle detection device is characterized in that a plurality of sound receiving modules are connected into a chain through a bearing composite cable, a floating ball and an anchor seat are vertically fixed at the bottom of a riverbed (seabed) to form a detection anchor chain, the detection anchor chain is placed on one side of a water channel to be detected, a sound emission module is connected with the floating ball and the anchor seat through the bearing composite cable to form a transmission anchor chain, the transmission anchor chain is fixed at the bottom of the riverbed (seabed) and placed on the other side of the water channel to be monitored, the sound emission module and the sound receiving modules are arranged at equal depths, and the bearing composite cable is connected with a shore base station to complete signal communication.
In order to improve the detection effect, the distance between the two anchor chains is not more than 300 meters.
Preferably, the number of the acoustic emission modules and the number of the acoustic receiving modules can be increased or decreased according to different water depths, and the acoustic emission module is suitable for water area conditions of any water channel, harbor, strait and the like.
Preferably, the acoustic emission module is a transmitting hydrophone array formed by a plurality of piezoelectric transducers, the frequency range is 60-70 kHz, the beam opening angle is 0.5 degrees, the horizontal sector surface is 120 degrees, the vertical sector surface is +/-70 degrees, and multi-beam direct waves can be directly transmitted to the corresponding acoustic receiving module. The sound receiving module only needs to use a common spherical hydrophone.
The use method of the frogman and underwater vehicle detection device based on the multi-base sonar comprises the following steps:
(1) and before the arrangement, the number of the sound receiving modules and the sound emitting modules used by the detection device is determined.
Specifically, the number of the sound receiving modules to be placed and the space between the modules are calculated by utilizing the pythagorean theorem according to the water depth, the width of the chain anchor chain and the beam opening angle.
(2) Setting program parameters of a sound receiving module and a sound transmitting module for transceiving, transmitting modulated sound beam signals in a directional range between the detection anchor chains through the sound transmitting module, receiving the sound signals in real time by using the sound receiving modules with equal depth, and forming an acoustic fence between the detection anchor chains;
(3) if frogman and underwater vehicle appear between the detection anchor chain and the emission anchor chain, the sound receiving module cannot receive the set directional sound beam signal, or the signal intensity is lower than the set threshold value, and the sound receiving module which is not supposed to receive the signal at the periphery displays the received signal and the suspected target attacks, and the step four is entered.
(4) Tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.
3. Technical effects
The frogman and underwater vehicle detection device based on the multi-base sonar is simple in structure, low in manufacturing cost, simple to deploy and retrieve, small in influence of ocean background factors, and free of influence on overwater/underwater navigation, effectively solves the problem of identification of the existing active frogman sonar, and can realize effective interception and alarm of frogmans and underwater vehicles.
Drawings
FIG. 1 is a schematic structural diagram of a frogman and underwater vehicle detection device based on multi-base sonar;
FIG. 2 is a flow chart of a method for detecting frogman and underwater vehicle detection devices based on multi-base sonar;
FIG. 3 is a diagram of a frogman and underwater vehicle detection device target real-time monitoring based on multi-base sonar;
in the figure, 1 is a floating ball, 2 is an acoustic receiving module, 3 is a bearing composite cable, 4 is an anchor seat, and 5 is an acoustic emission module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in figure 1, the frogman and underwater vehicle detection device based on the multi-base sonar comprises a floating ball (1), an acoustic receiving module (2), a bearing composite cable (3), an anchor seat (4) and an acoustic emission module (5), and is characterized in that: the sound receiving module (2) is connected with the floating ball (1) and the anchor seat (4) through the bearing composite cable (3), is fixed at the bottom of a riverbed (seabed) through the anchor seat (4), vertically stands in water through the floating ball (1) to form a detection anchor chain, is arranged at one side of a water channel to be monitored, the sound emitting module (5) is arranged at the same depth as the sound receiving module (2), is connected with the floating ball (1) and the anchor seat (4) through the bearing composite cable (3) to form a transmission anchor chain, is fixed at the bottom of the riverbed (seabed), is arranged at the other side of the water channel to be monitored, and is connected with a shore base station.
