CN112462415B - Method and device for positioning multiple vibration sources - Google Patents
Method and device for positioning multiple vibration sources Download PDFInfo
- Publication number
- CN112462415B CN112462415B CN202011204386.XA CN202011204386A CN112462415B CN 112462415 B CN112462415 B CN 112462415B CN 202011204386 A CN202011204386 A CN 202011204386A CN 112462415 B CN112462415 B CN 112462415B
- Authority
- CN
- China
- Prior art keywords
- vibration
- coordinates
- plane
- sources
- parameter matrix
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000011159 matrix material Substances 0.000 claims abstract description 50
- 238000004364 calculation method Methods 0.000 claims abstract description 30
- 238000003491 array Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000010009 beating Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 13
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 16
- 230000035515 penetration Effects 0.000 description 11
- 230000004044 response Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The scheme discloses a method and a device for positioning multiple vibration sources, wherein a plurality of vibration sensors are deployed on two adjacent sides of a vibration transmission medium in a linear mode to form vibration sensor arrays positioned in different directions of a vibration plane, and the vibration sensor arrays are used for acquiring vibration waves emitted by the multiple vibration sources at different positions at the same time; obtaining a grid slowness parameter matrix through interpolation calculation based on a slowness parameter matrix of a vibration plane obtained in advance; focusing calculation is carried out based on vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix, so that a plurality of coordinates of a plurality of vibration sources in different directions are obtained; and matching a plurality of coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source. The method is used for measuring the target range, can realize real-time monitoring and accurate positioning on the condition that a plurality of flying objects penetrate through the vibration transmission medium at the same time, can also be used for safety monitoring of a building, and can realize accurate measurement on the contact position of the building body by a plurality of unknown flying objects or other vibration sources.
Description
Technical Field
The present disclosure relates to positioning technology, and more particularly, to a method and apparatus for positioning multiple vibration sources.
Background
In the measurement of a target range, the accurate positioning of the penetration position of a target penetrated by multiple flying objects at the same time is sometimes required, or the lateral measurement of the landing points of the multiple flying objects on various non-sandy lands is required; in other areas, vibration source monitoring is required in real time for safety reasons for buildings or other vibration transmission media.
The vibration sources are often not single or a plurality of vibration sources are arranged in succession, so that the situation that a plurality of vibration sources are arranged simultaneously usually exists, and vibration waves generated by the plurality of vibration sources on the same vibration plane are overlapped with each other, so that the positioning cannot be performed by adopting a traditional time difference method, and therefore, signals of different vibration sources are separated by adopting an overlapped focusing algorithm according to the time-space characteristics of the signals of the vibration sensor array, and the positioning of the plurality of vibration sources is realized on the basis.
Disclosure of Invention
The invention aims to provide a method for positioning multiple vibration sources, which realizes real-time monitoring and accurate positioning of the multiple vibration sources.
Another object is to provide a device for positioning multiple sources of vibration.
In order to achieve the above purpose, the technical scheme is as follows:
a method of locating multiple vibration sources, the method comprising:
step 1: disposing a plurality of vibration sensors on two adjacent sides of a vibration transmission medium in a linear mode to form vibration sensor arrays positioned in different directions of a vibration plane, wherein the vibration sensor arrays are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions simultaneously;
step 2: obtaining a grid slowness parameter matrix through interpolation calculation based on a slowness parameter matrix of a vibration plane obtained in advance;
step 3: focusing calculation is carried out based on vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix, so that a plurality of coordinates of a plurality of vibration sources in different directions are obtained;
step 4: and matching the coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source.
In a preferred embodiment, the different directions include a horizontal direction and a vertical direction perpendicular to each other on the vibration plane.
In a preferred embodiment, the slowness parameter matrix of the vibration plane is obtained by:
a position of a beating vibration plane is hit, the starting time of a vibration wave is extracted based on output signals of the sensor arrays in all directions, a time function corresponding to each beating position is defined, and the starting time of the vibration wave and the time function are fitted to obtain slowness parameters of the beating position in all directions;
and sequentially striking different positions of the vibration plane to obtain a slowness parameter matrix of the vibration plane in each direction.
