CN111522013A - Submarine target positioning device based on side scan sonar - Google Patents
Submarine target positioning device based on side scan sonar Download PDFInfo
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- CN111522013A CN111522013A CN202010416984.7A CN202010416984A CN111522013A CN 111522013 A CN111522013 A CN 111522013A CN 202010416984 A CN202010416984 A CN 202010416984A CN 111522013 A CN111522013 A CN 111522013A
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- 238000012545 processing Methods 0.000 claims abstract description 19
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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
- G01S15/8902—Side-looking sonar
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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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
Abstract
The invention discloses a side-scan-sonar-based seabed target positioning device which comprises a side scan sonar, a side scan sonar control module, a GPS (global positioning system) positioning module, an underwater signal control module, a matching field processing module, an ultra-short baseline transmitting and receiving module, a signal processing module, a seabed map generating module and a display module. The side-scan sonar-based seabed target positioning device disclosed by the invention adopts the combination of multiple technologies such as side-scan sonar measurement based on an ultra-short baseline, matching field processing, image noise reduction and the like, is favorable for eliminating noise and accurately positioning a seabed target, and is also suitable for a complex shallow sea environment. The invention has the characteristics of multiple functions and high accuracy, and is suitable for popularization and application.
Description
Technical Field
The invention belongs to the technical field of underwater target positioning, and relates to a submarine target positioning device based on a side scan sonar.
Background
Traditional marine survey mainly is carried out in the coastal waters, and the coastal waters is measured when weather is better, stormy waves are less and uses optical instrument usually, utilizes land target location, and this is similar to land survey location a bit, nevertheless weather is not good, and survey ship sways indefinite, therefore marine survey precision will be than land survey positioning accuracy and hang down a lot, adopts main means at present: radio positioning method, electromagnetic wave distance measuring method, radio positioning and optical positioning. Among them, the radio positioning method is widely used. The positioning systems are far in positioning distance, but the accuracy is generally low, and because the submarine topography at the middle and far seabed is flat, the use of measurement results cannot be influenced due to the low accuracy, and the use requirements are basically met. However, the modern marine development industry is far beyond marine transportation, and more accurate measurement results are needed for marine resource survey, marine engineering construction, marine scientific research and the like, so that underwater acoustic positioning and satellite positioning are developed, and the required results are more accurate.
Wherein the propagation characteristics of high-precision, medium-short range radio waves are widely used today to determine the position, velocity and other characteristics of an object. Radiolocation is radio measurement other than radio navigation. It is to measure the position, velocity and other characteristics of an object using the propagation characteristics of radio waves. The method is a measurement technique and method for determining positioning parameters such as distance, distance difference, azimuth and the like by directly or indirectly measuring the time, phase difference, amplitude or frequency change of a radio signal in the propagation process between a fixed point (a shore) at a known position and a ship, and further determining the position (such as the position of the ship) to be determined by using a position line. The positioning system is divided into the following parts according to the principle of determining positioning parameters such as distance or distance difference and the like: pulsed radio positioning system, phased radio positioning system,
pulse-to-phase radio positioning system.
Satellite positioning is a method for determining ground position through the instant position of a space satellite, and is developed into a present GPS positioning system on the basis of the method, the system consists of a space satellite part, a ground monitoring part and a user equipment part, and the system is superior to a traditional satellite system in terms of coverage, signal reliability, data content, accuracy and versatility indexes. Becoming the current generation of positioning hot spots. The global positioning system GPS is one of the most innovative technologies developed in the recent years, and its global, totipotent, and all-weather advantages of navigation positioning, timing, and speed measurement will certainly be more and more widely applied in many fields. This is a satellite system consisting of 24 satellites covering the world. The system can ensure that 4 satellites can be observed at any point on the earth at any time, so that the satellite can acquire the longitude and latitude and the height of the observation point, and functions of navigation, positioning, time service and the like can be realized. This technique can be used to guide aircraft, ships, vehicles, and individuals to safely and accurately follow a selected route to a destination on time. The navigation system is mainly used for positioning and navigating moving objects such as ships, automobiles, airplanes and the like. For example: the GPS is used for navigation, positioning and measurement, and because a precise clock carried by a space satellite of the GPS system can release time and frequency information, the precise time and frequency transmitted by the space satellite is another important application of the GPS under the monitoring of a ground monitoring station on the basis of the precise clock on the space satellite, and the function can be used for controlling the precise time or frequency, thereby being capable of serving for a plurality of engineering experiments. And the GPS control network composed of it has: the satellite control points do not need to be in communication with each other, the precision is high, and the method is suitable for the combined measurement of islands. The technology is extended to an underwater measurement-underwater GPS system, the system can be used for tracking, monitoring and dynamically positioning underwater targets from the water (on the sea surface, on the land along the shore or on an airplane), and the functions of underwater equipment navigation, underwater target instantaneous water depth monitoring, underwater time service, underwater engineering measurement control, engineering structure lofting and the like are realized by firstly utilizing the GPS technology.
Compared with radio wave signals, sound wave signals can propagate in a long distance under water, so that the sound wave transmitting device can be used as a beacon for navigation. Arranging a plurality of sound marks, namely seabed control points, on the water bottom, and measuring the relative positions of the underwater sound marks by using a certain method; when a measuring ship to be positioned transmits an acoustic pulse inquiry signal to water through transmitting equipment, an underwater acoustic marker receives the signal and responds to a response signal, and the response signal is received by the measuring ship and processed by a computer, so that a positioning result of the measuring ship can be obtained. The most common method for positioning and navigating underwater is currently the acoustic method. The underwater acoustic transmitter and the underwater acoustic receiver interact with each other to form an acoustic positioning system. According to the length of the base line of the receiving base line or the transponder array, the acoustic positioning system can be divided into a long base line, a short base line and an ultra-short base line. Different positioning systems may be utilized depending on different positioning requirements. Acoustic localization techniques are techniques for locating a known object in a particular time and space. With the development and application of the micro-processing technology of the electronic computer, the required position information can be displayed automatically in real time, rapidly and continuously. The acoustic positioning can solve the problem of water depth measurement, and is also an important development direction.
In professional ocean exploration, a sonar detection technology is mainly relied on, a side scan sonar is one of common equipment, sound wave signals are actively transmitted to the seabed, the reflected sound wave signals are received, and basic parameters of seabed targets are judged, so that a seabed map is drawn. The traditional target positioning method based on the side scan sonar comprises the steps of taking the GPS coordinates at a sonar signal transmitting point as the center, and calculating the specific position of a submarine target according to the time of signal transmitting and receiving of the side scan sonar. However, the ship body mainly has three attitude changes of rotation, pitching and yawing in the sea, and each attitude change influences the scanning range of the signal. Therefore, the coordinates of the submarine target are necessarily deviated by directly estimating only the GPS coordinates.
In order to overcome the defects, the related prior art has the following names: a submarine target positioning method and system based on side scan sonar, application number: 201911051493.0, filing date: 2019.10.31, the invention discloses a submarine target positioning method and system based on side scan sonar, the side scan sonar is installed outside the hull, the positioning method includes: 1. acquiring longitude and latitude information of a side-scan sonar, attitude information of a ship body and height information from the side-scan sonar to a seabed plane to obtain position information of a sonar source; 2. calculating a posture correction matrix; 3. determining the position information of the submarine target relative to the sonar source; 4. and correcting the position information of the submarine target by using the attitude correction matrix T to obtain the position information of the submarine target in the world coordinate system. The method is combined with a sonar source GPS coordinate, a water depth distance and a hull posture parameter, and relative position information of the submarine target and the sonar source is corrected, so that accurate position information of the submarine target is obtained.
Although the prior art can achieve a certain technical effect, the prior art cannot cope with a complex shallow sea environment, and the side-scan sonar is also interfered by seabed reverberation, ocean environmental noise and some self-noise, so that the positioning accuracy is relatively low.
Disclosure of Invention
The invention aims to provide a side-scan sonar-based seabed target positioning device with high positioning accuracy.
The specific technical scheme is as follows:
the utility model provides a seabed target positioner based on side scan sonar, includes side scan sonar, side scan sonar control module, GPS orientation module, signal processing module under water, matches field processing module, ultrashort baseline emission receiving module, signal processing module, seabed map generation module and display module, ultrashort baseline emission receiving module is located on the ship, side scan sonar installs in the hull outside, and the supershort baseline underwater location mark is fixed on the fish that drags of side scan sonar, side scan sonar control module respectively with underwater location mark, side scan sonar, GPS orientation module, signal control module under water, match field processing module, signal processing module, seabed map generation module, display module and be connected, signal control module still is connected with ultrashort baseline emission receiving module under water.
Further, the map printing module is also included.
Further, the side scan sonar image denoising module is also included.
Has the advantages that:
the side-scan sonar-based seabed target positioning device disclosed by the invention adopts the combination of multiple technologies such as side-scan sonar measurement based on an ultra-short baseline, matching field processing, image noise reduction and the like, is favorable for eliminating noise and accurately positioning a seabed target, and is also suitable for a complex shallow sea environment. The invention has the characteristics of multiple functions and high accuracy, and is suitable for popularization and application.
Drawings
The figure is a schematic diagram of the submarine target positioning device based on the side scan sonar.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to the figure, a seabed target positioning device based on side scan sonar comprises a side scan sonar, a side scan sonar control module, a GPS positioning module, an underwater signal control module, a matching field processing module, an ultra-short baseline transmitting and receiving module, a signal processing module, a seabed map generating module and a display module, wherein the ultra-short baseline transmitting and receiving module is positioned on a ship, the side scan sonar is installed on the outer side of the ship body, an underwater positioning mark of an ultra-short baseline is fixed on a fish towing the side scan sonar, the side scan sonar control module is respectively connected with the underwater positioning mark, the side scan sonar, the GPS positioning module, the underwater signal control module, the matching field processing module, the signal processing module, the seabed map generating module and the display module, and the underwater signal control module is further connected with the ultra-short baseline transmitting and receiving module.
A map printing module is also included.
The side-scan sonar image denoising module is also included.
In the specific application process, the device for positioning the submarine target based on the side-scan sonar combines a plurality of technologies such as side-scan sonar measurement based on an ultra-short baseline, matching field processing, image noise reduction and the like, is favorable for eliminating noise and accurately positioning the submarine target, and is also suitable for complex shallow sea environment. The invention has the characteristics of multiple functions and high accuracy, and is suitable for popularization and application.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are within the scope of the present invention.
Claims (3)
1. The utility model provides a seabed target positioner based on side scan sonar, a serial communication port, including side scan sonar, side scan sonar control module, GPS orientation module, signal control module, match field processing module, ultrashort baseline transmission receiving module, signal processing module, seabed map generation module and display module under water, ultrashort baseline transmission receiving module is located on the ship, side scan sonar installs in the hull outside, and the supershort baseline underwater location mark is fixed on the fish that drags of side scan sonar, side scan sonar control module respectively with underwater location mark, side scan sonar, GPS orientation module, signal control module, match field processing module, signal processing module, seabed map generation module, display module are connected, underwater signal control module still is connected with ultrashort baseline transmission receiving module.
2. The device for positioning the submarine target according to claim 1, further comprising a map printing module.
3. The side-scan sonar-based seafloor target positioning device according to claim 1, further comprising a side-scan sonar image denoising module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433535A (en) * | 2021-06-23 | 2021-09-24 | 中国舰船研究设计中心 | Sonar transducer cabin suitable for unmanned ship |
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2020
- 2020-05-18 CN CN202010416984.7A patent/CN111522013A/en active Pending
Patent Citations (4)
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| CN106526598A (en) * | 2016-12-30 | 2017-03-22 | 上海达华测绘有限公司 | Side-scan sonar underwater high-precision positioning system and method |
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| CN109541548A (en) * | 2018-11-22 | 2019-03-29 | 西安联丰迅声信息科技有限责任公司 | A kind of air sonar localization method based on Matched Field |
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Application publication date: 20200811 |