The bearing composite cable (3) bears the pulling force among the floating ball (1), the sound receiving module (2), the sound emitting module (5) and the anchor seat (4) and is connected with the shore base station, so that the communication between the shore base station and the detection device is realized.
Preferably, in order to ensure the detection effect, the detection anchor chain and the launching anchor chain are spaced from each other by a distance not greater than 300 meters.
The sound emission module (5) of the frogman and underwater vehicle detection device based on the multi-base sonar emits a linear frequency modulation signal with a sound wave signal of 70 khz. The acoustic emission module is a transmitting hydrophone array formed by a plurality of piezoelectric transducers, the frequency range is 60-70 kHz, the beam opening angle is 0.5 degrees, the horizontal sector is 120 degrees, the vertical sector is +/-70 degrees, and multi-beam direct waves can be directly transmitted to the corresponding acoustic receiving module. The sound receiving module only needs to use a common spherical hydrophone.
Fig. 2 is a flow chart of a target monitoring algorithm of a frogman and underwater vehicle detection device based on multi-base sonar, which comprises the following specific steps:
the method comprises the following steps: before the detection device is laid, the number of the sound receiving modules (2) and the number of the sound emitting modules (5) used by the detection device are determined; specifically, according to the water depth, the width of the chain anchor chain and the beam opening angle, the number of sound receiving modules to be placed and the space between the modules can be calculated by utilizing the pythagorean theorem;
step two: setting program parameters received and transmitted by the sound receiving module (2) and the sound transmitting module (5), transmitting modulated sound beam signals in a directional range between the detection anchor chains through the sound transmitting module (5), receiving the sound signals in real time by using the sound receiving module (2) with equal depth, and forming an acoustic fence between the detection anchor chains;
step three: if frogman and underwater vehicle appear between the detection anchor chain and the emission anchor chain, the acoustic receiving module cannot receive the set directional acoustic beam signal, or the signal intensity is lower than the set threshold value, and the acoustic receiving module which is not supposed to receive the signal at the periphery displays the received signal and is suspected that the target comes, and the step four is entered.
Step four: tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.
Preferably, the time threshold is set according to the speed of the unmanned underwater vehicle or frogman passing through the acoustic barrier, which may typically be 5-10 seconds.
Fig. 3 is a schematic diagram of real-time target monitoring of a frogman and underwater vehicle detection device based on multi-base sonar. The abscissa is monitoring time, the ordinate is depth of water, when the acoustic receiving module (2) receives the directional direct sound wave of the acoustic emission module (5), the color of the sound wave is determined according to the magnitude of the amplitude, if the acoustic receiving module has a block, the amplitude of the received signal is weak or the received signal is not displayed at all, and the peripheral acoustic receiving module (2) which receives the specific signal of other receiving modules also displays that the signal is not received, and the monitoring result is tracked along with time, namely the monitoring result is displayed on the graph 3. During the period from 13 th to 23 th seconds, a suspected target passes through the space between the system anchor chain acoustic fence devices, sound beam signals are shielded, real-time communication is blocked, the target contour is displayed on a real-time monitoring graph along with time tracking, an AUV under suspected water starts an underwater frogman or an underwater vehicle to alarm.
The frogman and underwater vehicle detection device based on the multi-base sonar can increase and decrease the number of the acoustic emission modules and the number of the acoustic receiving modules according to different water depths, and is suitable for water area conditions of any water channel, port, strait and the like.
In addition to the above embodiments, any technical solutions formed by equivalent substitutions or equivalent transformations fall within the protection scope of the present invention.
Claims (6)
1. The utility model provides a frogman and underwater vehicle detecting device, the constitution includes floater (1), sound receiving module (2), compound cable of load (3), anchorage (4) and acoustic emission module (5), characterized by: the sound receiving module (2) is connected with the floating ball (1) and the anchor seat (4) through the bearing composite cable (3), is fixed at the bottom of a riverbed (seabed) through the anchor seat (4), vertically stands in water through the floating ball (1) to form a detection anchor chain, is arranged at one side of a water channel to be monitored, the sound emitting module (5) is arranged at the same depth as the sound receiving module (2), is connected with the floating ball (1) and the anchor seat (4) through the bearing composite cable (3) to form a transmission anchor chain, is fixed at the bottom of the riverbed (seabed), is arranged at the other side of the water channel to be monitored, and is connected with a shore base station.