In a preferred embodiment, the sequentially striking different positions of the vibration plane to obtain the slowness parameter matrix of the vibration plane in each direction includes:
the coordinates for the vibration plane are (sx 1 ,sz 1 ) The position of the vibration sensor array is hit to obtain the vibration wave jump time extracted according to the output signal of the vertical direction sensor array, the Z direction is taken as the vertical direction, and i is taken as the i-th vibration sensor in the vertical direction; the moment of onset of the vibration wave is denoted as T (z i )；
The time function corresponding to the vibration wave take-off time of the striking position is shown as (1),
in the formula (1), a z (sx 1 ,sz 1 ) Representing coordinates as (sx 1 ,sz 1 ) Slowness parameter in Z direction, Z of the striking position of (2) i For the Z-direction ith vibration sensor coordinate, x 0 The coordinate of each vibration sensor in the X direction is the X direction, and the X direction is the horizontal direction;
the coordinate obtained by the same method is (sx 1 ,sz 1 ) Slowness parameter a of the striking position of (2) in the X direction x (sx 1 ,sz 1 )；
Striking other positions of the vibration plane at equal intervals in the horizontal direction and the vertical direction to respectively obtain a slowness parameter matrix of the vibration plane in the Z direction and the X direction, which is expressed as a z (1:p,1:q)，a x (1: p,1: q); wherein p is the number of strokes in the horizontal direction, and q is the number of strokes in the vertical direction.
In a preferred embodiment, the method further comprises:
and (3) carrying out grid division on the vibration plane, and carrying out interpolation calculation on slowness parameters in all directions to obtain a grid slowness parameter matrix.
In a preferred embodiment, the step 3 includes:
based on signals output by a vibration sensor array in the vertical direction of a vibration plane and a grid slowness parameter matrix, a focusing result in the vertical direction is obtained according to a formula (2), and coordinates of a plurality of vibration sources in the vertical direction are obtained based on the focusing result, wherein the coordinates of the plurality of vibration sources in the vertical direction are shown in a formula (2-3);
obtaining a focusing result in the horizontal direction according to a formula (3) based on signals output by a vibration sensor array in the horizontal direction of a vibration plane and a grid slowness parameter matrix, and obtaining coordinates of a plurality of vibration sources in the horizontal direction based on the focusing result, wherein the coordinates of the plurality of vibration sources in the horizontal direction are shown in the formula (3-3);
wherein,,
wherein,,
u in formula (2) z (i, τ) represents a focusing result in a vertical direction of the vibration plane;
u (z) in formula (2-1) k T) represents a signal output from the vibration sensor array in the vertical direction of the vibration plane;
a in the formula (2-2) z (j, i) is a grid slowness parameter matrix in the vertical direction of the vibration plane;
h in the formula (2-3) is the number of vibration sources;
u in formula (3) x (j, τ) is a focusing result in the horizontal direction of the vibration plane;
u (x) in formula (3-1) k T) is a signal output by the vibration sensor array in the horizontal direction of the vibration plane;
a in the formula (3-2) x (j, i) is a grid slowness parameter matrix in the horizontal direction of the vibration plane;
h in the formula (3-3) is the number of vibration sources.
In a preferred embodiment, the step 4 includes:
matching the coordinates of the vibration source in the vertical direction and the coordinates in the horizontal direction obtained based on the focusing result according to formula (4);
if err is less than or equal to the preset threshold value, obtaining the corresponding coordinate of a certain vibration source asAnd finally obtaining the coordinates of all vibration sources.
In a second aspect, there is provided an apparatus for positioning multiple sources of vibration, the apparatus comprising:
the vibration sensor array comprises a plurality of vibration sensors which are arranged on two adjacent sides of a vibration medium in a linear mode, and the vibration sensor arrays are positioned in different directions of a vibration plane and are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions at the same time;
the matrix calculation unit is used for obtaining a grid slowness parameter matrix through interpolation calculation based on the slowness parameter matrix of the vibration plane;
the coordinate calculation unit is used for carrying out focusing calculation based on the vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix to obtain a plurality of coordinates of a plurality of vibration sources in different directions;
and the matching unit is used for matching a plurality of coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source.
In a preferred embodiment, the different directions include a horizontal direction and a vertical direction perpendicular to each other on the vibration plane.
In a preferred embodiment, the matrix calculation unit further performs grid division on the vibration plane, and performs interpolation calculation on slowness parameters in each direction to obtain a grid slowness parameter matrix.
The beneficial effects of this scheme are as follows:
1. the method is used for measuring the target range, and can realize real-time monitoring and accurate positioning on the condition that a plurality of flying objects penetrate through concrete or other solid media at the same time.
2. The method is used for safety monitoring of the building, and accurate measurement of contact positions of a plurality of unknown flying objects or vibration sources on the building is realized.
