CN112068210B - Active electric field detection device and method for positioning electric interface in sea area - Google Patents

Abstract

The invention discloses an active electric field detection device for locating an electrical interface in a sea area, which comprises a transmitting electrode pair and two electric field intensity detectors. The emitting electrode pair and the electric field intensity detector are arranged outside a fixed base. The fixed base is provided with a data acquisition and storage unit and an excitation source of the emission electrode. The output end of the emission electrode excitation source is connected to the input end of the emission electrode pair, and the input end of the data acquisition and storage unit is connected to the signal output end of the electric field intensity detector. The invention also discloses a method for locating the electrical interface in the sea area by using the active electric field. The present invention can achieve the purpose of controlling the electric field value measured by the electric field intensity detector by adjusting the intensity of the field source. For example, increasing the intensity of the field source can reduce the influence of noise on the measurement data, thereby improving the accuracy of positioning.

Description

An active electric field detection device and method for locating electrical interfaces in sea areas

technical field

The patent of the invention belongs to the field of underwater electric field detection, and specifically relates to a device and method for locating an electrical interface in a sea area by using an active electric field.

Background technique

When a ship sails in the ocean, there are many media with different conductive properties in its navigation area, including air, seabed, ship wake with bubbles, and reef walls, etc. They have different conductive properties, so they will be different from good conductors Seawater forms an electrical interface.

In the relevant research on the underwater electric field of ships, the existence of electrical interfaces cannot be ignored. On the one hand, the position and conductivity characteristics of these interfaces affect the distribution characteristics of the ship's underwater electric field, which is of great significance for accurately grasping the target characteristics of the ship's underwater electric field; on the other hand, the position information of some specific interfaces can be As a characteristic signal of target detection and attack, it is of great significance to the navigation technology of underwater vehicles. For example, the interface between the wake of a ship and normal sea water can be used as a signal source for torpedo self-guidance. Therefore, the detection method and technology research of electrical interface has very important application value.

Similar to the underwater active sonar positioning technology, the underwater active electric field positioning technology refers to searching the sea area where the target is located by detecting active electric field distortion, and finally determining the target information. At present, the idea and method of using the underwater active electric field to locate the source of the electric field have been initially established, but there is no related application of using the active electric field to detect the electrical interface.

Invention content:

In order to overcome the defects of the background technology and meet the needs of using active electric field to detect electrical interface, the present invention provides a device and method for locating electrical interface in sea area by using active electric field, which has low layout difficulty, strong real-time performance, and is practical and convenient.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

An active electric field detection device for locating the electrical interface in sea areas, including a transmitting electrode pair and two electric field intensity detectors, the transmitting electrode pair and the electric field intensity detector are arranged outside the fixed base, and inside the fixed base A data acquisition and storage unit and an excitation source for the emitter electrode are provided. The output end of the emitter electrode excitation source is connected to the input end of the emitter electrode pair, and the input end of the data acquisition and storage unit is connected to the signal output end of the electric field intensity detector.

Preferably, the emitter electrode pair is arranged at the center of the top surface of the fixed base.

Preferably, the emitter electrode pair includes two symmetrically arranged platinum sheets, and the two platinum sheets are arranged symmetrically along the center line of the fixed base.

Preferably, the electric field intensity detector is arranged on the top surface of the fixed base through a connecting rod; two electric field intensity detectors are arranged symmetrically along the center line of the fixed base.

Preferably, the electric field intensity detector includes a spherical base, and a solid-state electrode arranged on the spherical base; the spherical base is a spherical base made of nylon material; the solid-state electrode is an Ag/AgCl solid-state electrode.

Preferably, the electric field intensity detector includes 6 solid-state electrodes; the 6 solid-state electrodes are respectively arranged along three mutually perpendicular diameters of the spherical base.

An active electric field detection method for locating an electrical interface in a sea area using the above-mentioned device, comprising:

Step 1, according to the conductivity σ of seawater, the structural parameters of the active electric field detection device, and the strength of the excitation source, calculate the two measuring points A and B determined relative to the position of the active electric field source (that is, the two electric field intensity detectors Location) The three-component measured value of the electric field intensity is used as the initial value E _A0 and E _B0 of the electric field intensity;

相对于电场强度初值的变化量(即电场强度的差值)δE_A、δE_B判断探测装置附近是否存在电学分界面；Step 2, when the active electric field detection device arrives at the sea area to be measured, according to the measured values of the electric field strength at the measuring points A and B

Relative to the variation of the initial value of the electric field strength (that is, the difference of the electric field strength) δE _A , δE _B to determine whether there is an electrical interface near the detection device;

Step 3, when it is judged that there is an electrical interface near the detector, locate the position (x, y, z) of the mirror field source p' of the active electric field source on the mirror image of the electrical interface;

(4) Since the image field source p' and the active electric field source p are symmetrical about the electrical interface S, the unit normal vector n of the electrical interface S and the distance from the origin of the coordinates to the interface S are calculated from the coordinates of p' and p The distance realizes the positioning of the electrical interface.

