CN112731408A - Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method - Google Patents
Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method Download PDFInfo
- Publication number
- CN112731408A CN112731408A CN202011640246.7A CN202011640246A CN112731408A CN 112731408 A CN112731408 A CN 112731408A CN 202011640246 A CN202011640246 A CN 202011640246A CN 112731408 A CN112731408 A CN 112731408A
- Authority
- CN
- China
- Prior art keywords
- target
- sonar
- vector
- signal
- unmanned aerial
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000001228 spectrum Methods 0.000 claims abstract description 37
- 238000001914 filtration Methods 0.000 claims abstract description 34
- 238000012935 Averaging Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000012545 processing Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000005316 response function Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a vector hoisting sonar target detection method, an anti-submergence system and a method, wherein the target detection method comprises the following steps: the sonar is hoisted by the unmanned aerial vehicle; the sonar can transmit a pulse signal and can receive a echo signal; carrying out Fourier transform on echo signals received by each sensor of the vector sonar to obtain a cross spectrum of sound pressure and vibration speed; making components of the vibration velocity in different directions and sound pressure into cross spectra, taking a real part of a cross spectrum result, and solving an estimated direction of a target sound source by using the vibration velocity directivity of the vector hydrophone; carrying out spatial filtering on the echo signal by using a target azimuth angle of the pre-estimated azimuth, and extracting a main lobe signal of the echo signal; and matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, and estimating the distance of the target. The direction of the target can be accurately detected, the maneuverability is strong, the cost is low, the safety is high, and a large sea area can be effectively blocked.
Description
Technical Field
The invention relates to the technical field of anti-submergence of cluster vector hoisting sonar, in particular to a method for detecting a vector hoisting sonar target, an anti-submergence system and a method.
Background
Aviation anti-diving is an important ring for target confirmation, monitoring patrol and quick strike in 'system anti-diving'. Compared with surface ships, the aircraft anti-submergence has the advantages of strong flexibility, wide submergence searching range, high searching speed and the like. The lifting sonar combines sonar with an aviation platform, can realize detection and positioning of underwater targets such as submarines and the like in the air, and is one of main anti-diving equipment of an anti-diving helicopter. With the continuous improvement of stealth performance of modern submarines, the hoisting sonar is continuously developed towards the low-frequency remote detection direction, which requires the continuous enlargement of the size of a transducer array. However, due to the limitation of the self space and the load of the anti-diving helicopter, the size and the weight of the hoisting sonar must be strictly controlled, and the contradiction seriously hinders the improvement of the performance of the hoisting sonar. In addition, when the hoisting sonar is in an active working mode, the accurate direction of the target needs to be acquired by means of the echo of the transmitted signal, the helicopter position is easily exposed in the process, and the danger coefficient is extremely high.
The vector hydrophone is a novel underwater sound receiving transducer, and is formed by compounding a sound pressure sensor and a vibration velocity sensor. Compared with a conventional scalar sensor, the vector hydrophone can obtain more sound field vector information and has higher detection performance. The 8-shaped directivity of the vector hydrophone determines that the single vector hydrophone can be used for estimating the target direction, and a large array is needed if the traditional acoustic hydrophone is used. In practical engineering application, the vector hydrophone has the advantages of strong anti-interference capability, good low-frequency directivity and the like, and has great significance for the function extension of the suspended sonar when being applied to the suspended sonar.
Based on the system and the method, the invention provides a cluster vector hoisting sonar anti-submergence system and a cluster vector hoisting sonar anti-submergence method, which utilize a vector hoisting sonar cluster network carried by an unmanned platform to realize search submergence patrol in a large-scale sea area and provide an effective means for an aviation anti-submergence system.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a vector-suspended sonar target detection method and an anti-submarine system, which have the advantages of strong maneuverability, low cost and high safety, in order to overcome the above defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a vector hoisting sonar target detection method is provided, which comprises the following steps:
the sonar is hoisted by the unmanned aerial vehicle;
transmitting a pulse signal to underwater by a transmitting transducer of the sonar;
a vector hydrophone of the sonar receives an echo signal;
fourier transform is carried out on echo signals received by the vector hydrophone to obtain a cross spectrum of sound pressure and vibration velocity;
making components of the vibration velocity in different directions and sound pressure into cross spectra, taking a real part of a cross spectrum result, and solving an estimated direction of a target sound source by using the vibration velocity directivity of the vector hydrophone;
carrying out spatial filtering on the echo signal by using a target azimuth angle of the pre-estimated azimuth, and extracting a main lobe signal of the echo signal;
and matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, and estimating the distance of the target.