3. The system is used for simultaneously monitoring and accurately measuring landing points of multiple flying objects in real time.
Drawings
In order to more clearly illustrate the practice of the present solution, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present solution and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of locating multiple vibration sources;
FIG. 2A is a schematic diagram of vibration wave positioning for a single vibration source;
FIG. 2B is a graph of vibration sensor output signals for a single vibration source;
FIG. 3A is a schematic diagram of a single vibration source location;
FIG. 3B is a graph of vibration sensor array output signals for a single vibration source;
FIG. 4A is a schematic diagram of multiple vibration source locations;
FIG. 4B is a graph of vibration sensor array output signals for multiple vibration sources;
FIG. 5 is a schematic diagram of a multi-vibration source spatiotemporal feature and positioning principle;
FIG. 6 is a diagram of the actual effect of multi-vibration source positioning;
FIG. 7 is a schematic diagram of vibration sensor array deployment and slowness parameter calibration in an embodiment;
FIG. 8 is a schematic diagram of computing meshing in an embodiment;
FIG. 9A is a schematic diagram of a multiple vibration source model in an embodiment;
FIG. 9B is a graph of the output signal of the Z-direction vibration sensor array according to one embodiment;
FIG. 9C is a graph showing the Z-direction focusing result in the embodiment;
FIG. 10A is a graph of the output signal of an X-direction vibration sensor array according to an embodiment;
FIG. 10B is a graph showing the result of focusing in the X direction in the embodiment;
FIG. 11 is a schematic diagram of an apparatus for positioning multiple vibration sources;
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. It is clear that the described embodiments are only some of the embodiments of the present solution, not an exhaustive list of all embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present solution may be combined with each other.
The terms first, second and the like in the description and in the claims and in the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
When measuring a target range, monitoring the safety of a building and landing a plurality of flying objects at the same time, real-time monitoring and accurate positioning are required for the condition that the plurality of flying objects penetrate through concrete or other solid media at the same time, accurate measurement is carried out on the contact position of the building by a plurality of unknown flying objects or vibration sources, and real-time monitoring and accurate measurement are carried out on the landing points of the plurality of flying objects at the same time. The existing positioning method for a single vibration source cannot be used for positioning when a plurality of vibration sources are positioned, and the principle is as follows:
single vibration source positioning principle:
as shown in fig. 2A and 2B, the solid points are the penetration of the aircraftPoints, coordinates are (x, z); the filled circles are the deployed vibration sensor arrays, with coordinates (x 0 ,z 1 )…(x 0 ,z i )…(x 0 ,z n ) N is the number of vibration sensors. The distance from the penetration point to the ith vibration sensor isVelocity v i Indicating the speed of the penetration point to the ith sensor, then the time from the penetration point to sensor i can be expressed as:
for a single vibration source, the signal u (z i Extracting the vibration wave jump time T (z) from T i ) And obtaining vibration source coordinates (x, z) by adopting a parabolic fitting method and the space-time relationship of the formula (a).
Principle of positioning multiple vibration sources
As shown in fig. 3A and 3B, signal diagrams are output by a single vibration source and a corresponding vibration sensor array, corresponding to the situation that a single flying object penetrates the target. In fig. 3A,' indicates the vibration source position (i.e., the flying object penetration position), the filled circles indicate the vibration sensor array, the X-coordinate of which remains unchanged, and the Z-coordinate of which is equally spaced. Fig. 3B is a graph of the output signal of the vibration sensor array, wherein the Z-coordinate is consistent with the Z-coordinate in fig. 3A, and the abscissa is the time axis. The principle of single vibration source positioning is known, and the vibration source can be positioned based on the time of the vibration wave jump.
As shown in fig. 4, a signal diagram is output from 3 vibration sources and corresponding vibration sensor arrays, corresponding to the case of multiple flyers penetrating the target. In fig. 4A,' indicates the vibration source position (i.e., the aircraft penetration position), and the coordinates and illustrations remain the same as in fig. 3. It can be seen that, for the case of multiple vibration sources, the vibration waveforms generated by each vibration source are basically overlapped together, so that the jump time of the vibration wave corresponding to each vibration source cannot be extracted, and the positioning method cannot be used for positioning.