Preferably, the calculation method in step 1 includes:

The active electric field source is equivalent to an electric dipole p, the dipole moment is P, and its coordinates are (x _S , y _S , z _S ); after the detection device is assembled, the distance between the emitting electrode and the electric field intensity detector The relative positional relationship is then determined, that is, the relative position of the active field source and the field point (two electric field strength detectors) is determined; the coordinate system is selected on the detection device, and the position vector R of the position point of the two electric field strength detectors can be obtained ₁ , R ₂ , the initial value E _A0 , E _B0 of the electric field intensity is

The matrix I is the third-order identity matrix.

即由置于该处的电场强度探测器探测到并由数据采集存储单元所输出的电场强度三分量数据。Preferably, the measured value of the electric field intensity at the measuring points A and B

That is, the three-component data of the electric field strength detected by the electric field strength detector placed there and outputted by the data acquisition and storage unit.

Preferably, the specific method for judging whether there is an electrical interface near the detection device in step 2 includes:

calculate

If |δE _A |+|δE _B |≤c, where c is an artificial empirical parameter, it is judged that there is no electrical interface nearby; if |δE _A |+|δE _B |>c, it is judged that the detection device is nearby There is an electrical interface.

Preferably, in step 3, the method for locating the position (x, y, z) of the image field source p' of the active electric field source with respect to the mirror image of the electrical interface includes:

Assume that the relative position vectors of sensors A and B relative to the image field source p' are R' _A and R' _B respectively, and the relative position vectors R _A ', R _B ' and the difference of electric field intensity δE _A , δE _B are brought into

Through the fitting operation, the modulus of the parameter G is made smaller than the threshold k, where k is an artificial experience parameter, and the coordinates (x, y, z) of the mirror field source are the position of the mirror field source p'.

The invention has the beneficial effects that: the measuring device is compact, flexible to use, and highly maneuverable; it can also be used in arrays. Equipped with an active electric field source, the purpose of controlling the electric field value measured by the electric field strength detector can be achieved by adjusting the field source strength. For example, increasing the field source strength can reduce the influence of noise on the measurement data, thereby improving the accuracy of positioning. During the layout of the detector, it is not necessary to consider its layout position and attitude, which greatly reduces the difficulty of layout. The positioning algorithm used in the present invention requires small amount of measurement data, high calculation speed, strong real-time performance and convenient use.

Description of drawings

FIG. 1 is a schematic structural diagram of Embodiment 1 of the present invention.

In the figure: 1-emitter electrode pair, 2-emitter electrode excitation source, 3-fixed base, 4-connecting rod, 5-data acquisition and storage unit, 6-electric field intensity detector, 7-spherical base, 8- Solid electrode, 9-fixed base upper cover, 10-connecting wire.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiment one

An active electric field detection device for locating an electrical interface in a sea area, comprising a transmitting electrode pair 1 and an electric field strength detector 6, the transmitting electrode pair 1 and the electric field strength detecting device 6 are arranged outside a fixed base 3, and the fixed base 3 is provided with a data acquisition and storage unit 5 and an emission electrode excitation source 2, the output end of the emission electrode excitation source 2 is connected to the input end of the emission electrode pair 1, and the input end of the data acquisition and storage unit 5 is connected to the electric field intensity detector 6 signal output. The data acquisition and storage unit 5 is a data collector, and the emitter electrode excitation source 2 is a power supply.

The emitter electrode pair 1 is arranged at the center of the top surface of the fixed base 3 , and the emitter electrode pair 1 includes two symmetrically arranged platinum sheets, and the two platinum sheets are arranged symmetrically along the center line of the fixed base 3 .