Further, the transmitting transducer of the sonar transmits pulse signals to the underwater, wherein the pulse signals are chirp signals and CW signal pulse signals.
Further, the echo signal received by the vector hydrophone is subjected to fourier transform to obtain a fast fourier transform algorithm, and the cross spectra of the obtained sound pressure signal p (t) and the obtained vibration velocity signal v (t) are as follows:
wherein: t is time and ω is angular frequency. P (omega) is the Fourier transform of the sound pressure, Vx(omega) and Vy(ω) is a fourier transform of the components of the vibration velocity in the x-axis and y-axis directions, respectively, and the symbol ×, represents a conjugate operation.
Further, the averaging the cross-spectrum result by using the sliding window time averaging method to obtain an average periodogram output includes: averaging the cross-spectrum results of the sound pressure and the vibration velocity by using a sliding window time averaging method to obtain an average periodogram output, and obtaining the estimated azimuth of the target sound source by using the result of the average periodogram.
Further, the vector hydrophone has the following vibration speed directivity:
where p (t) is sound pressure, θ is horizontal azimuth;
the target sound source azimuth is:
wherein Re is the operation of the real part.
Further, the matched filtering processing is time domain convolution processing or frequency domain matched filtering processing.
Further, the performing matched filtering is performing frequency domain matched filtering.
The invention also provides a cluster vector hoisting sonar anti-submergence system, which comprises:
the command platform is used for calculating the number of the needed unmanned aerial vehicles according to the sea area and the searching and submerging range of the sonar, sending a command to command the unmanned aerial vehicles to fly to a specified position, and sending a command to command the underwater submarine to attack a target position;
the unmanned aerial vehicles are in signal connection with the command platform and are used for receiving the command of the command platform, flying to a specified position and hoisting sonar underwater;
the plurality of sonars are respectively connected with the plurality of unmanned aerial vehicles through cables and are used for transmitting pulse information signals to underwater and receiving echo signals, Fourier transform is carried out on the echo signals to obtain a cross spectrum of sound pressure and vibration velocity, components of the vibration velocity in different directions and the sound pressure are subjected to cross spectrum, a real part of a cross spectrum result is obtained, the estimated direction of a target sound source is obtained by utilizing the vibration velocity directivity of the vector hydrophone, space-domain filtering is carried out on the echo signals by utilizing the target azimuth angle of the estimated direction, and main lobe signals of the echo signals are extracted; matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, estimating the distance of the target, obtaining the position of the target, and feeding back the position of the target to the command platform;
and the underwater submarine is in signal connection with the command platform and is used for receiving the command of the command platform and attacking the target position.
The invention also provides a cluster vector hoisting sonar anti-submergence method which is implemented by adopting the cluster vector hoisting sonar anti-submergence system and comprises the following steps:
the command platform calculates the number of the needed unmanned aerial vehicles and sends out positioning instructions;
the unmanned aerial vehicles fly to the designated positions according to the positioning instructions;
the unmanned aerial vehicles respectively hoist sonar to search the position of a target sound source, calculate the target position and feed the target position back to the command platform;
and the command platform commands the underwater submarine to attack the target position according to the received target position.