The multiple vibration sources in the scheme refer to the situation that the flying objects penetrate through different positions at the same time, so that the situation that two or more flying objects penetrate through the same position at the same time is not included. As shown in FIG. 5, for vibration sources at different locations, the time-space (Z-T or X-T) curves have different characteristics, mainly represented by the different locations and curvatures of the vertices of the Z-T (or X-T) hyperbolas, if the vibration waveform data are summed along the curve, they will focus at the vertices of the hyperbolas to form local maxima, and multiple vibration sources at different locations will focus to form multiple local maxima. The Z coordinate (or X coordinate) corresponding to these local maxima is the Z coordinate (or X coordinate) of the vibration source.
Based on the principle, the technical idea of the scheme is to deploy sensor arrays on two adjacent sides of a target, focus the vibration sensor array data respectively, and then match focusing points by adopting a space-time relationship, so that X, Z coordinate values of multiple vibration sources can be obtained. The method has the advantage that the take-off moment of the extracted vibration wave can be avoided.
Fig. 6 is a schematic diagram of a simulation of the implementation of the method of the present embodiment, in which the vibration source is a flying object, and the position of the flying object penetrating the concrete slab is measured. According to the principle of the method, the signals output by the vibration sensor array shown in fig. 6 are focused, so that three maximum points can be obviously seen, and the Z coordinates of the maximum points correspond to the Z coordinates of 3 vibration sources.
As shown in fig. 11, the present solution further provides an apparatus 1 for positioning multiple vibration sources, the apparatus comprising:
the vibration sensor array 10 comprises a plurality of vibration sensors which are arranged on two adjacent sides of a vibration transmission medium in a linear mode, and forms vibration sensor arrays positioned in different directions of a vibration plane, and the vibration sensor arrays are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions at the same time;
a matrix calculation unit 20 for obtaining a grid slowness parameter matrix by interpolation calculation based on the slowness parameter matrix of the vibration plane;
a coordinate calculation unit 30 for performing focusing calculation based on the vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix to obtain a plurality of coordinates of a plurality of vibration sources in different directions;
the matching unit 40 matches a plurality of coordinates in different directions based on the spatiotemporal features, and obtains coordinates of each vibration source.
The method according to the present embodiment will be specifically described with reference to the following embodiments, in which the directions are a horizontal direction (X direction) and a vertical direction (Z direction) perpendicular to each other on a plane.
The vibration transmission medium used in the scheme refers to a medium which is beneficial to the transmission of vibration waves, such as concrete, hard land, hard soil, building body and the like; the vibration plane refers to a two-dimensional plane in which the positioning calculation is performed by using vibration waves.
The method for positioning the multiple vibration sources comprises the following steps:
step 1, arranging a plurality of vibration sensors on two adjacent sides of a vibration transmission medium in a linear mode to form vibration sensor arrays positioned in different directions of a vibration plane, wherein the vibration sensor arrays are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions simultaneously;
as shown in fig. 7, the dots are the vibration sensor placement positions, the cross star is the force hammering position, and the force hammering is used for calibrating the slowness parameter. The vibration sensors are arranged on two adjacent sides of the concrete medium in a linear mode, and Z-direction coordinates are respectively marked as (x) 0 ,z 1 )、(x 0 ,z 2 )、…、(x 0 ,z n ) N is the number of Z-direction sensors, and the X-direction coordinates are respectively recorded as (X) 1 ,z 0 )、(x 2 ,z 0 )、…、(x m ,z 0 ) M is the number of X-direction sensors, and X, Z-direction sensor arrays are arranged at equal intervals. The force hammering position is denoted as (sx) 1 ,sz 1 )、…(sx i ,sz j )、…、(sx p ,sz q ) And p and q are the times of beating in the direction of X, Z, and p times and q times are required to be beaten, and generally, the p and q can be taken for 6-10 times according to the area of the concrete target plate, and the beating positions are basically equally spaced in the direction of X, Z.
Step 2, obtaining a grid slowness parameter matrix through interpolation calculation based on a slowness parameter matrix of a vibration plane obtained in advance;
step 2 further comprises:
A. a position of a beating vibration plane is hit, the starting time of a vibration wave is extracted based on output signals of the sensor arrays in all directions, a time function corresponding to each beating position is defined, and the starting time of the vibration wave and the time function are fitted to obtain slowness parameters of the beating position in all directions;
a. slowness parameter calibration
Striking with a force hammer (sx) 1 ,sz 1 ) Reading signal u (Z) output from the Z-direction vibration sensor array 1 ,t)，u(z 2 ,t)，…,u(z n T) using a long-to-short window ratio (STA/LTA: short TermAverage/Long Term Average) method or manual extraction of vibration wave take-off time T (z) 1 )，T(z 2 )，…,T(z i ) The following functions are defined:
wherein a is z (sx 1 ,sz 1 ) Is the parameter to be solved. The jump time T (z) is set by using the polyfit function in matlab 1 )，T(z 2 )，……,T(z i ) Fitting with the formula shown in the formula (1) to obtain a slowness parameter a in the Z direction z (sx 1 ,sz 1 )。
The same method reads the signal output from the X-direction vibration sensor array to obtain (sx 1 ,sz 1 ) Corresponding X-direction slowness parameter a x (sx 1 ,sz 1 )。
b. Acquiring a slowness parameter matrix of a vibration plane in each direction;
according to the above step a, the process is sequentially carried out by beating (sx 1 ,sz 1 )、…、(sx i ,sz j )、…、(sx p ,sz q ) Obtaining a X, Z-direction slowness parameter matrix a x (1:p,1:q)、a z (1: p,1: q), p and q are the number of shots in X, Z direction.