The electric field strength detector 6 is arranged on the upper cover plate 9 on the top surface of the fixed base 3 through the connecting rod 4; two electric field strength detectors 6 are arranged symmetrically along the center line of the fixed base 3. The electric field intensity detector 6 includes a spherical base 7 and a solid electrode 8 arranged on the spherical base 7; the spherical base 7 is made of nylon material; the solid electrode 8 is an Ag/AgCl solid electrode. One electric field intensity detector 6 includes six solid-state electrodes 8 , and the six solid-state electrodes 8 are respectively arranged along three mutually perpendicular diameters of the spherical base 7 . The fixed base 3 is cylindrical.

As shown in Figure 1, the device includes an active electric field emission electrode pair 1, an emission electrode excitation source 2, a fixed base 3, two electric field intensity detectors 6 and a data acquisition and storage unit 5, which can generate a certain electric field distribution as required, and The three-component measurement value of the electric field intensity at two field points determined relative to the position of the active electric field source is obtained to provide a data source for the application of the electrical interface positioning method.

Active field emission electrode pair 1

The emitter electrode pair 1 is composed of two parallel platinum sheets with a distance of △l. The lower part of the two platinum sheets is connected to the positive and negative ends of the emitter electrode excitation source 2 through wires, and the emitter electrode excitation source 2 supplies power to it. After electrification, the emitter electrode pair 1 constitutes an electric dipole field source. When the output current of the emitter electrode excitation source 2 is I, the emitter electrode pair 1 can be equivalent to an electric dipole field source with an electric dipole moment IΔl.

As shown in Figure 1, the emitter electrode pair 1 is fixed on the upper cover plate of the fixed base 3 (the two platinum sheets are symmetrical about the central axis of the cylinder), and the emitter electrode excitation source 2 and the lines connected to the emitter electrode pair 1 are sealed in the Fix the inside of the cavity of the base 3 and do watertight treatment.

The emitter electrode excitation source 2 is a constant DC power supply, which supplies power to the emitter electrode pair 1 and is connected to the emitter electrode pair 1 through a wire 10 .

The fixed base 3 is the main support structure of the detection device, which is a cylindrical sealed cavity made of insulating material. It is equipped with the emitter electrode excitation source 2, the data acquisition and storage unit 5 and the corresponding connecting wire 10. The two electric field intensity detectors 6 are fixed on the upper cover of the cylindrical fixed base 3 through the connecting rod 4. All connections are watertight.

The electric field intensity detectors 6 are three-component measuring devices for electric field intensity, and there are two in total, as shown in FIG. 1 , which are arranged symmetrically on the upper cover plate 9 of the fixed base. Each electric field intensity detector 6 is composed of a spherical base 7 made of nylon and 6 Ag/AgCl solid-state electrodes 8 , and the 6 solid-state electrodes 8 are respectively arranged along three mutually perpendicular diameters of the spherical base 7 . The field distribution data obtained by the electric field intensity detector 6 is sent to the data acquisition and storage unit 5 through the multi-channel wire 10 .

The main function of the data acquisition and storage unit 5 is to collect and process the potential data measured by the 12 solid-state electrodes 8. Here, the reference electrode (that is, the potential zero point) can choose one of the 12 potential signals as the potential zero point.

For the specific process of data processing, in the process of actual use, the data acquisition and storage unit 5 can be equipped with a highly integrated data processing module, so that the detector has the functions of acquisition (A/D signal conversion), conditioning, processing, storage, etc. ; It can also only carry simple acquisition, storage and output modules, set data exchange ports, and cooperate with other equipment to complete the data processing process (can be specifically determined according to the use environment), which will not be described here.

According to the data processing module and positioning algorithm settings of the detection device, the final data output by the detection device can be the potential value (the subsequent positioning algorithm can be simply processed to make it a three-component value of the electric field strength), or the electric field strength Three-component value (subsequent algorithms are applied directly). For the data output type and output method, various methods such as real-time wireless transmission, real-time wired transmission and storage call can be adopted, and corresponding modules can be equipped according to actual usage scenarios.

In actual use, the present invention can adopt multiple delivery and layout methods:

Method 1: Put it on the seabed.

Method 2: Fixed connection with the shell of the underwater vehicle.

Method 3: Suspend the detector in seawater by adding a certain weight.

Its workflow can be roughly divided into three parts: active electric field excitation, measurement of electric field data and processing of collected data.

Active electric field excitation: Turn on the emitter electrode excitation source 2, after the emitter electrode excitation source 2 outputs a constant direct current, a current is generated between the two opposite platinum sheets in the emitter electrode pair 1 in seawater to excite the active electric field.

