CN112068210B - Active electric field detection device and method for positioning electric interface in sea area - Google Patents
Active electric field detection device and method for positioning electric interface in sea area Download PDFInfo
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Abstract
The invention discloses an active electric field detection device for positioning an electrical interface in a sea area, which 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 detector. The invention also discloses a method for positioning the electric interface in the sea area by using the active electric field. The invention can achieve the purpose of controlling the electric field value measured by the electric field intensity detector by adjusting the field source intensity, for example, the influence of noise on the measured data can be reduced by increasing the field source intensity, thereby improving the positioning accuracy.
Description
Technical Field
The invention belongs to the field of underwater electric field detection, and particularly relates to a device and a method for positioning an electrical interface in a sea area by using an active electric field.
Background
When a ship sails in the ocean, various mediums with different electric conductivity exist in the sailing area of the ship, including air, seabed, ship wake flow containing air bubbles, reef shore wall and the like, and the electric conductivity of the mediums is different, so that an electric interface can be formed with good conductor seawater.
In the related research of the underwater electric field of the ship, the existence of the electric interface cannot be ignored. On one hand, the distribution characteristics of the underwater electric field of the landing ship are influenced by the position and the conductivity characteristics of the interfaces, and the method has important significance for accurately mastering the target characteristics of the underwater electric field of the landing ship; on the other hand, the position information of some specific interfaces can be used as characteristic signals of target detection and attack, and has important significance for the navigation technology of an underwater vehicle, such as the interface between ship wake flow and normal seawater, and can be used as a signal source of torpedo self-guidance. Therefore, the detection method and the technical research of the electrical interface have very important application value.
Similar to the underwater active sonar positioning technology, the underwater active electric field positioning technology is to search the sea area where the target is located by detecting the distortion of the active electric field, and finally determine the target information. At present, thought and method for positioning an electric field source by using an underwater active electric field are preliminarily established, but no related application for detecting an electrical interface by using the active electric field is found.
The invention content is as follows:
in order to overcome the defects of the background art and meet the requirement of detecting the electrical interface by using an active electric field, the invention provides a device and a method for positioning the electrical interface in a sea area by using the active electric field, which have the advantages of low laying difficulty, strong real-time property, practicability and convenience.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides an initiative electric field detection device for fixing a position electricity interface in sea area, includes 1 transmission electrode pair and 2 electric field strength detectors, transmission electrode pair and electric field strength detector set up in the outside of fixed baseplate, are equipped with data acquisition and storage unit and transmission electrode excitation source in the fixed baseplate, and the input of transmission electrode pair is connected to the output of transmission electrode excitation source, and the signal output part of electric field strength detector is connected with the input of storage unit to data acquisition.
Preferably, the pair of emission electrodes is disposed at the center of the top surface of the fixed base.
Preferably, 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.
Preferably, the electric field intensity detector is arranged on the top surface of the fixed base through a connecting rod; the two electric field intensity detectors are symmetrically arranged along the central line of the fixed base.
Preferably, 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 material; the solid-state electrode is an Ag/AgCl solid-state electrode.
Preferably, the electric field strength detector comprises 6 solid-state electrodes; the 6 solid-state electrodes are respectively arranged along three mutually vertical diameters of the spherical base.
An active electric field detection method for locating an electrical interface in the sea area by using the device comprises the following steps:
(4) Because the mirror image field source p 'and the active electric field source p are symmetrical about the electrical interface S, the unit normal vector n and the distance from the origin of coordinates of the electrical interface S to the electrical interface S are calculated according to the coordinates of the mirror image field source p' and the active electric field source p, and the positioning of the electrical interface is realized.
Preferably, the calculation method of step 1 includes:
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 relationship between the emission electrode and the electric field intensity detector is determined, namely the relative position between the active field source and the field point (two electric field intensity detectors) is determined; selecting the coordinate system on the detecting device to obtain the position vector R of the position point of the two electric field intensity detectors 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.
Preferably, the measured value of the electric field intensity at the measuring point A, B
Namely three-component data of the electric field intensity detected by the electric field intensity detector arranged at the position and output by the data acquisition and storage unit.
Preferably, the specific method for determining whether there is an electrical interface in the vicinity of the detection device in step 2 includes:
computing
If | δ 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.
Preferably, the method of step 3 for locating the position (x, y, z) of the active electric field source with respect to the mirror image source p' mirrored at the electrical interface comprises:
let the relative position vectors of the sensors A, B with respect to the mirror image field source p' be R ″, respectively 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'.
The invention has the beneficial effects that: the measuring device is small and exquisite, flexible to use and strong in maneuverability; can also be used in array. The field source of the active electric field is carried, the electric field value measured by the electric field intensity detector can be controlled by adjusting the intensity of the field source, and if the intensity of the field source is increased, the influence of noise on measured data can be reduced, so that the positioning accuracy is improved. The layout position and the layout posture of the detector do not need to be considered in the layout process, and the layout difficulty is greatly reduced. The positioning algorithm used by the invention has the advantages of small measurement data quantity, high calculation speed, strong real-time performance and convenient use.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
In the figure: the device comprises a 1-emitting electrode pair, a 2-emitting electrode excitation source, a 3-fixed base, a 4-connecting rod, a 5-data acquisition and storage unit, a 6-electric field intensity detector, a 7-spherical base, an 8-solid electrode, a 9-fixed base upper cover plate and a 10-connecting lead.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples.
Example one
The utility model provides an initiative electric field detection device for fixing a position electricity interface in sea area, includes emitting electrode pair 1 and electric field intensity detector 6, and emitting electrode pair 1 and electric field intensity detection apparatus 6 set up in the outside of fixed baseplate 3, are equipped with data acquisition and storage unit 5 and emitting electrode excitation source 2 in the fixed baseplate 3, and the input of emitting electrode pair 1 is connected to the output of emitting electrode excitation source 2, and the signal output part of electric field intensity detector 6 is connected with the input of storage unit 5 to data acquisition. The data acquisition and storage unit 5 is a data acquisition unit, and the transmitting electrode excitation source 2 is a power supply.
The emitting electrode pair 1 is arranged at the center of the top surface of the fixed base 3, the emitting electrode pair 1 comprises two platinum sheets which are symmetrically arranged, and the two platinum sheets are symmetrically arranged along the central line of the fixed base 3.
The electric field intensity detector 6 is arranged on an upper cover plate 9 on the top surface of the fixed base 3 through a connecting rod 4; the two electric field intensity detectors 6 are symmetrically arranged along the central line of the fixed base 3. The electric field intensity detector 6 comprises 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-state electrode 8 is an Ag/AgCl solid-state electrode. The 1 electric field intensity detector 6 comprises 6 solid-state electrodes 8,6 and solid-state electrodes 8 which are respectively arranged along three mutually perpendicular diameters of the spherical base 7. The fixed base 3 is cylindrical.
As shown in fig. 1, the device comprises an active electric field emission electrode pair 1, an emission electrode excitation source 2, a fixed base 3, 2 electric field intensity detectors 6 and a data acquisition and storage unit 5, can generate a certain electric field distribution according to requirements, and obtain three-component measurement values of the electric field intensity at two field points determined relative to the position of the active electric field source, thereby providing a data source for the application of the electric interface positioning method.
Active electric field emission electrode pair 1
The emitting electrode pair 1 consists of two platinum sheets which are parallel and opposite and have a distance delta l, the lower parts of the two platinum sheets are connected with the positive end and the negative end of an emitting electrode excitation source 2 through leads, and the emitting electrode excitation source 2 supplies power to the emitting electrode excitation source. After being electrified, the transmitting electrode pair 1 forms an electric dipole field source. When the output current of the transmitting electrode excitation source 2 is I, the transmitting electrode pair 1 can be equivalent to an electric dipole field source with electric dipole moment I Δ l.
As shown in fig. 1, the emitting electrode pair 1 is fixed on the upper cover plate of the fixed base 3 (two platinum sheets are symmetrical about the central axis of the cylinder), and the emitting electrode excitation source 2 and the line connected with the emitting electrode pair 1 are sealed inside the cavity of the fixed base 3 and are watertight.
The transmitting electrode exciting source 2 is a steady direct current power supply, supplies power to the transmitting electrode pair 1, and is connected with the transmitting electrode pair 1 through a lead 10.
The fixed base 3 is a main body supporting structure of the detection device, is a cylindrical sealed cavity and is made of an insulating material. The transmitting electrode excitation source 2, the data acquisition and storage unit 5 and the corresponding connecting lead 10 are arranged in the device. 2 electric field intensity detectors 6 are fixed on the upper cover plate of the cylindrical fixed base 3 through connecting rods 4. All joints are watertight treated.
The electric field intensity detectors 6 are three-component measuring devices of electric field intensity, and are 2 in total, as shown in figure 1, and are symmetrically arranged on an upper cover plate 9 of the fixed base. Each electric field intensity detector 6 consists 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 the three mutually vertical diameters of the spherical base 7. The field distribution data obtained by the electric field intensity detector 6 is sent into the data acquisition and storage unit 5 through a multi-way wire 10.
The main function of the data acquisition and storage unit 5 is to acquire and process potential data measured by 12 solid-state electrodes 8, where one of the 12 potential signals of the reference electrode (i.e. potential zero point) can be selected as the potential zero point.
For the specific process of data processing, in the actual use process, the data acquisition and storage unit 5 can carry a data processing module with higher integration, so that the detector has the functions of acquisition (A/D signal conversion), conditioning, processing, storage and the like; or, a simple acquisition, storage and output module can be carried, a data exchange port is arranged, and the data exchange port is matched with other equipment to complete the data processing process (which can be specifically determined according to the use environment), and the description is omitted here.
According to different settings of a data processing module and a positioning algorithm carried by the detection device, final data output by the detection device can be a potential value (the subsequent positioning algorithm is simply processed and can be changed into a three-component value of the electric field intensity), and can also be a three-component value of the electric field intensity (the subsequent algorithm is directly applied). For the output type and the output mode of the data, various modes such as real-time wireless transmission, real-time wired transmission, storage and calling and the like can be adopted, and corresponding modules can be carried according to actual use situations.
The invention can adopt a plurality of releasing and laying modes in actual use:
the first method is as follows: and throwing the sea surface on the sea bed.
The second method comprises the following steps: and the underwater vehicle is fixedly connected with the underwater vehicle shell.
The third method comprises the following steps: the detector is suspended in the seawater by adding a certain weight.
The work flow can be roughly divided into three parts: active electric field excitation, electric field data measurement and data acquisition processing.
Active electric field excitation: and (3) opening the transmitting electrode excitation source 2, and generating current between two opposite platinum sheets in the transmitting electrode pair 1 in seawater after the transmitting electrode excitation source 2 outputs constant direct current to excite an active electric field.
Electric field data detection: after the active electric field excitation, 12 solid-state electrodes 8 on the two electric field intensity detectors 6 are used for detecting to obtain 12 sets of potential data (one set is used as a reference). Since the electric field intensity detector 6 is arranged along three mutually perpendicular diameters of the spherical base 7, three-component measurement values of the electric field intensity at the positions of the 2 spherical bases 7 can be obtained according to the diameters of the spherical bases 7.
Data acquisition and processing: potential data obtained by the detection of the 2 electric field intensity detectors 6 are further converted and conditioned by the data acquisition and storage unit 5 and then are stored or output as a positioning data source.
It should be noted that the data acquisition and storage unit may be equipped with a data processing module to make the detector have functions of acquisition a/D, conditioning, processing, storage, output, etc., or may be equipped with only a simple acquisition, storage and output module to set a data exchange port to complete a data processing process (which may be specifically determined according to the use environment) in cooperation with other devices, which is common technical knowledge.
Example two
A method for detecting and positioning an electrical interface (indicating that coal media at two sides of the interface have different conductivities) in a sea area by utilizing an active electric field comprises the following steps:
(1) According to the conductivity sigma of the seawater, the structural parameters of the active electric field detection device and the intensity of the applied excitation source, three-component measurement values of the electric field intensity at two field points (hereinafter, measurement points A, B) determined relative to the position of the field source of the active electric field can be calculated and used as initial values E of the electric field intensity A0 、E B0 . The calculation method is as follows:
let the active electric field source be equivalent to an electric dipole P with a dipole moment P and a coordinate of (x) S ，y S ，z S ). After the assembly of the detection device is completed, the relative position relationship between the transmitting electrode pair 1 and the electric field intensity detector 6 is determined, that is, the relative position between the active field source and the field point (two electric field intensity detectors 6) is determined. Selecting the coordinate system on the detecting device to obtain two electricityThe position vector R of the point at which the field strength detector 6 is located 1 、R 2 Initial value of electric field intensity E A0 、E B0 Can be calculated according to the formula (1).
Wherein the matrix I is a 3 rd order identity matrix.
(2) When the active electric field detection device reaches the sea area to be detected, the electric field intensity at the detection point A, B is measured
Delta E (i.e. the difference between the electric field intensity) of the variation (i.e. the electric field intensity) of the three-component data of the electric field intensity output by the data acquisition and storage unit 5 relative to the initial value of the electric field intensity A 、δE B And judging whether an electrical interface exists near the detection device.
If delta E A |+|δE B C is less than or equal to (wherein the constant c is an artificial experience parameter), which indicates that the variation of the electric field intensity near the detection device is very small, so that the existence of an electrical interface near the detection device is judged; if delta E A |+|δE B If the electric field intensity is larger than c, the variation of the electric field intensity near the detection device cannot be ignored, and the variation is considered to be caused by the electric interface, so that the existence of the electric interface near the detection device is judged at the moment.
(3) When the electrical interface surface exists near the detector, the position (x, y, z) of the mirror image field source p' of the active electric field source relative to the electrical interface surface mirror image is firstly positioned. The method comprises the following steps:
let the relative position vectors of sensor measuring points A, B relative to mirror image field source p' be R A ，R＇ B Relative position vector R A ＇、R B Difference of' and electric field intensity δ E A 、δE B Carry-over (3) to make parameter by fitting operationWhen the modulus of the quantity G is smaller than a threshold k (where the constant k is an artificial empirical parameter), the coordinates (x, y, z) of the mirror field source at this time take the optimal solution.
(4) Because the mirror image field source p 'and the active electric field source p are symmetrical about the electrical interface S, the distance between the unit normal vector n and the origin of coordinates of the electrical interface S and the electrical interface S is calculated according to the coordinates of p' and p, and the positioning of the electrical interface is realized.
The invention completes the excitation of the active electric field and the measurement of the positioning data source of the electrical interface, and can realize the positioning function of the electrical interface by matching with the active electric field detection method of the electrical interface in the sea area.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
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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