B. Acquiring a grid slowness parameter matrix of a vibration plane;
i. setting calculation grid parameters, as shown in fig. 8, performing calculation grid division on the vibration plane, and calculating the grid size dx=dz=d err /4，d err For a desired positioning accuracy, (e.g., positioning accuracy requires 1m, dx=0.25m or less). Calculating the grid division number of nx=dis (X)/dx, nz=dis (Z)/dz, wherein Dis (X) and Dis (Z) are lengths of the concrete slab in the X direction and the Z direction, and the unit is m, and the coordinates of the (i, j) th calculation grid are (i, dx, j, dz);
ii. use matlab two-dimensional interpolation function Interp2 from a x (1:p,1:q)，a z (1: p,1: q) obtaining a slowness parameter matrix a of the computational grid, respectively x (1:nx,1:nz)，a z (1:nx,1:nz)；
Step 3, focusing calculation is carried out based on vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix, so that a plurality of coordinates of a plurality of vibration sources in different directions are obtained;
I. reading signal u (Z) 1 ,t)，u(z 2 ,t)，…,u(z n And t), performing superposition focusing on output signals of the Z-direction vibration sensor array according to the following formula:
wherein:
wherein:
from the focusing result u obtained according to formula (2) z All local maxima and their longitudinal and transverse coordinates are read and respectively marked asObtaining Z coordinates and time values of the L penetration points;
fig. 9A to 9C are schematic diagrams of three vibration sources (corresponding to three penetrators), fig. 9A is a schematic diagram of the positions of the three vibration sources, fig. 9B is a diagram of the output signals of the Z-direction vibration sensor array, the output signals are denoted as u (Z, t), and z=z 1 、z 2 、…、z n FIG. 9C shows the result of superimposed focusing, the focusing result being denoted as u z (z, τ), z=dz, 2·dz, …, nz·dz. It can be seen that u of FIG. 9C z Three distinct local extrema (three circles) are formed on the (z, τ) plot and have similar features, with the sitting marks corresponding to the three local extrema being Z coordinates corresponding to 3 vibration sources respectively;
II, reading the signal u (X) 1 ,t)，u(x 2 ,t)，…,u(x n And t), performing superposition focusing on signals output by the X-direction vibration sensor array according to the following formula:
wherein:
wherein:
from the focusing result u obtained according to formula (3) x All local maxima and their longitudinal and transverse coordinates are read,respectively marked asObtaining X coordinates and time values of the L penetration points;
fig. 10A and 10B are schematic diagrams of three vibration source models (corresponding to three penetrators), fig. 10A is a graph of signals output from an X-direction vibration sensor array, the output signals being denoted as u (X, t), x=x 1 、x 2 、…、x n FIG. 10B shows the result of superimposed focusing, the focusing result being expressed as
u x (x, τ), x=dx, 2·dx, …, nx·dx. It can be seen that u of FIG. 10B x Three distinct local extrema (black circles) are formed on the (x, τ) plot and have similar features, and the sitting marks corresponding to the three local extrema are X coordinates of 3 vibration sources are respectively corresponding;
and 4, matching a plurality of coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source.
And automatically or manually judging a focusing result in each direction to obtain local extremum points of the focusing result, wherein the obtained coordinates of the local extremum points are the coordinates of a plurality of vibration sources in each direction.
And obtaining the coordinates of the penetration points of the L flying objects by adopting a manual matching or automatic matching method.
