CN112558003A - Underwater sound network topology sensing method based on vector orientation and ranging - Google Patents

Underwater sound network topology sensing method based on vector orientation and ranging Download PDF

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CN112558003A
CN112558003A CN202011273731.5A CN202011273731A CN112558003A CN 112558003 A CN112558003 A CN 112558003A CN 202011273731 A CN202011273731 A CN 202011273731A CN 112558003 A CN112558003 A CN 112558003A
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underwater acoustic
nodes
node
ranging
network topology
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CN112558003B (en
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何轲
夏远东
申晓红
董海涛
王妍
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Northwestern Polytechnical University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • 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
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to an underwater acoustic network topology sensing method based on vector orientation and ranging, and belongs to the field of underwater acoustic signal processing. Assuming that only one signal source node exists in the underwater acoustic network node, two signal sources can be simultaneously oriented based on a single vector hydrophone, the positions of all nodes in the underwater acoustic network are gradually positioned by taking the source node as reference and adopting an RSSI (received signal strength indicator) ranging method, and then the information flow direction of the nodes in the underwater acoustic sensor network is judged according to the time relation of the signal reaching the vector hydrophone, so that the topological perception of the underwater acoustic network is completed. The invention only uses one vector hydrophone, combines RSSI ranging and a mathematical geometry method, and has the advantages of less required hardware, simple operation and strong adaptability.

Description

Underwater sound network topology sensing method based on vector orientation and ranging
Technical Field
The invention belongs to the field of underwater acoustic signal processing, and particularly relates to a signal processing method for carrying out orientation and RSSI ranging on an underwater acoustic network topology node by using a single vector hydrophone.
Background
The problem of sensing the underwater acoustic network can be regarded as the development of the traditional water area single target detection and identification problem in the underwater acoustic network. Traditional single target sensing methods typically rely on the capture of individual target acoustic signals to accomplish the sensing of a single target. However, in the network context, the detection aiming at a single target cannot solve the problem of underwater acoustic network perception, and information interaction between nodes in the network must be fully utilized to carry out perception from the whole network level.
A typical system for underwater acoustic network sensing has a complex structure, and is generally networked by different types of nodes such as sensor nodes with information interaction or information relay capabilities, mobile nodes capable of serving as gateways and interacting with water or on water, and water surface buoy nodes in an acoustic communication manner, and even needs to interact, summarize and process information sensed by the sensor nodes to perform underwater acoustic network sensing by matching with a surface ship, a land-based network, an airplane, a satellite and the like. Therefore, the typical underwater acoustic network sensing system is complex in required hardware, large in size, high in cost, long in sensing period, narrow in environmental conditions, low in cost and not applicable under the condition that an underwater acoustic network topology sensing result needs to be obtained quickly.
Disclosure of Invention
Technical problem to be solved
In order to solve the problem that the underwater sound network topology sensing result is obtained quickly under the conditions of narrow environmental conditions and low cost, the invention provides an underwater sound network topology sensing method based on vector orientation and distance measurement.
Technical scheme
An underwater acoustic network topology sensing method based on vector orientation and ranging is characterized in that the underwater acoustic network topology comprises a source node and other nodes; the method is characterized by comprising the following steps:
step 1: receiving a communication signal from the underwater acoustic network topology by using a single vector hydrophone;
step 2: carrying out DC removal and framing windowing pretreatment on the communication signals;
and step 3: orienting and timing the preprocessed signals, wherein each node takes the starting time of a frame with the most obvious direction-finding effect as the signal arrival time, and the nodes and the signal arrival time are labeled at the same time of orientation;
and 4, step 4: the mobile vector hydrophone carries out directional measurement on the mobile vector hydrophone relative to the source node, and calculates the distance r between the vector hydrophone before movement and the source node by adopting a geometric principle according to two measured angles and a mobile distance;
and 5: calculating the power P of the topological node of the underwater acoustic networkT：
10*nlgr＝10*lg(PT/PR)
Wherein n represents an acoustic propagation expansion coefficient, PRInputting the power of a vector hydrophone for the underwater acoustic communication signal;
step 6: calculating the distances of other nodes of the underwater acoustic network topology:
nlg(r/r*)＝lg(PR */PR)
wherein n represents an acoustic propagation expansion coefficient, r*Representing the propagation distance of the acoustic signals of other nodes; pR *Inputting the power of the vector hydrophone for the underwater acoustic communication signals of other nodes;
and 7: underwater acoustic network node information flow direction determination
Obtaining the relative position and direction of each node according to the distance and direction of each node, and judging the propagation mode of each node of the underwater acoustic network according to the arrival time difference; the relative position, direction and propagation mode form the underwater acoustic network topology.
The technical scheme of the invention is further that: the orientation method adopted in the step 3 is a MUSIC or ESPRIT algorithm.
The technical scheme of the invention is further that: and step 5, adopting an RSSI ranging principle.
The technical scheme of the invention is further that: in step 5, spherical wave propagation is considered, and n is 2.
Advantageous effects
The underwater acoustic network topology sensing method based on vector orientation and ranging provided by the invention has the advantages that vector hydrophones are used in the orientation aspect, the effect which can be achieved by a common sound pressure hydrophone array can be achieved by only using one vector hydrophone and applying the MUSIC algorithm, the RSSI ranging method is used in the ranging aspect, the RSSI-based ranging method not only provides the cheapest ranging method, but also does not need extra hardware, is slightly influenced by the environment, and the distance between nodes can be achieved by utilizing the strength of received wireless signals, so that the method has outstanding advantages.
The underwater acoustic network topology node orientation and ranging method used in the invention has many advantages. In the aspect of orientation, the conventional method applies a conventional acoustic hydrophone, the hydrophone needs to construct a complex spatial array and can complete orientation by using a complex algorithm, and the hydrophone not only has large required spatial size, complex physical structure, difficult installation, complex algorithm, complex operation amount and high cost. In the aspect of ranging, generally used ranging methods include GPS, infrared rays and ultrasonic waves, and from the performance viewpoint, the GPS, the infrared rays and the ultrasonic waves all need additional hardware, and meanwhile, the GPS and the infrared rays have large ranging errors, and the ultrasonic waves are highly influenced by air humidity and the like although the accuracy is high, and are not suitable for being used in underwater acoustic network topology nodes. The method reduces hardware facilities, simplifies the calculation process and has equivalent precision.
Drawings
FIG. 1 general method block diagram of the present invention
FIG. 2 determination of source node distance based on mathematical geometry of vector hydrophone movement
FIG. 3 is a schematic diagram of an underwater acoustic communication mode for broadcast communication by a source node
FIG. 4 is a schematic diagram of an underwater acoustic communication method for point-to-point relay communication by a source node
FIG. 5 comparison of the directional simulation effect
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the method mainly comprises the following steps:
the method comprises the following steps: creating an analog received signal
In time domain, the receiving signal of the hydrophone consists of five time sequences, three sections are completely identical chirp signals mixed with noise, and the intermediate frequency of the chirp signals is 30 multiplied by 106Hz, bandwidth of 2 x 105Hz, the signal length is 0.05ms, the signal-to-noise ratio is 10dB, two sections of noise signals are positioned in the middle of three sections of linear frequency modulation signals on the time domain, the time lengths of the two sections of noise signals are different, other noise signals mixed with the linear frequency modulation signals are the same, and the noise signals are essentially the noise signals of the input vector hydrophone in the process of transmitting communication signals by three nodes.
Step two: received signal preprocessing
And carrying out direct current removal on the received signals, and then carrying out frame division and windowing pretreatment. The data after each frame of windowing is x (n) ═ y (n) w (n). Where w (n) is a window function.
Step three: underwater acoustic network topology node orientation
And (3) carrying out directional processing on the signals in frames, wherein the length of each frame signal is 0.05ms, the ratio of frame shift to frame length is 0.5, and the adopted ranging method is that the MUSIC or ESPRIT algorithm is applied to the vector hydrophone. Because only one source node exists, the signal arriving firstly is sent by the source node, and the starting time of the frame with the most obvious direction finding effect is taken as the signal arrival time. Meanwhile, because the propagation time of the underwater acoustic communication signal is far longer than the length of the underwater acoustic communication signal pulse, the arrival times of the communication signals of other nodes are generally not overlapped, the signal arrival time is judged in the mode, and the node and the signal arrival time are oriented and marked.
Step four: underwater acoustic network topology source node ranging
After the direction is basically determined, taking the figure 2 as an example, the distance of the topological source node of the underwater acoustic network is measured, and as shown in the figure, A is the position of the source node, C is the initial position of the vector hydrophone, and the position of the source node at theta can be measured1The vector hydrophone is moved in a direction to D, where it is again measured that the source node is at θ2The angle of (c). Drawing a perpendicular line from the point A to the CD edge and crossing the CD to the point B, thus constructing a mathematical geometry formula to solve the AC, namely the topological source node of the underwater acoustic networkDistance from the initial position of the vector hydrophone. The mathematical formula is as follows:
AC*sinθ1＝(AC*cosθ1+CD)*tanθ2
where AC is the distance from the source node to the pre-mobile vector hydrophone, the only unknown quantity, and others are measured. CD is the distance traveled by the vector hydrophone.
Step five: calculating the power of the topological source node of the underwater acoustic network
The method comprises the following steps of calculating the transmitting power of a source node, which is a precondition for measuring the distances of other nodes, measuring the frame power of the underwater acoustic communication signal arrival time of the source node after measuring the distance of the source node, and calculating the transmitting power of the source node by utilizing the relation between power attenuation and distance according to the RSSI ranging principle, wherein the core formula of the RSSI ranging principle is as follows:
10*nlgr＝10*lg(PT/PR)
wherein n represents an acoustic propagation expansion coefficient, spherical wave propagation is considered here, and n is 2; r represents the acoustic signal propagation distance, PRPower, P, of vector hydrophone input for underwater acoustic communication signalsTThe power of the received signal when the node of the underwater acoustic communication network topology transmits signals 1m away can be regarded.
Step six: measuring and calculating distances between other nodes of underwater acoustic network topology
After the transmission power of the source node is determined, assuming that the transmission power of other nodes of the underwater acoustic network topology is consistent with the transmission power of the source node, the distances of the other nodes can be calculated by using the RSSI ranging principle after the distance of the source node is measured. Here the RSSI ranging derivation formula is used:
nlg(r/r*)＝lg(PR */PR)
wherein n represents an acoustic propagation expansion coefficient, spherical wave propagation is considered here, and n is 2; r represents the source node acoustic signal propagation distance, r*Representing the propagation distance of the acoustic signals of other nodes; pR *And PRThe power of the vector hydrophone is input for the other node and the source node underwater acoustic communication signal respectively.
After the distances between the underwater sound network topology nodes and the vector hydrophones are measured and the direction finding is completed, a rectangular coordinate system is established by taking the vector hydrophones as the original points, and the positions of all the nodes and the distances among the nodes can be obtained.
Step seven: underwater acoustic network node information flow direction determination
After the reference direction and the distance of the underwater acoustic network topology nodes relative to the origin of the coordinate system are determined, the coordinates of each node in the coordinate system are determined accordingly, the distance of each node is determined accordingly, under the condition of a limited number of nodes, the propagation mode of each node of the underwater acoustic network can be judged by analyzing the time difference of the acoustic signal emitted by each node and reaching the vector hydrophone, the topological information flow direction of the underwater acoustic network is obtained, and therefore all work of the underwater acoustic network topology sensing is completed.
Fig. 3 and 4 provide two modes of topology-aware information flow of three nodes, as can be seen from the figures, an underwater acoustic communication mode in which a source node simultaneously transmits information to two nodes, that is, the source node performs broadcast communication; one is an underwater acoustic communication method in which a source node transmits information to one of the nodes and then transmits the information to the other node, that is, the source node performs point-to-point relay communication. In other more complex ways, more nodes may also be detected by the method, which is not exemplified here.
Fig. 5 is a comparison of the directional effect of a vector hydrophone and a linear array of four acoustic pressure hydrophones at a signal-to-noise ratio of 10dB, assuming a direction of arrival of 20 deg., from which the effect of the present invention is comparable to that of the array.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (4)