The invention has the beneficial technical effects that: the target detection method of the vector hoisting sonar can accurately detect the direction of the target, and has strong maneuverability and low cost; the cluster vector hoisting sonar anti-submergence system provided by the invention uses a vector hoisting sonar target detection method to detect the position of a target, can accurately detect the direction of the target, has the advantages of strong maneuverability, low cost and high safety, and can effectively monitor a large sea area;
the cluster vector hoisting sonar anti-submergence method can accurately obtain the position information of the enemy submarine through the unmanned aerial vehicle cluster hoisting sonar, is convenient for hiding the naval vessel of our party, and enables the enemy vessel not to detect the naval vessel of our party. When the unmanned aerial vehicle is attacked and cannot normally work, the satellite is used for sending radio to be in contact with the command platform, the command platform can command an underwater naval vessel to attack a target position according to the measured enemy vessel position, namely, the enemy is counterattacked, then a new unmanned aerial vehicle is sent to supplement, no dead angle and no interruption in monitoring are guaranteed, a method for carrying out target detection by hoisting sonar through a plurality of unmanned aerial vehicles is adopted, the method is strong in maneuverability, low in cost and high in safety, a large sea area can be effectively blocked, and the enemy is afraid of being good at.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a method for detecting a target by using a vector-suspended sonar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an unmanned aerial vehicle of a vector-hoisting sonar target detection method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a cluster vector hoist sonar anti-submergence system provided by an embodiment of the invention;
fig. 4 is a flowchart of a cluster vector hoisting sonar anti-submergence method according to an embodiment of the present invention;
labeled as: unmanned aerial vehicle 1, motor 11a, 11b, 11c, 11d, rotor 12, support 13, flight control computer 14, cable 2, sonar 3, command platform 4.
Detailed Description
The technical solution in the embodiments of the present invention is clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a method for detecting a target by using a vector-suspended sonar, which comprises the following steps:
s1, hoisting sonar 3 by the unmanned aerial vehicle 1;
s2, transmitting a pulse signal to the underwater by the transmitting transducer of the sonar 3;
s3, the vector hydrophone of the sonar 3 receives echo signals;
s4, carrying out Fourier transform on the echo signals received by the vector hydrophone to obtain a cross spectrum of sound pressure and vibration velocity;
s5, making cross spectra of components of the vibration velocity in different directions and sound pressure, taking a real part of a cross spectrum result, and solving an estimated direction of a target sound source by using the vibration velocity directivity of the vector hydrophone;
s6, performing spatial filtering on the echo signal by using the target azimuth angle of the estimated azimuth, and extracting a main lobe signal of the echo signal;
and S7, performing matched filtering processing on the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the time delay of the target echo signal, and estimating the distance of the target.
As shown in fig. 2 and 3, the drone 1 and the sonar 3 are connected by a cable 2. Unmanned aerial vehicle 1 is four rotor crafts, changes rotor 12 rotational speed through the rotational speed of adjusting four motors 11a, 11b, 11c, 11d, realizes the change of lift to control four rotor crafts's gesture and position. The four-rotor aircraft is a six-degree-of-freedom vertical elevator, has four input forces and six state outputs, and is an under-actuated system. Rotor 12 symmetric distribution is in the front and back of organism, four directions about, and four rotors 12 are in same high plane, and four rotors 12's structure and radius all the same, and the support 13 one end at four rotor crafts is installed to four motors 11a, 11b, 11c, 11d symmetry, flight control computer 14 and external equipment are laid to the space in the middle of the support 13. While the motor 11a and the motor 11c of the quad-rotor aircraft rotate counterclockwise, the motor 11b and the motor 11c rotate clockwise, so that both the gyroscopic effect and the aerodynamic torque effect are cancelled when the aircraft is flying in balance. A four-rotor aircraft can be implemented: vertical motion, pitch motion, roll motion, yaw motion, fore-and-aft motion, and yaw motion.
In step S2, the transmitting transducer of the sonar 3 transmits pulse signals to the underwater, where the pulse signals are chirp signals and CW signal pulse signals, and after pulse compression, a large time-bandwidth product can be obtained, and the sonar has a high distance resolution.