The automatic matching formula is as follows:
wherein,,for focusing results u obtained from vertical direction vibration sensor output signals z Vertical direction coordinates corresponding to a certain extremum extracted in the (a), and (b)>For focusing results u obtained from horizontal vibration sensor output signals x The horizontal direction coordinate corresponding to the extracted certain extreme value is obtained to be the coordinate of a certain vibration source if err is smaller than or equal to a preset threshold value>
According to the method, until all extreme point coordinates are matched, all penetration points, namely vibration source coordinates, are obtained.
The scheme is used for measuring the target range, and can realize real-time monitoring and accurate positioning on the condition that a plurality of flying objects penetrate through concrete or other solid media simultaneously.
The scheme is used for safety monitoring of the building, and accurate measurement of contact positions of a plurality of unknown flying objects or vibration sources to the building body is realized.
The scheme is used for simultaneously monitoring and accurately measuring the landing points of the multiple flying objects in real time.
It should be apparent that the foregoing examples of the present invention are merely illustrative of the present invention and not limiting of the embodiments of the present invention, and that various other changes and modifications can be made by one skilled in the art based on the foregoing description, and it is not intended to be exhaustive of all embodiments, and all obvious changes and modifications that come within the scope of the invention are still within the scope of the invention.
Claims (10)
1. A method of positioning multiple vibration sources, the method comprising:
step 1: disposing a plurality of vibration sensors on two adjacent sides of a vibration transmission medium in a linear mode to form vibration sensor arrays positioned in different directions of a vibration plane, wherein the vibration sensor arrays are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions simultaneously;
step 2: obtaining a grid slowness parameter matrix through interpolation calculation based on a slowness parameter matrix of a vibration plane obtained in advance;
step 3: focusing calculation is carried out based on vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix, so that a plurality of coordinates of a plurality of vibration sources in different directions are obtained;
step 4: and matching the coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source.
2. The method of claim 1, wherein the different directions include a horizontal direction and a vertical direction perpendicular to each other in the vibration plane.
3. The method according to claim 1, wherein the slowness parameter matrix of the vibration plane is obtained by:
a position of a beating vibration plane is hit, the starting time of a vibration wave is extracted based on output signals of the sensor arrays in all directions, a time function corresponding to each beating position is defined, and the starting time of the vibration wave and the time function are fitted to obtain slowness parameters of the beating position in all directions;
and sequentially striking different positions of the vibration plane to obtain a slowness parameter matrix of the vibration plane in each direction.
4. A method according to claim 3, wherein said sequentially striking different positions of the vibration plane to obtain a matrix of slowness parameters of the vibration plane in each direction comprises:
the coordinates for the vibration plane are (sx 1 ,sz 1 ) The position of the vibration sensor array is hit to obtain the vibration wave jump time extracted according to the output signal of the vertical direction sensor array, the Z direction is taken as the vertical direction, and i is taken as the i-th vibration sensor in the vertical direction; the moment of onset of the vibration wave is denoted as T (z i )；
The time function corresponding to the vibration wave take-off time of the striking position is shown as (1),
in the formula (1), a z (sx 1 ,sz 1 ) Representing coordinates as (sx 1 ,sz 1 ) Slowness parameter in Z direction, Z of the striking position of (2) i For the Z-direction ith vibration sensor coordinate, x 0 For each vibration sensor coordinate in X direction, X
The direction is the horizontal direction;
the coordinate obtained by the same method is (sx 1 ,sz 1 ) Slowness parameter a of the striking position of (2) in the X direction x (sx 1 ,sz 1 )；
Striking other positions of the vibration plane at equal intervals in the horizontal direction and the vertical direction to respectively obtain a slowness parameter matrix of the vibration plane in the Z direction and the X direction, which is expressed as a z (1:p,1:q)，a x (1: p,1: q); wherein p is the number of strokes in the horizontal direction, and q is the number of strokes in the vertical direction.
5. The method according to claim 4, characterized in that the method further comprises:
and (3) carrying out grid division on the vibration plane, and carrying out interpolation calculation on slowness parameters in all directions to obtain a grid slowness parameter matrix.
