CN112731284B - Networking type marine ship detection system and method in evaporation waveguide environment - Google Patents
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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
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
- 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
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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
- G01S3/02—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 radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
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Abstract
The invention relates to a networking type marine ship detection system and method in an evaporation waveguide environment, and belongs to the technical field of ship detection. Through the simulation analysis of electromagnetic wave path loss without ship shielding and when the ship shielding exists, the speed measurement, direction measurement and distance measurement functions of ship targets are realized by adopting the multiple-transmission multiple-reception evaporation waveguide networking communication device. Recording four time points for detecting the severe change of microwave propagation loss, obtaining the spacing and azimuth angle of networking ships from a shipborne system, and calculating a target distance; establishing a rectangular coordinate system, and calculating a target course angle; and calculating the target movement speed. The invention has the advantages of long detection distance and no limitation of the base station, and the used communication equipment is simple to install and good in concealment, and can be used as a supplementary means of satellite remote sensing detection.
Description
Technical Field
The invention relates to a networking type marine ship detection method in an evaporation waveguide environment, which can be used for ship monitoring, harbor management, war early warning, scientific research and exploration and the like, realizes ship speed measurement, distance measurement and direction measurement, and belongs to the technical fields of near-sea evaporation waveguide, marine beyond-sight distance information transmission, ship detection, ocean monitoring, forward scattering and the like.
Background
Evaporation waveguides are a relatively common phenomenon of atmospheric waveguides that often occur in convection layers, and are related to interactions between atmospheric weather factors. Due to the evaporation of seawater, the interaction of the vapor phase occurs on the sea surface, the vapor is continuously diffused, the refractive index of the atmosphere in the atmosphere environment is continuously reduced along with the increase of the diffusion height, and when the atmosphere reaches a certain height, the phenomenon that the refractive index is smaller than the curvature of the sea surface of the earth occurs, and the electromagnetic wave is trapped in the layer surface, so that the beyond-the-horizon propagation is realized.
Electromagnetic wave propagation in space follows Maxwell Wei Dinglv, electromagnetic wave source characteristics, propagation medium characteristics, boundary conditions and the like are known, and the electromagnetic wave propagation can be theoretically solved, and common solving methods include a ray model, a parabolic equation model and a mixed model. The parabolic equation model can be used for solving the electromagnetic wave propagation problem under the condition of horizontal uneven environment and complex sea surface, and is the most common means for simulating the propagation of electromagnetic waves in an evaporation waveguide.
The height of the marine evaporation waveguide is usually within 20 meters, and the height of the medium-large water surface ship is usually within 20 meters in consideration of the influence of the self waterline of the ship body. Therefore, when the electromagnetic wave propagates in the evaporation waveguide, refraction and diffraction phenomena occur when the electromagnetic wave encounters ship shielding, and the path loss of the electromagnetic wave is greatly increased. This is very disadvantageous for evaporation waveguide communication, but the real-time movement of the ship can be detected by reasonably utilizing this phenomenon.
Because the number of the offshore observation base stations is small, the radar cannot accurately detect in the middle and open sea areas due to the limitation of the detection distance, the development of the modern stealth technology is easy to interfere and unavailable due to the satellite fight time, and the requirements of remote real-time detection and early warning of the offshore ships are difficult to meet.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a networking type marine ship detection system and method in an evaporation waveguide environment. The marine remote, inter-regional and multi-receiving ship detection method is obtained by adopting high-resolution analysis meteorological data and combining an atmospheric movement basic equation, an atmospheric boundary layer similarity theory, an evaporation waveguide model, a parabolic equation model, an interpolation algorithm and the like.