Electric field data detection: After the active electric field is excited, a total of 12 solid-state electrodes 8 on the two electric field intensity detectors 6 detect and obtain 12 sets of potential data (one of which is used as a reference). Since the electric field intensity detector 6 is arranged along three mutually perpendicular diameters of the spherical base 7, according to the diameter of the spherical base 7, the measured values of the three components of the electric field intensity at the positions of the two spherical bases 7 can be obtained .

Data acquisition and processing: The potential data detected by the two electric field intensity detectors 6 are further converted and adjusted by the data acquisition and storage unit 5, and then stored or output as a positioning data source.

It should be noted that the data acquisition and storage unit can be equipped with a data processing module, so that the detector has functions such as acquisition A/D, conditioning, processing, storage, and output, or it can only be equipped with a simple acquisition, storage, and output module to set up data exchange The port cooperates with other devices to complete the data processing process (can be specifically determined according to the use environment), which is common technical knowledge.

Embodiment two

A method for detecting and locating an electrical interface (referring to the coal medium on both sides of the interface with different electrical conductivity) in a sea area by using an active electric field, specifically as follows:

(1) According to the conductivity σ of seawater, the structural parameters of the active electric field detection device, and the strength of the excitation source, the electric field at two field points (hereinafter referred to as measuring points A and B) determined relative to the position of the active electric field source can be calculated The three-component measured values of the intensity are used as the initial values E _A0 and E _B0 of the electric field intensity. The calculation method is as follows:

Suppose the active electric field source is equivalent to an electric dipole p, the dipole moment is P, and its coordinates are (x _S , y _S , z _S ). After the detection device is assembled, the relative positional relationship between the emitting electrode pair 1 and the electric field strength detector 6 is determined, that is, the relative position between the active field source and the field point (the two electric field strength detectors 6) is determined. If the coordinate system is selected on the detection device, the position vectors R ₁ and R ₂ of the points where the two electric field intensity detectors 6 are located can be obtained, and the initial values E _A0 and E _B0 of the electric field intensity can be calculated according to formula (1).

The matrix I is the third-order identity matrix.

(即数据采集存储单元5所输出的电场强度三分量数据)相对于电场强度初值的变化量(即电场强度的差值)δE_A、δE_B判断探测装置附近是否存在电学分界面。(2) When the active electric field detection device arrives at the sea area to be measured, according to the measured values of the electric field strength at the measuring points A and B

(i.e. the three-component data of the electric field intensity output by the data acquisition storage unit 5) relative to the initial value of the electric field intensity (i.e. the difference of the electric field intensity) δE _A , δE _B to determine whether there is an electrical interface near the detection device.

If |δE _A |+| _{δE B} | +|δE _B |>c, indicating that the change of electric field intensity near the detection device cannot be ignored, and we believe that the change is caused by the electrical interface, so it is judged that there is an electrical interface near the detection device at this time.

(3) When it is judged that there is an electrical interface near the detector, first locate the position (x, y, z) of the mirror field source p' of the active electric field source on the mirror image of the electrical interface. Methods as below:

Let the relative position vectors of the sensor measurement points A and B relative to the image field source p' be R' _A , R' _B respectively, and the difference between the relative position vectors R _A ′, R _B ′ and the electric field intensity δE _A , δE _B Putting it into formula (3), when the modulus of the parameter G is smaller than the threshold k (where the constant k is an artificial empirical parameter) through the fitting operation, the coordinates (x, y, z) of the mirror field source at this time take the optimal solution.

(4) Since the image field source p' and the active electric field source p are symmetrical about the electrical interface S, the unit normal vector n of the electrical interface S and the distance from the origin of the coordinates to the interface S are calculated from the coordinates of p' and p The distance realizes the positioning of the electrical interface.

The invention completes the excitation of the active electric field and the measurement of the electrical interface positioning data source, and cooperates with the active electric field detection method of the electrical interface in the sea area to realize the electrical interface positioning function.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should belong to the protection scope of the appended claims of the present invention.