6. The method according to claim 4, wherein the step 3 comprises:
based on signals output by a vibration sensor array in the vertical direction of a vibration plane and a grid slowness parameter matrix, a focusing result in the vertical direction is obtained according to a formula (2), and coordinates of a plurality of vibration sources in the vertical direction are obtained based on the focusing result, wherein the coordinates of the plurality of vibration sources in the vertical direction are shown in a formula (2-3);
obtaining a focusing result in the horizontal direction according to a formula (3) based on signals output by a vibration sensor array in the horizontal direction of a vibration plane and a grid slowness parameter matrix, and obtaining coordinates of a plurality of vibration sources in the horizontal direction based on the focusing result, wherein the coordinates of the plurality of vibration sources in the horizontal direction are shown in the formula (3-3);
wherein,,
wherein,,
u in formula (2) z (i, tau) represents a focusing result in the vertical direction of the vibration plane, and nz and nx are calculated grid division numbers;
u (z) in formula (2-1) k T) represents signals output by a vibration sensor array in the vertical direction of a vibration plane, and n is the number of sensors in the Z direction;
a in the formula (2-2) z (j, i) is a grid slowness parameter matrix in the vertical direction of the vibration plane, and dx and dz are calculated grid sizes;
h in the formula (2-3) is the number of vibration sources;
u in formula (3) x (j, τ) is a focusing result in the horizontal direction of the vibration plane;
u (x) in formula (3-1) k T) is a signal output by the vibration sensor array in the horizontal direction of the vibration plane;
a in the formula (3-2) x (j, i) is a grid slowness parameter matrix in the horizontal direction of the vibration plane, z 0 The coordinates of each vibration sensor in the Z direction;
h in the formula (3-3) is the number of vibration sources.
7. The method according to claim 4, wherein the step 4 comprises:
matching the coordinates of the vibration source in the vertical direction and the coordinates in the horizontal direction obtained based on the focusing result according to formula (4);
wherein z is 0 For each vibration sensor coordinate in the Z direction,for focusing results u obtained from vertical direction vibration sensor output signals z Vertical direction coordinates corresponding to a certain extremum extracted in the (a), and (b)>For focusing results u obtained from horizontal vibration sensor output signals x The horizontal coordinate corresponding to a certain extremum extracted in the process, if err is smallIf the vibration source is equal to or higher than the preset threshold value, the corresponding coordinate of a certain vibration source is obtained as +.> And finally obtaining the coordinates of all vibration sources.
8. An apparatus for positioning multiple vibration sources, the apparatus comprising:
the vibration sensor array comprises a plurality of vibration sensors which are arranged on two adjacent sides of a vibration medium in a linear mode, and the vibration sensor arrays are positioned in different directions of a vibration plane and are used for acquiring vibration waves emitted by a plurality of vibration sources at different positions at the same time;
the matrix calculation unit is used for obtaining a grid slowness parameter matrix through interpolation calculation based on the slowness parameter matrix of the vibration plane;
the coordinate calculation unit is used for carrying out focusing calculation based on the vibration wave signals output by the vibration sensor array and the grid slowness parameter matrix to obtain a plurality of coordinates of a plurality of vibration sources in different directions;
and the matching unit is used for matching a plurality of coordinates in different directions based on the space-time characteristics to obtain the coordinates of each vibration source.
9. The apparatus of claim 8, wherein the different directions include a horizontal direction and a vertical direction perpendicular to each other in the vibration plane.
10. The apparatus according to claim 8, wherein the matrix calculation unit further performs grid division on the vibration plane, and performs interpolation calculation on slowness parameters in each direction to obtain a grid slowness parameter matrix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011204386.XA CN112462415B (en) | 2020-11-02 | 2020-11-02 | Method and device for positioning multiple vibration sources |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011204386.XA CN112462415B (en) | 2020-11-02 | 2020-11-02 | Method and device for positioning multiple vibration sources |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112462415A CN112462415A (en) | 2021-03-09 |
| CN112462415B true CN112462415B (en) | 2023-07-21 |
Family
ID=74835900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011204386.XA Active CN112462415B (en) | 2020-11-02 | 2020-11-02 | Method and device for positioning multiple vibration sources |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112462415B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108169714A (en) * | 2017-12-28 | 2018-06-15 | 中国电子科技集团公司第三研究所 | A kind of localization method and device based on vibration wave |