Technical proposal
A networking type marine ship detection system in an evaporation waveguide environment is characterized in that: from two transmitting ends S x1 、S x2 And two receiving terminals R x1 、R x2 Forming a quadrilateral layout, wherein the transmitting end and the receiving end are ships, unmanned ships or unmanned ships carrying evaporation waveguide communication equipment; wherein S is x1 -R x1 The length of (a) is denoted as a, S x1 -S x2 The distance of (2) is denoted as d, R x2 -R x1 Length of (b) is denoted as b, S x2 -R x2 Is denoted as c, the target motion path is associated with four links S x1 -R x1 、S x1 -R x2 、S x2 -R x1 、S x2 -R x2 Respectively cross at point E, F, G, H, link S x1 -R x2 The included angle between the target motion path EH and the link S is marked as alpha x2 -R x1 The included angle with the target movement path EH is recorded as beta, and the target movement path EH and the link S x2 -R x2 The included angle between the two is marked as gamma; the distance of the line segment BE is denoted as x 0 The distance of the line segment CH is denoted as y 0 。
The space between the four evaporation waveguide communication devices is 1-300km.
When the target ship sequentially passes through four links at uniform speed v along a straight line, the time when the microwave propagation loss of the receiving end is changed drastically due to shielding is recorded as t in time sequence 1 、t 2 、t 3 、t 4 For the target position parameter x 0 、y 0 The steps of estimating v and gamma are as follows:
step 1: the sizes of the +.ADB, +.BDC, +.BAC, +.ABD, +.ACD and +.ACB are obtained from the shipborne system, and the corresponding movement time intervals of the calculation target when traversing the four transceiving connecting lines are respectively expressed as deltat 21 ＝t 2 -t 1 ，Δt 32 ＝t 3 -t 2 ，Δt 43 ＝t 4 -t 3 ，Δt 42 ＝t 4 -t 2 ，Δt 31 ＝t 3 -t 1 ，Δt 41 ＝t 4 -t 1 ；
Step 2: calculating the target distance x 0 、y 0 ：
Wherein:
step 3: establishing rectangular coordinate system xoy along the directions of line segment CD and perpendicular CD to make quadrilateral region fall in first quadrant, setting E (x) 3 ,y 3 ) Wherein, the method comprises the steps of, wherein,x 1 ＝dcos(∠ADB+∠BDC)，y 1 ＝dsin(∠ADB+∠BDC)，x 2 ＝c-cos(∠ACD+∠ACB)，y 2 =bsin (+acd) + ACB), calculating a target course angle gamma:
step 4: calculating a target movement speed v:
the t is 1 、t 2 、t 3 、t 4 And judging through the level signal change of the receiving-end shipboard communication equipment.
Further, the time when the path loss at the receiving end height of 3m is changed drastically is sequentially marked as t 1 、t 2 、t 3 、t 4 。
Advantageous effects
According to the networking type marine ship detection system and method in the evaporation waveguide environment, the speed measurement, direction measurement and distance measurement functions of a ship target are realized by adopting the multiple-transmission and multiple-reception evaporation waveguide networking communication device through simulation analysis of electromagnetic wave path loss when no ship is shielded and the ship is shielded in the evaporation waveguide environment. The application scene includes all sea areas without fixed occlusions. The method has the advantages of long detection distance and no limitation of the base station, and the used communication equipment is easy to install and good in concealment, and can be used as a supplementary means of satellite remote sensing detection.