1. An underwater acoustic network topology sensing method based on vector orientation and ranging is characterized in that the underwater acoustic network topology comprises a source node and other nodes; the method is characterized by comprising the following steps:
step 1: receiving a communication signal from the underwater acoustic network topology by using a single vector hydrophone;
step 2: carrying out DC removal and framing windowing pretreatment on the communication signals;
and step 3: orienting and timing the preprocessed signals, wherein each node takes the starting time of a frame with the most obvious direction-finding effect as the signal arrival time, and the nodes and the signal arrival time are labeled at the same time of orientation;
and 4, step 4: the mobile vector hydrophone carries out directional measurement on the mobile vector hydrophone relative to the source node, and calculates the distance r between the vector hydrophone before movement and the source node by adopting a geometric principle according to two measured angles and a mobile distance;
and 5: calculating the power P of the topological node of the underwater acoustic networkT：
10*nlgr＝10*lg(PT/PR)
Wherein n represents an acoustic propagation expansion coefficient, PRInputting the power of a vector hydrophone for the underwater acoustic communication signal;
step 6: calculating the distances of other nodes of the underwater acoustic network topology:
nlg(r/r*)＝lg(PR */PR)
wherein n represents an acoustic propagation expansion coefficient, r*Representing the propagation distance of the acoustic signals of other nodes; pR *Inputting the power of the vector hydrophone for the underwater acoustic communication signals of other nodes;
and 7: underwater acoustic network node information flow direction determination
Obtaining the relative position and direction of each node according to the distance and direction of each node, and judging the propagation mode of each node of the underwater acoustic network according to the arrival time difference; the relative position, direction and propagation mode form the underwater acoustic network topology.
2. The method of claim 1, wherein the orientation method used in step 3 is MUSIC or ESPRIT algorithm.
3. The method as claimed in claim 1, wherein the RSSI ranging principle is adopted in step 5.
4. The method for sensing the topology of the underwater acoustic network based on vector orientation and ranging as claimed in claim 1, wherein spherical wave propagation is considered in step 5, and n is 2.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016106470A1 (en) * 2014-12-29 2016-07-07 哈尔滨工程大学 Intelligent directional full-duplex underwater acoustic communication apparatus and communication method therefor
CN109932690A (en) * 2019-02-28 2019-06-25 天津大学 A kind of multi-target underwater acoustic positioning method based on received signal strength

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016106470A1 (en) * 2014-12-29 2016-07-07 哈尔滨工程大学 Intelligent directional full-duplex underwater acoustic communication apparatus and communication method therefor
CN109932690A (en) * 2019-02-28 2019-06-25 天津大学 A kind of multi-target underwater acoustic positioning method based on received signal strength

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
薛建彬;张龙;王璐;张玺君;: "基于摄影测量的水下无线传感器网络定位算法", 华中科技大学学报(自然科学版), no. 05 *

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