| WO2019130181A1 (en) * | 2017-12-26 | 2019-07-04 | Ramot At Tel-Aviv University Ltd. | Real-time array-based seismic source location |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103999151B (en) * | 2011-11-04 | 2016-10-26 | 布鲁尔及凯尔声音及振动测量公司 | In calculating, effective wideband filtered and addition array focus on |
| CA2867430C (en) * | 2012-04-02 | 2018-09-04 | Landmark Graphics Corporation | Vsp systems and methods representing survey data as parameterized compression, shear, and dispersive wave fields |
| CN102967189B (en) * | 2012-11-22 | 2014-10-29 | 中北大学 | Explosive blast overpressure space-time field reconstruction method |
| CN106461803B (en) * | 2014-03-20 | 2019-01-18 | 施蓝姆伯格技术公司 | Air-gun array data reconstruction Pulse Source seismic data is ignited from Annual distribution formula |
| US20170363756A1 (en) * | 2016-06-15 | 2017-12-21 | Schlumerger Technology Corporation | Systems and methods for acquiring seismic data with gradient data |
| CN107045141B (en) * | 2017-02-24 | 2019-05-10 | 北京科技大学 | Microseism based on inverse time arrival time difference database/earthquake source method for rapidly positioning |
| US10901103B2 (en) * | 2018-03-20 | 2021-01-26 | Chevron U.S.A. Inc. | Determining anisotropy for a build section of a wellbore |
| CN109143360B (en) * | 2018-09-20 | 2020-01-10 | 安徽万泰地球物理技术有限公司 | Method for determining seismic event P wave inverse azimuth angle and slowness with high resolution |
| CN110568496B (en) * | 2019-09-26 | 2021-02-09 | 核工业北京地质研究院 | Ray tracing method under complex medium condition |
| CN110687598A (en) * | 2019-10-30 | 2020-01-14 | 中煤科工集团西安研究院有限公司 | Method and device for accelerating microseismic numerical simulation |
-
2020
- 2020-11-02 CN CN202011204386.XA patent/CN112462415B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019130181A1 (en) * | 2017-12-26 | 2019-07-04 | Ramot At Tel-Aviv University Ltd. | Real-time array-based seismic source location |
| CN108169714A (en) * | 2017-12-28 | 2018-06-15 | 中国电子科技集团公司第三研究所 | A kind of localization method and device based on vibration wave |
Non-Patent Citations (2)
| Title |
|---|
| Source locations of teleseismic P, SV, and SH waves observed in microseisms recorded by a large aperture seismic array in China;Qiaoxiao Liu 等;《Earth and Planetary Science Letters》;第39-47页 * |
| 平面阵列结合波束形成理论声源深度识别定位;梅东挺 等;电声技术;第37卷(第4期);第39-43页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112462415A (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108169714B (en) | Positioning method and device based on vibration waves | |
| CN102435980B (en) | Analytical solution-based acoustic emission source or micro seismic source positioning method | |
| CN106772641B (en) | Estimate the method for average soil moisture | |
| Schillebeeckx et al. | Biomimetic sonar: Binaural 3D localization using artificial bat pinnae | |
| CN105589066B (en) | A kind of method that underwater uniform motion ROV parameter is estimated using vertical vector battle array | |
| CN105629220B (en) | A kind of deep-sea underwater sound passive ranging method based on single hydrophone | |
| CN106123850A (en) | AUV prestowage multibeam sonar underwater topography mapping modification method | |
| EP2169422A1 (en) | System and method for acoustic tracking an underwater vehicle trajectory | |
| CN114488164B (en) | Synchronous positioning and mapping method for underwater vehicle and underwater vehicle | |
| CN104765064A (en) | Microseism interference imaging method | |
| CN105389799A (en) | SAR image target detection method based on sketch and low-rank decomposition | |
| CN107515390B (en) | Aerial target positioning method based on single vector sensor | |
| CN112462415B (en) | Method and device for positioning multiple vibration sources | |
| CN104280737B (en) | Weighted broadband time reversal operator resolution acoustic imaging method | |
| CN104536005B (en) | Multi-beam side-scan sonar slant-distance distortion elimination method based on blind area correction | |
| RU2300122C1 (en) | Mode of remote definition of the parameters of an infrasound signal near an unidentified source of the signal | |
| CN106214182B (en) | HIFU damaging shear ripple elastic characteristic methods of estimation based on LK optical flow methods | |
| CN110261850B (en) | Imaging algorithm for tree internal defect detection data | |
| CN117075114A (en) | Combined estimation method for active underwater sound target distance and depth of deep sea reliable sound path | |
| Neettiyath et al. | Identification of manganese crusts in 3D visual reconstructions to filter geo-registered acoustic sub-surface measurements | |
| CN115240058A (en) | Side-scan sonar target detection method combining accurate image segmentation and target shadow information | |
| Liu et al. | Underwater positioning study of flight recorder | |
| CN106680824A (en) | Autonomous target passive positioning method for underwater vehicle based on vertical maneuver | |
| CN105093276B (en) | Knowledge method is sentenced in the digitlization of microseism useful signal | |
| CN108805147A (en) | A kind of tube or cased well jacket casing damage characteristics of image mode identification method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |