CN111239748B - Method and device for improving course resolution of horizontal fish finder - Google Patents
Method and device for improving course resolution of horizontal fish finder Download PDFInfo
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- CN111239748B CN111239748B CN202010181071.1A CN202010181071A CN111239748B CN 111239748 B CN111239748 B CN 111239748B CN 202010181071 A CN202010181071 A CN 202010181071A CN 111239748 B CN111239748 B CN 111239748B
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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
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52003—Techniques for enhancing spatial resolution of targets
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a method for improving course resolution of a horizontal fish finder, which solves the problem that the use accuracy of the fish finder is affected by the reduction of the low resolution capability of the acoustic image update rate of the traditional fish finder along with the increase of the detection range.
Description
Technical Field
The invention relates to the field of fish detectors, in particular to a method and a device for improving course resolution of a horizontal fish detector.
Background
The fish detector detects fish shoal by using underwater acoustic echo information, and has become the most widely used fish shoal detecting instrument in marine fishery. According to the operation type of the fishing boat and the difference of the required detection directions, the types of the fish detectors can be divided into a vertical fish detector, a horizontal fish detector and the like, wherein the horizontal fish detector can be widely applied to trawl and purse seine fishing because of the realization of a larger detection range. In order to find the fish school more timely and leave more sufficient time for controlling the fishing boat and the fishing net after finding the fish school, the fish probing direction of the horizontal fish finder is the heading direction, and therefore the updating rate of the acoustic image detected by the horizontal fish finder is an index of the heading resolution capability of the horizontal fish finder.
In a transmitting and receiving period, the traditional horizontal fish finder transmits an acoustic detection pulse signal, and the time required for the underwater acoustic signal to reach the maximum range and then return is the shortest acoustic image updating time, namely: 2 measurement range/speed is the minimum time for updating. Horizontal multi-beam fish detectors are generally divided into multiple ranges, such as: the measuring ranges of the SX90 horizontal fish finder of Simrad company in Norway are 500 meters, 1000 meters, 2000 meters and 4000 meters, the updating time of acoustic images corresponding to different measuring ranges is different, and the method can be calculated according to the propagation speed of underwater acoustic signals about 1500 meters per second: when the measuring range is 500 meters, the updating time of the acoustic image is at least 0.67 second; when the measuring range is 4000 meters, the updating time of the acoustic image is 5.3 seconds at least. When the horizontal fish finder works in a short range, a faster acoustic image updating rate can be obtained, but the detection range is smaller; when the fish finder is set to work in a large range for obtaining a larger detection range, the updating rate of the acoustic image of the fish finder becomes lower, so that the resolution capability of the course of the fishing boat is reduced, the continuous tracking capability of the target is reduced, and the accurate use of the horizontal fish finder is influenced.
Disclosure of Invention
The invention aims to provide a method and a device for improving course resolution of a horizontal fish finder, which can realize the simultaneous detection of targets with different distances in a transmitting period and a receiving period, accelerate the updating frequency of echo images of the fish finder and improve the course resolution capability of the fish finder during navigation.
The technical purpose of the invention is realized by the following technical scheme:
a method for improving course resolution of a horizontal fish finder comprises the following steps:
generating two pulse signals with different frequencies at equal time intervals in each transceiving period through a dual-frequency pulse generator of a digital signal processor, and processing the two pulse signals through a broadband transmitter;
converting the processed pulse signals into underwater acoustic signals through a transducer and transmitting the underwater acoustic signals;
the received echo signals are processed by two channel receivers to finish the independent receiving processing of two paths of echo signals;
and adjusting the two paths of received and processed echo signals through a signal time sequence adjusting module of the digital signal processor, and transmitting the echo signals to an image display for displaying.
Preferably, the processing of the pulse signal specifically includes: the dual-frequency pulse generator generates a first pulse signal with the carrier frequency of F1 and a second pulse signal with the carrier frequency of F2, and the broadband transmitter sequentially performs power amplification and low-pass filtering on the first pulse signal and the second pulse signal.
Preferably, the processing of the received signal by the channel receiver is specifically:
the two channel receivers are divided into a first receiving channel and a second receiving channel, and both perform low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion processing on received echo signals in sequence;
the center frequency points of the band-pass filters for performing band-pass filtering on the first receiving channel and the second receiving channel are respectively F1 and F2, and the filtering and retaining of echo signals corresponding to the first pulse signal and the second pulse signal are respectively completed through the first receiving channel and the second receiving channel.
Preferably, the transmitting the channel signal after receiving and processing to the image display for displaying specifically includes:
when the first half period of the transceiving period is in, the first receiving channel receives the echo signal corresponding to the first pulse signal and refreshes the image of the detection area in the first half range, and the second receiving channel receives the echo signal corresponding to the second pulse signal and refreshes the image of the detection area in the second half range;
when the receiving and sending cycle is in the second half cycle of the receiving and sending cycle, the first receiving channel receives the echo signal corresponding to the first pulse signal and refreshes the image of the detection area in the second half cycle, and the second receiving channel receives the echo signal corresponding to the second pulse signal and refreshes the image of the detection area in the first half cycle.
A device for improving course resolution of a horizontal fish finder comprises
The digital signal processors comprise a double-frequency pulse generator for generating double-frequency pulse signals, a signal time sequence adjusting module for performing time sequence adjustment on received echo signals, and a receiving and transmitting main control module for performing receiving and transmitting control;
the broadband transmitter is used for sequentially carrying out power amplification and low-pass filtering processing on the generated dual-frequency pulse signal;
the transducer and the transceiving converter are used for converting transmitting and receiving signals, converting the generated pulse signals into underwater sound signals for transmitting and converting the underwater sound signals returned by detection into echo signals for inputting;
the double-channel receiver is used for sequentially carrying out low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion on the received echo signals so as to finish filtering and retaining processing of the echo signals, and inputting the echo signals to the signal timing sequence adjusting module;
and the image display is used for displaying the detection area image corresponding to the echo signal after the time sequence adjustment.
Preferably, the dual-frequency pulse generator generates a first pulse signal with a carrier frequency of F1 and a second pulse signal with a carrier frequency of F2; the dual-channel receiver comprises a first receiving channel with a center frequency point F1 corresponding to band-pass filtering and a second receiving channel with a center frequency point F2 corresponding to the band-pass filtering.
In conclusion, the invention has the following beneficial effects:
two pulse signals with different frequencies are transmitted at equal time intervals in a receiving and transmitting period, the echoes of the two different detection signals are distinguished by adopting a band-pass filter in the receiving process, and the image is updated in a segmented manner at the display end of the fish finder, so that the updating rate of the acoustic image is doubled, the course resolution is doubled, and the tracking of swimming fishes is facilitated.
Drawings
FIG. 1 is a schematic block diagram of an apparatus for improving the course resolution of a horizontal fish finder according to the present invention;
FIG. 2 is a schematic diagram of a dual frequency pulsed transmission signal;
FIG. 3 is a schematic flow chart of a method for improving the course resolution of a horizontal fish finder;
FIG. 4 is a schematic diagram of the first half-cycle image refresh of the Nth transmit and receive cycle;
fig. 5 is a diagram illustrating the image refresh of the second half of the nth transmit and receive cycle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The horizontal fish detector periodically transmits sound wave signals to the water and detects echo signals to detect whether fish schools exist or not and estimate the distance from the fish schools to the fish detector. In a transmitting and receiving period, the traditional horizontal fish finder transmits an acoustic detection pulse signal, and the time required for the underwater acoustic signal to reach the maximum range and then return is the shortest acoustic image updating time, namely: 2 measurement range/speed is the minimum time for updating.
According to one or more embodiments, the device for improving the heading resolution of the horizontal fish finder disclosed by the invention comprises a plurality of digital signal processors, a broadband transmitter, a transceiver converter, a transducer, a dual-channel receiver and an image display, as shown in fig. 1.
The digital signal processor comprises a receiving and transmitting main control module for controlling the receiving and transmitting signals, a double-frequency pulse generator for generating double-frequency pulse signals and a signal time sequence adjusting module for adjusting the time sequence of received echo signals. The dual-frequency pulse generator generates two pulse signals with different frequencies at equal time intervals in a transmitting period T and a receiving period T, wherein the two pulse signals are respectively a first pulse signal and a second pulse signal.
The device has a transmitting and receiving period of T, and immediately converts to a receiving process when the transmitting is finished, and the transmitting and receiving processes are synchronized and controlled by the transmitting and receiving main control module. As shown in fig. 2, the carrier frequency of the first pulse signal, i.e., the signal S1, is F1, and the carrier frequency of the second pulse signal, i.e., the signal S2, is F2.
The broadband transmitter is provided with a power amplifier drive, and sequentially performs power amplification and low-pass filtering processing on the dual-frequency pulse signals generated by the dual-frequency pulse generator. The processed double-frequency pulse signal is converted into an underwater sound signal through a receiving-transmitting converter and an energy converter and is transmitted out.
In the receiving process, the returned signals after detection are echo signals and double signals, the signals are converted through the transceiver and the transducer, and the receiving processing is carried out through the double-channel receiver. The dual-channel receiver comprises a first receiving channel and a second receiving channel, and is used for respectively carrying out low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion processing on echo signals, wherein filtering is realized by setting the central frequency point of a band-pass filter for band-pass filtering processing, the central frequency point corresponding to the first receiving channel is set to be F1, the central frequency point corresponding to the second receiving channel is set to be F2, and then the two paths of echo signals pass through the dual-channel receiver to complete filtering reservation of the first echo signal corresponding to the first pulse signal and the second echo signal corresponding to the second pulse signal.
The time sequence adjusting module adjusts the processed echo signals of the two channels and displays images in the detection area through the image display.
According to one or more embodiments, a method for improving the heading resolution of a horizontal fish finder is disclosed, as shown in fig. 1 and 3, and comprises the following steps:
a1, generating two pulse signals with different frequencies at equal time intervals in each transceiving period through a dual-frequency pulse generator of the digital signal processor;
a2, processing the pulse signal by a broadband transmitter;
a3, converting the processed pulse signal into an underwater sound signal through a transducer and transmitting the underwater sound signal;
a4, processing the received signals through two channel receivers to finish the independent receiving processing of two echo signals;
and A5, adjusting the two paths of received and processed echo signals through a signal time sequence adjusting module of the digital signal processor, and transmitting the echo signals to an image display for displaying.
Specifically, the dual-frequency pulse signal is generated and processed by generating a first pulse signal with a carrier frequency of F1 and a second pulse signal with a carrier frequency of F2 by a dual-frequency pulse generator, and the first pulse signal and the second pulse signal are sequentially subjected to power amplification and low-pass filtering by a broadband transmitter.
In a transmitting and receiving period, two paths of echo signals returned after detection are received by a dual-channel receiver through a transceiving converter, the dual-channel receiver is divided into a first receiving channel and a second receiving channel, and the first receiving channel and the second receiving channel are used for sequentially carrying out low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion on the received echo signals;
the center frequency points of the band-pass filters for band-pass filtering in the first receiving channel and the second receiving channel are respectively F1 and F2, and the filtering and retaining of echo signals corresponding to the first pulse signal and the second pulse signal are respectively completed through the first receiving channel and the second receiving channel.
The signal timing sequence adjusting module adjusts the received echo signals of the 2 channels, the current time T is in the first half cycle of the Nth transmitting and receiving period, namely N T- (N +1/2) T, as shown in fig. 4, the first receiving channel receives the echo signals to refresh the images of the detection region from 0 to L/2, and the second receiving channel receives the echo signals to refresh the images of the detection region from L/2 to L; at the current time T in the second half of the nth transmit and receive cycle, i.e., (N +1/2) × T- (N +1) × T, as shown in fig. 5, the first receive channel receives the echo signal and refreshes the range L/2 to the image of the detection region in L, and the second receive channel receives the echo signal and refreshes the range 0 to the image of the detection region in L/2. In a transmitting period and a receiving period, the acoustic detection images are refreshed twice, and the navigation direction resolving power of the fish during navigation is improved.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (2)
1. A method for improving course resolution of a horizontal fish finder is characterized by comprising the following steps:
generating two pulse signals with different frequencies at equal time intervals in each transceiving period through a dual-frequency pulse generator of a digital signal processor, processing the two pulse signals through a broadband transmitter, generating a first pulse signal with a carrier frequency of F1 and a second pulse signal with a carrier frequency of F2 through the dual-frequency pulse generator, and sequentially performing power amplification and low-pass filtering processing on the first pulse signal and the second pulse signal through the broadband transmitter;
converting the processed pulse signals into underwater acoustic signals through a transducer and transmitting the underwater acoustic signals;
the received echo signals are processed through two channel receivers to finish independent receiving processing of two paths of echo signals, the two channel receivers are divided into a first receiving channel and a second receiving channel, and low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion processing are sequentially carried out on the received echo signals; the center frequency points of the band-pass filters for performing band-pass filtering on the first receiving channel and the second receiving channel are respectively F1 and F2, and the filtering and retaining of echo signals corresponding to the first pulse signal and the second pulse signal are respectively completed through the first receiving channel and the second receiving channel;
adjusting the two received echo signals through a signal time sequence adjusting module of the digital signal processor, transmitting the two received echo signals to an image display for displaying, when the two received echo signals are in the first half period of a transceiving period, receiving the echo signal corresponding to the first pulse signal by a first receiving channel and refreshing an image of a detection region in the first half range, and receiving the echo signal corresponding to the second pulse signal by a second receiving channel and refreshing an image of the detection region in the second half range; when the receiving and sending cycle is in the second half cycle of the receiving and sending cycle, the first receiving channel receives the echo signal corresponding to the first pulse signal and refreshes the image of the detection area in the second half cycle, and the second receiving channel receives the echo signal corresponding to the second pulse signal and refreshes the image of the detection area in the first half cycle.
2. A device for improving course resolution of a horizontal fish finder is characterized in that: comprises that
The digital signal processors comprise a double-frequency pulse generator for generating double-frequency pulse signals, a signal time sequence adjusting module for performing time sequence adjustment on received echo signals, and a receiving and transmitting main control module for performing receiving and transmitting control; the dual-frequency pulse generator generates a first pulse signal with the carrier frequency of F1 and a second pulse signal with the carrier frequency of F2;
the broadband transmitter is used for sequentially carrying out power amplification and low-pass filtering processing on the generated dual-frequency pulse signal;
the transducer and the transceiving converter are used for converting transmitting and receiving signals, converting the generated pulse signals into underwater sound signals for transmitting and converting the underwater sound signals returned by detection into echo signals for inputting;
the double-channel receiver is used for sequentially carrying out low-noise amplification, band-pass filtering, gain amplification and analog-to-digital conversion on the received echo signals so as to finish filtering and retaining processing of the echo signals, and inputting the echo signals to the signal timing sequence adjusting module; the dual-channel receiver comprises a first receiving channel with a center frequency point F1 corresponding to band-pass filtering and a second receiving channel with a center frequency point F2 corresponding to band-pass filtering;
the image display is used for displaying the image of the detection region corresponding to the echo signal after the time sequence adjustment, the signal time sequence adjustment module is used for adjusting the received echo signals of the 2 channels, the current time t is in the first half cycle of the Nth transmitting and receiving period, the first receiving channel receives the echo signal to refresh the image of the detection region within the range from 0 to L/2, and the second receiving channel receives the echo signal to refresh the image of the detection region within the range from L/2 to L; at the current moment t in the second half cycle of the Nth transmitting and receiving cycle, the first receiving channel receives the image of the detection area from the echo signal refreshing range L/2 to L, and the second receiving channel receives the image of the detection area from the echo signal refreshing range 0 to L/2.
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| US7663974B2 (en) * | 2006-10-02 | 2010-02-16 | Furuno Electric Company Limited | Fishfinder |
| CN101833097B (en) * | 2010-05-19 | 2012-08-08 | 华南理工大学 | Underwater net cage multi-beam fish driving monitoring system and method |
| CN101852854B (en) * | 2010-06-07 | 2012-10-31 | 华南理工大学 | Underwater multi-beam sounding system and method |
| CN102999986B (en) * | 2013-01-07 | 2014-11-19 | 山东师范大学 | Method for detecting embedded invasion detection system based on ultraphonic phase array |
| JP6761893B2 (en) * | 2017-03-10 | 2020-09-30 | 古野電気株式会社 | Ultrasonic detection device and ultrasonic detection method |
| US11480674B2 (en) * | 2018-07-23 | 2022-10-25 | Koninklijke Philips N.V. | Ultrasound imaging system with transmit apodization |
| CN110146892B (en) * | 2019-05-05 | 2023-08-01 | 浙江宜通华盛科技有限公司 | Dual-polarization radar |
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