Claims (10)

1. An active electric field detection method for locating an electrical interface in a sea area, comprising:

step 1, calculating three-component measurement values of the electric field intensity at two measuring points A, B determined relative to the position of an active electric field source p as initial values E of the electric field intensity according to the conductivity sigma of the seawater, the structural parameters of the active electric field detection device and the intensity of an applied excitation source _A0 、E _B0 ；

Step 2, when the active electric field detection device reaches the sea area to be detected, according to the measured value E of the electric field intensity at the measuring point A, B _{A measurement} 、E _{B test} (ii) a Variation delta E relative to initial value of electric field intensity _A 、δE _B Judging whether an electrical interface exists near the detection device, wherein the variation quantity relative to the initial value of the electric field intensity is the difference between the actual measured value and the initial value of the electric field intensity at the two measuring points;

step 3, when the electrical interface surface exists near the detection device, positioning the position (x, y, z) of the active electric field source p relative to the mirror image field source p' of the electrical interface surface mirror image;

and 4, because the mirror image field source p 'and the active electric field source p are symmetrical about the electrical interface S, calculating the distance between the unit normal vector n and the origin of coordinates of the electrical interface S and the electrical interface S according to the coordinates of p' and p, namely realizing the positioning of the electrical interface.

2. The active electric field detection method for positioning the electric interface in the sea area as claimed in claim 1, wherein the measuring point A, B is the location of two electric field strength detectors; measured value E of electric field intensity at measuring point A, B _{A measurement} 、E _{B test} Namely three-component data of electric field intensity detected by two electric field intensity detectors and output by a data acquisition and storage unit.

3. The active electric field detection method for locating an electrical interface in the sea area according to claim 1, wherein the calculation method of step 1 comprises:

the active electric field source is equivalent to an electric dipole P with a dipole moment P and a coordinate of (x) _S ，y _S ，z _S ) (ii) a After the detection device is assembled, the relative position relation between the transmitting electrode and the electric field intensity detector is determined, and the coordinate system is selected on the detection device, so that the position vector R of the position point of the two electric field intensity detectors can be obtained ₁ 、R ₂ Initial value of electric field intensity E _A0 、E _B0 Is composed of

Wherein the matrix I is a 3 rd order identity matrix.

4. The active electric field detection method for locating an electrical interface in the sea according to claim 1, wherein the step 2 of determining whether the electrical interface exists in the vicinity of the detection device comprises:

computing

If delta E _A |+|δE _B C is less than or equal to l, wherein c is an artificial experience parameter, and an electrical interface does not exist nearby the c; if delta E _A |+|δE _B If the absolute value is larger than c, the existence of an electrical interface near the detection device is judged.

5. The active electric field detection method for locating an electrical interface in the sea area according to claim 1, wherein the step 3 of locating the position (x, y, z) of the active electric field source p with respect to the mirror image source p' of the mirror image of the electrical interface comprises:

the relative position vectors of the set points A, B with respect to the mirror image field source p 'are R' _A ，R′ _B Relative position vector R _A ＇、R _B Difference of' and electric field intensity δ E _A 、δE _B Bringing in

And (3) enabling the modulus of the parameter G to be smaller than a threshold value k through fitting operation, wherein k is an artificial empirical parameter, and the coordinate (x, y, z) of the image field source at the moment is the position of the image field source p'.

6. An active electric field detection device for locating electrical interfaces in the sea area using the method according to any of claims 1 to 5, characterized in that: the device comprises 1 transmitting electrode pair and 2 electric field intensity detectors, wherein the transmitting electrode pair and the electric field intensity detectors are arranged outside a fixed base, a data acquisition and storage unit and a transmitting electrode excitation source are arranged in the fixed base, the output end of the transmitting electrode excitation source is connected with the input end of the transmitting electrode pair, and the input end of the data acquisition and storage unit is connected with the signal output end of the electric field intensity detectors.

7. An active electric field detection device for locating electrical interfaces in the sea according to claim 6, wherein: the transmitting electrode pair is arranged at the center of the top surface of the fixed base;

the transmitting electrode pair comprises two platinum sheets which are symmetrically arranged, and the two platinum sheets are symmetrically arranged along the central line of the fixed base.

8. An active electric field detection device for locating electrical interfaces in the sea according to claim 6, wherein: the electric field intensity detector is arranged on the top surface of the fixed base through a connecting rod; and the two electric field intensity detectors are symmetrically arranged along the central line of the fixed base.

9. An active electric field detection device for locating electrical interfaces in the sea according to claim 6, characterized in that: the electric field intensity detector comprises a spherical base and a solid-state electrode arranged on the spherical base; the spherical base is made of nylon materials; the solid-state electrode is an Ag/AgCl solid-state electrode.

10. An active electric field detection device for locating electrical interfaces in the sea according to claim 9, wherein: the electric field intensity detector comprises 6 solid-state electrodes; and 6 solid electrodes are respectively arranged along three mutually vertical diameters of the spherical base.

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