Drawings
FIG. 1 is a flow chart of the method of the present invention
FIG. 2 is a cross-sectional view of a ship
FIG. 3 is a schematic diagram of a networking
FIG. 4 is a schematic diagram of a rectangular coordinate system for deriving the calculation formula
FIG. 5 is a diagram of simulated interval locations
FIG. 6 is a graph showing the comparison of path loss at the time of each link ship's passage
Detailed Description
The invention will now be further described with reference to examples, figures:
the networking type marine ship detection system under the evaporation waveguide environment is shown in figure 3, and comprises two transmitting ends S x1 、S x2 And two receiving terminals R x1 、R x2 Forming a quadrilateral layout, wherein the transmitting end and the receiving end are ships, unmanned ships or unmanned ships carrying evaporation waveguide communication equipment; the quadrilateral detection area is selected to avoid land-like areas such as islands and reefs, and random errors are avoided. Wherein S is x1 -R x1 The length of (a) is denoted as a, S x1 -S x2 The distance of (2) is denoted as d, R x2 -R x1 Length of (b) is denoted as b, S x2 -R x2 Is denoted as c, the target motion path is associated with four links S x1 -R x1 、S x1 -R x2 、S x2 -R x1 、S x2 -R x2 Respectively cross at point E, F, G, H, link S x1 -R x2 The included angle between the target motion path EH and the link S is marked as alpha x2 -R x1 The included angle with the target movement path EH is recorded as beta, and the target movement path EH and the link S x2 -R x2 The included angle between the two is marked as gamma; when the target ship sequentially passes through four links at uniform speed v along a straight line, the time when the microwave propagation loss of the receiving end is changed drastically due to shielding is time-orderedThe secondary notation is t 1 、t 2 、t 3 、t 4 The distance of the line segment BE is denoted as x 0 The distance of the line segment CH is denoted as y 0 。
The height of the receiving and transmitting antenna of the evaporation waveguide communication equipment is set to be as low as possible and in the evaporation waveguide layer, so that the detection of the ship with relatively low height is facilitated, and meanwhile, the detection concealment is high. The space between the four evaporation waveguide communication devices is 1-300km. The moment of the severe change of the microwave propagation loss of the receiving end generated by the ship shielding can be judged through the level signal change of the shipborne communication equipment: when networking is detected, the evaporation waveguide channel is stable, when the ship passes through the link, the level signal is weakened first and then recovered, and the middle moment of the change of the level signal is taken as the moment of the ship passing through the link to calculate.
Formula deduction is carried out on the networking type marine ship detection system under the evaporation waveguide environment, and the method comprises the following specific steps:
as shown in fig. 3, four end points A, D, B, C of the quadrilateral ABCD respectively correspond to S x1 、S x2 、R x1 、R x2 ，S x1 -R x1 The length of (a) is denoted as a, S x1 -S x2 The distance of (2) is denoted as d, R x2 -R x1 Length of (b) is denoted as b, S x2 -R x2 Is denoted as c, the target motion path is associated with four links S x1 -R x1 、S x1 -R x2 、S x2 -R x1 、S x2 -R x2 Respectively cross at point E, F, G, H, link S x1 -R x2 The included angle between the target motion path EH and the link S is marked as alpha x2 -R x1 The included angle between the target motion path EH and the target motion path S is recorded as beta x2 -R x2 The included angle between them is denoted as gamma. When the target ship sequentially passes through four links at uniform speed v along a straight line, the time when the microwave propagation loss of the receiving end is changed drastically due to shielding is recorded as t in time sequence 1 、t 2 、t 3 、t 4 The distance of the line segment BE is denoted as x 0 The distance of the line segment CH is denoted as y 0 For the position parameter x 0 、y 0 The steps of estimating v and gamma are as follows:
step 1: the sizes of < 1 >, < 2 >, < 3 >, < 4 >, < 5 > and < 6 > are obtained from the ship-borne system, and the corresponding movement time intervals of the calculation target when the calculation target passes through four transceiving connecting lines are respectively expressed as deltat 21 ＝t 2 -t 1 ，Δt 32 ＝t 3 -t 2 ，Δt 43 ＝t 4 -t 3 ，Δt 42 ＝t 4 -t 2 ，Δt 31 ＝t 3 -t 1 。
Step 2: deriving target distance x according to sine theorem 0 、y 0 And (3) calculating a formula.
In Δaef, Δcfh, Δegb, Δdhg, there are, respectively, according to the sine theorem:
the combined formula (1) (2) (3) (4) can be obtained by eliminating the variables v, alpha and beta:
wherein:
step 3: and establishing a rectangular coordinate system xoy along the directions of the line segments CD and the vertical CD, enabling the quadrilateral area to fall in the first quadrant, and deducing a target course angle calculation formula gamma. As shown in fig. 4, the positions of four points A, B, C, D are respectively:
wherein:
x 1 ＝dcos(∠1+∠2)，y 1 ＝dsin(∠1+∠2)
x 2 ＝c-bcos(∠5+∠6),y 2 ＝bsin(∠5+∠6)
since right angle delta AMB-right angle delta ENB:
then there are: e (x) 3 ,y 3 ) Wherein, the method comprises the steps of, wherein,
and from H (c-y) 0 0) according to the relative positions of the point E and the point H, the following is obtained:
step 4: and deducing a calculation formula of the target movement speed v. From |eh|=vΔt 41 Obtaining:
the embodiment of the invention comprises the following steps: let the pitch of the networking vessels be a=23094 meters, b=31406 meters, c= 61284 meters, d=40000 meters, respectively; azimuth angle between networking ships is 1=30°, 2=30°, 3=10°, 4=60°, 5=40°, 6= 7.3357 °, the target passes through the link AB, AC, DB, DC once along a straight line at a speed of 10m/s, the distance x from the crossing point on AB to the point B is x 0 Distance y of crossing point H from point C on DC =11547 meters 0 Heading angle γ=60°, target speed v=10m/s= 47951 meters. The time when the microwave propagation loss of the receiving end is changed drastically due to shielding is sequentially t in time sequence 1 =100 seconds, t 2 = 303.6 seconds, t 3 =2100 seconds, t 4 = 3433.3 seconds, obtained by the formulas (5), (6), (7): x is x 0 = 11546.9 meters, y 0 47951.0 meters, γ=60.0 °, v=10.0 m/s.
The simulation part of the invention: the method simulates the severe change of the microwave propagation loss of the receiving end generated by blocking the ship by the following steps:
step 1: meteorological data for 2018 was downloaded from the NCEP CFS. The detection interval and interval endpoint positions are then determined. Fig. 5 is a simulated validation interval location. Let point a (15 ° 27'n,114 ° 13' e), point B (15 ° 23'n,114 ° 25' e), point C (15 ° 07'n,114 ° 33' e), point D (15 ° 07'n,114 ° 03' e) correspond to the four endpoints of the quadrilateral communication network, respectively. Five data of sea surface pressure at a detection interval end point A, B, C, D, sea surface temperature, air temperature at 2m, specific humidity at 2m and wind speed at 10m in NCEP CFS analysis meteorological data are extracted.
Step 2: the evaporation waveguide height is calculated. And calculating to obtain an atmospheric correction refractive index value of 0-100 m by utilizing an evaporation waveguide calculation model and combining an atmospheric correction refractive index formula, wherein the point taking interval of the atmospheric refractive index value of 0-100 m is 0.1 m. And obtaining an atmosphere correction refractive index profile by using the atmosphere refractive index, wherein the height of the lowest point of the atmosphere correction refractive index is the evaporation waveguide height.
Step 3: transceiver parameters of the interval endpoint positions are set, and antenna heights are set. The transmitting frequency f is 8GHz; the transceiving antennas are the same in height and at 3m from the sea surface.
Step 4: a two-dimensional approximation model of the surface vessel is built as shown in fig. 2. The analog ship structure approximation function is:
wherein let h 0 ＝8m，h 1 ＝12m，x 1 And x 2 The distance between two points is 20m, x 7 And x 4 The distance between two points is 10m, x 5 And x 6 The distance between two points is 8m, and the total length of the ship is 22m, namely x 0 And x 3 The distance between the two points is 22m, and the center line position of the ship model is taken as the position of the ship in the detection interval. Then, randomly sampling and taking points, and obtaining an approximate curve of the simulated ship by using the cubic spline difference value.
Step 5: according to the parabolic equation model, assuming that an electromagnetic wave propagates along the x-axis, the electromagnetic field component is independent of the y-axis, the path loss of the electromagnetic wave propagation in the evaporation waveguide environment can be expressed as:
where d represents the horizontal distance between the receiving point and the transmitting point in km. f represents the operating frequency in MHz. u (x, z) represents a scalar electric field component of vertical or horizontal polarization. k (k) 0 The wave number of an electromagnetic wave is represented, n (x, z) is the refractive index, and the relation between the refractive index and the corrected refractive index M (x, z) is as follows:
wherein R represents the earth radius of 6370km. M (x, z) is the corrected refractive index profile calculated for the evaporated waveguide model.
Step 6: and respectively calculating path loss without ship shielding and when ship shielding exists in the four links by using a parabolic equation model, and sequentially recording the time when the path loss at the position of the receiving end height of 3m is changed severely as t1, t2, t3 and t4 as shown in figure 6.
Claims (4)
1. A networking type marine ship detection system under an evaporation waveguide environment,the method is characterized in that: from two transmitting ends S x1 、S x2 And two receiving terminals R x1 、R x2 Forming a quadrilateral layout, wherein the transmitting end and the receiving end are ships, unmanned ships or unmanned ships carrying evaporation waveguide communication equipment; wherein S is x1 -R x1 The length of (a) is denoted as a, S x1 -S x2 The distance of (2) is denoted as d, R x2 -R x1 Length of (b) is denoted as b, S x2 -R x2 Is denoted as c, the target motion path is associated with four links S x1 -R x1 、S x1 -R x2 、S x2 -R x1 、S x2 -R x2 Respectively cross at point E, F, G, H, link S x1 -R x2 The included angle between the target motion path EH and the link S is marked as alpha x2 -R x1 The included angle with the target movement path EH is recorded as beta, and the target movement path EH and the link S x2 -R x2 The included angle between the two is marked as gamma; the distance of the line segment BE is denoted as x 0 The distance of the line segment CH is denoted as y 0 ；
When the target ship sequentially passes through four links at uniform speed v along a straight line, the time when the microwave propagation loss of the receiving end is changed drastically due to shielding is recorded as t in time sequence 1 、t 2 、t 3 、t 4 For the target position parameter x 0 、y 0 The steps of estimating v and gamma are as follows:
step 1: the sizes of the +.ADB, +.BDC, +.BAC, +.ABD, +.ACD and +.ACB are obtained from the shipborne system, and the corresponding movement time intervals of the calculation target when traversing the four transceiving connecting lines are respectively expressed as deltat 21 ＝t 2 -t 1 ，Δt 32 ＝t 3 -t 2 ，Δt 43 ＝t 4 -t 3 ，Δt 42 ＝t 4 -t 2 ，Δt 31 ＝t 3 -t 1 ，Δt 41 ＝t 4 -t 1 ；
Step 2: calculating the target distance x 0 、y 0 ：
Wherein:
step 3: establishing rectangular coordinate system xoy along the directions of line segment CD and perpendicular CD to make quadrilateral region fall in first quadrant, setting E (x) 3 ,y 3 ) Wherein, the method comprises the steps of, wherein,x 1 ＝dcos(∠ADB+∠BDC)，y 1 ＝dsin(∠ADB+∠BDC)，
x 2 ＝c-cos(∠ACD+∠ACB)，y 2 =bsin (+acd) + ACB), calculating a target course angle gamma:
step 4: calculating a target movement speed v:
2. the system for networked marine vessel detection in an evaporative waveguide environment of claim 1, wherein said four evaporative waveguide communication devices are spaced 1-300km apart.
3. A networking marine vessel detection method in an evaporation waveguide environment according to claim 2, wherein the t is 1 、t 2 、t 3 、t 4 And judging through the level signal change of the receiving-end shipboard communication equipment.
4. An evaporating wave according to claim 3The networking type marine ship detection method under the guiding environment is characterized in that the moment when the path loss at the position of 3m of the receiving end is changed severely is sequentially recorded as t 1 、t 2 、t 3 、t 4 。
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| 蒸发波导环境下雷达电磁盲区的分布特征;张洁寒;郭涛;李雪萍;张瑜;;河南师范大学学报(自然科学版)(第04期);全文 * |
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