2. The frogman and underwater vehicle detection device as claimed in claim 1, wherein said detection chain and said launch chain are spaced apart from each other by a length of no more than 300 meters.
3. The frogman and underwater vehicle detection apparatus as claimed in claim 2, wherein the number of the sound receiving modules (2) and the number of the sound emitting modules (5) are set according to different water depths.
4. The frogman and underwater vehicle detection device as claimed in claim 3, wherein said acoustic emission module is a transmitting hydrophone array formed by a plurality of piezoelectric transducers, the frequency range is 60-70 kHz, the beam opening angle is 0.5 °, the horizontal sector is 120 °, and the vertical sector is ± 70 °.
5. Use of the frogman and underwater vehicle detection device according to any one of claims 1 to 4, characterized in that it comprises the following steps:
the method comprises the following steps: before the detection device is laid, the number of the sound receiving modules (2) and the number of the sound emitting modules (5) used by the detection device are determined;
step two: setting program parameters of a sound receiving module (2) and a sound emitting module (5) for transceiving, emitting modulated sound beam signals in a directional range between the detection anchor chains through the sound emitting module (5), receiving the sound signals in real time by using the sound receiving module (2) with equal depth, and forming an acoustic fence between the detection anchor chains;
step three: if frogman and underwater vehicle appear between the detection anchor chain and the emission anchor chain, the sound receiving module cannot receive the set directional sound beam signal, or the signal intensity is lower than the set threshold value, and the sound receiving module which is not supposed to receive the signal at the periphery displays the received signal and is suspected to be attacked, and the step four is carried out;
step four: tracking and calculating the receiving and sending abnormal time, judging whether the receiving and sending abnormal time is greater than a time threshold value, and if so, sending an early warning signal.
6. The method for using the frogman and underwater vehicle detection device as claimed in claim 5, wherein in the first step, the number of the sound receiving modules to be placed and the distance between the modules are calculated by using the pythagorean theorem according to the water depth, the width of the chain anchor chain and the beam opening angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811033943.9A CN110879396A (en) | 2018-09-05 | 2018-09-05 | Frogman and underwater vehicle detection device based on multi-base sonar |
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| CN201811033943.9A CN110879396A (en) | 2018-09-05 | 2018-09-05 | Frogman and underwater vehicle detection device based on multi-base sonar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580077A (en) * | 2020-05-29 | 2020-08-25 | 中国电子科技集团公司第三研究所 | Early warning equipment and method for detecting small target sonar |
| CN111610526A (en) * | 2020-04-28 | 2020-09-01 | 自然资源部第一海洋研究所 | Seabed erosion and deposition dynamic monitoring system |
| CN111856473A (en) * | 2020-07-08 | 2020-10-30 | 宜昌江海水声系统技术有限公司 | Frogman detection system |
| CN114879202A (en) * | 2022-05-10 | 2022-08-09 | 山东科技大学 | Underwater monitoring device and method based on beam forming technology |
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2018
- 2018-09-05 CN CN201811033943.9A patent/CN110879396A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111610526A (en) * | 2020-04-28 | 2020-09-01 | 自然资源部第一海洋研究所 | Seabed erosion and deposition dynamic monitoring system |
| CN111610526B (en) * | 2020-04-28 | 2023-12-12 | 自然资源部第一海洋研究所 | Seabed corrosion and accumulation dynamic monitoring system |
| CN111580077A (en) * | 2020-05-29 | 2020-08-25 | 中国电子科技集团公司第三研究所 | Early warning equipment and method for detecting small target sonar |
| CN111580077B (en) * | 2020-05-29 | 2022-09-16 | 中国电子科技集团公司第三研究所 | Early warning equipment and method for detecting small target sonar |
| CN111856473A (en) * | 2020-07-08 | 2020-10-30 | 宜昌江海水声系统技术有限公司 | Frogman detection system |
| CN114879202A (en) * | 2022-05-10 | 2022-08-09 | 山东科技大学 | Underwater monitoring device and method based on beam forming technology |
| CN114879202B (en) * | 2022-05-10 | 2024-05-31 | 山东科技大学 | Underwater monitoring device and method based on beam forming technology |
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