In step S4, the fourier transform is performed on the echo signals received by each sensor of the vector hydrophone of the sonar 3 to obtain a cross spectrum of the sound pressure and the vibration velocity, specifically, according to the ohm' S law of acoustics in the ocean, the phases of the sound pressure and the vibration velocity are the same, the energy of the two signals after the fourier transform is mainly concentrated on the real part of the cross spectrum, the components of the vibration velocity in different directions and the sound pressure are made into the cross spectrum, the real part of the cross spectrum result is obtained, and then the natural directivity of the vector hydrophone is utilized to obtain the azimuth of the target sound source.
The echo signals received by each sensor of the vector hydrophone of the sonar 3 are subjected to Fourier transform to obtain a fast Fourier transform algorithm, and the cross spectra of the sound pressure p (t) and the vibration velocity v (t) are as follows: s (ω) ═ P (ω) × Vi *(ω) (i ═ x, y), where: p (omega) is the Fourier transform of the sound pressure, Vx(omega) and Vy(ω) is a fourier transform of the components of the vibration velocity in the x-axis and y-axis directions, respectively, and the symbol ×, represents a conjugate operation.
Step S4, performing fourier transform on the echo signal received by the vector hydrophone of the sonar 3, and after obtaining a cross spectrum of the sound pressure and the vibration velocity, the method further includes: averaging the cross-spectrum results by using a sliding window time averaging method to obtain an average periodogram output; specifically, the cross-spectrum result of the sound pressure and the vibration velocity is averaged by using a sliding window time averaging method to obtain an average periodogram output, so that the estimated direction of the target sound source can be obtained by using the result of the average periodogram conveniently, and the average periodogram output is as follows:<Spvi(ω)>＝<P(ω)·Vi *(ω)〉(i＝x,y)。
the vector hydrophone has the following vibration speed directivity:
where p (t) is sound pressure, θ is horizontal azimuth;
the target sound source azimuth is:
and S6, performing spatial filtering on the echo signal by using the target azimuth angle of the estimated azimuth, and extracting a main lobe signal of the echo signal. If the vector (sound pressure) hydrophone array hangs up sonar, the received echo signals are processed by beam forming to obtain the sound source direction. The beamforming process is equivalent to spatial filtering of the echo, and spatial interference and environmental noise can be suppressed. And performing time delay compensation on the hydrophone array by using the estimated target azimuth angle, wherein an output signal of the array is a main lobe signal of an echo signal.
Step S7, performing matched filtering processing on the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the time delay of the target echo signal, and estimating the distance of the target; the matched filtering processing is time domain convolution processing or frequency domain matched filtering processing. As a preferred embodiment of the present invention, the performing matched filtering is performing frequency-domain matched filtering.
Specifically, the echo signal and the original pulse signal are subjected to matched filtering processing, the signal is equivalent to pulse compression through a matched filter, the time corresponding to the peak point of the compressed output pulse is found to be the time delay of the target echo, and the distance of the target is estimated by a formula R ═ C τ/2, wherein C is the underwater sound propagation speed, τ is the time delay of the echo, and R is the target distance.
Specifically, the matched filtering has two modes of a time domain convolution method and a frequency domain method, the pulse signal time-bandwidth product used by the algorithm is large, and the frequency domain matched filtering mode with small operation amount is adopted. Let the signal input to the matched filter be:
wherein f is0Is the carrier frequency, t is the time, u (t) is the signal complex envelope, and
u (f) is the frequency domain representation of the signal, and h (f) is the frequency response function of the matched filter. When the frequency response function of the matched filter is the complex conjugate of the input signal spectrum, the output signal-to-noise ratio is maximum, i.e.:
where j is an imaginary unit and f is frequency，f0Is the carrier frequency, t0And K is a constant for the moment when the output signal-to-noise ratio is maximum, and the signal output by the matched filter reflects the energy of the input signal when K is 1. According to the time delay adaptability of matched filtering, the echo signal and the original signal can be subjected to matched filtering.
As another preferred embodiment of the present invention, when the near target is close, the acoustic signal generated underwater by the target can be passively received directly through the vector hydrophone, and then the sound pressure and the vibration velocity (X, Y, Z three mutually orthogonal directions) signals received by the vector hydrophone are jointly processed, that is, the components of the vibration velocity in different directions and the sound pressure are cross-spectrally, the real part of the cross-spectral result is taken, and then the vibration velocity directivity of the vector hydrophone is utilized to obtain the azimuth information of the target sound source; performing triangulation positioning by using the azimuth information estimated by the unmanned aerial vehicles at two or more different positions to obtain the current position information of the target; the method has short detection distance and high concealment.
The vector hoisting sonar target detection method can accurately detect the direction of the target, and has strong maneuverability and low cost.
The invention also provides a cluster vector hoisting sonar anti-submergence system, which comprises: the command platform 4 is used for calculating the number of the needed unmanned aerial vehicles 1 according to the sea area and the searching and submerging range of the sonar 3, sending a command to command the unmanned aerial vehicles 1 to fly to a specified position, and sending a command to command the underwater submarine to attack a target position;
the unmanned aerial vehicles 1 are in signal connection with the command platform 4 and used for receiving the command of the command platform 4, flying to a specified position and hoisting sonar 3 underwater;
the plurality of sonars 3 are respectively connected with the plurality of unmanned aerial vehicles 1 through cables 2 and used for receiving echo signals, performing Fourier transform on the echo signals to obtain a cross spectrum of sound pressure and vibration speed, performing cross spectrum on components of the vibration speed in different directions and the sound pressure, taking a real part of a cross spectrum result, solving an estimated direction of a target sound source by using the vibration speed directivity of a vector hydrophone, performing space-domain filtering on the echo signals by using a target azimuth angle of the estimated direction, and extracting a main lobe signal of the echo signals; matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, estimating the distance of the target, obtaining the position of the target, and feeding back the position of the target to the command platform 4;
and the underwater submarine is in signal connection with the command platform 4 and is used for receiving the command of the command platform 4 and attacking the target position.
The cluster vector hoisting sonar antisubmarine method provided by the invention has the advantages that the target position is detected by using the vector hoisting sonar target detection method, the direction of the target can be accurately detected, the maneuverability is strong, the cost is low, the safety is high, and the large sea area can be effectively monitored.
The invention also provides a cluster vector hoisting sonar anti-submergence method, which comprises the cluster vector hoisting sonar anti-submergence system, and the method comprises the following steps:
the command platform 4 calculates the number of the required unmanned aerial vehicles 1 and sends out positioning instructions; specifically, the command platform 4 calculates the number of the required unmanned aerial vehicles 1 according to the sea area and the search and submergence range of the sonar 3, and sends corresponding instructions to the unmanned aerial vehicles 1 to command the unmanned aerial vehicles 1 to fly to the specified positions;
the unmanned aerial vehicles 1 fly to the designated positions according to the positioning instructions; namely, each unmanned aerial vehicle 1 flies to the position indicated by the instruction;
the unmanned aerial vehicles 1 respectively lift sonar 3 to search the position of a target sound source, calculate the target position and feed the target position back to the command platform 4; specifically, each unmanned aerial vehicle 1 respectively utilizes the vector hoisting sonar 3 to monitor the sea area in real time, reports the search submerging result and the working state of the unmanned aerial vehicle 1 to the search command platform 4 at any time, and utilizes the vector hydrophone of the sonar 3 to replace a small-sized sound pressure hydrophone array, so that the load weight of the unmanned aerial vehicle 1 can be greatly reduced, and the cruising ability of the unmanned aerial vehicle is improved;
and the command platform 4 commands the underwater submarine to attack the target position according to the received target position.
According to the cluster vector hoisting sonar anti-submergence method, under the active sonar working mode, the sonar hoisted by the unmanned aerial vehicle cluster can accurately obtain the position information of the enemy submarine, so that the enemy naval vessel can be conveniently hidden, and the enemy naval vessel cannot detect the enemy naval vessel. When the unmanned aerial vehicle 1 is attacked and can not normally work, the radio is sent out through the satellite to be communicated with the command platform 4, the command platform 4 can command an underwater naval vessel to attack a target position according to the measured enemy ship position, namely, the enemy person is counterattacked, then a new unmanned aerial vehicle is sent to supplement, no dead angle and no interruption are guaranteed to be monitored, a method for carrying out target detection by hoisting sonar through a plurality of unmanned aerial vehicles is adopted, the method is strong in maneuverability, low in cost and high in safety, a large sea area can be effectively blocked, and the enemy person is enabled not to be good at.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vector hoisting sonar target detection method is characterized by comprising the following steps:
the sonar is hoisted by the unmanned aerial vehicle;
transmitting a pulse signal to underwater by a transmitting transducer of the sonar;
a vector hydrophone of the sonar receives an echo signal;
fourier transform is carried out on echo signals received by the vector hydrophone to obtain a cross spectrum of sound pressure and vibration velocity;
making components of the vibration velocity in different directions and sound pressure into cross spectra, taking a real part of a cross spectrum result, and solving an estimated direction of a target sound source by using the vibration velocity directivity of the vector hydrophone;
carrying out spatial filtering on the echo signal by using a target azimuth angle of the pre-estimated azimuth, and extracting a main lobe signal of the echo signal;
and matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, and estimating the distance of the target.
2. The vector-hung sonar target detection method according to claim 1, wherein a transmitting transducer of the sonar transmits a pulse signal into the water, the pulse signal being a chirp signal and a CW signal pulse signal; the unmanned aerial vehicle communicates with the satellite through a wireless network in the air.
3. The method for detecting a vector suspended sonar target according to claim 1, wherein the step of performing fourier transform on the echo signals received by the vector hydrophone to obtain a cross spectrum of sound pressure and vibration velocity further comprises: and averaging the cross-spectrum results by using a sliding window time averaging method to obtain an average periodogram output.
4. The method for detecting the vector suspended sonar target according to claim 3, wherein a Fourier transform algorithm is applied to the echo signals received by the vector hydrophone, and the cross spectrum of the obtained sound pressure p (t) and the obtained vibration velocity v (t) is as follows: s (ω) ═ P (ω) × Vi *(ω) (i ═ x, y), where: omega is angular frequency, P (omega) is Fourier transform of sound pressure, V (omega) is Fourier transform of vibration velocityx(omega) and Vy(ω) is a fourier transform of the components of the vibration velocity in the x-axis and y-axis directions, respectively, and represents a conjugate operation.
5. The method of claim 3, wherein averaging the cross-spectral results using a sliding window time averaging method to obtain an average periodogram output comprises: averaging the cross-spectrum results of the sound pressure and the vibration velocity by using a sliding window time averaging method to obtain an average periodogram output, and obtaining the estimated azimuth of the target sound source by using the result of the average periodogram.
6. The method of detecting a target of a vector-hung sonar according to any one of claims 1 to 5, wherein the method comprises the step of detecting a target of a vector-hung sonarIs characterized in that the vector hydrophone has the following vibration speed directivity:
where p (t) is sound pressure, θ is horizontal azimuth, and t is time;
the target sound source azimuth is:
where ω is the angular frequency and Re is the real part operation.
7. The vector lifting sonar target detection method of claim 1, wherein the matched filtering process is a time domain convolution process or a frequency domain matched filtering process.
8. The method for detecting the target of the vector suspended sonar according to claim 1 or 7, wherein the performing matched filtering is performing frequency-domain matched filtering.
9. A cluster vector hoisting sonar anti-submergence system is characterized by comprising:
the command platform is used for calculating the number of the needed unmanned aerial vehicles according to the sea area and the searching and submerging range of the sonar, sending a command to command the unmanned aerial vehicles to fly to a specified position, and sending a command to command the underwater submarine to attack a target position;
the unmanned aerial vehicles are in signal connection with the command platform and are used for receiving the command of the command platform, flying to a specified position and hoisting sonar underwater;
the plurality of sonars are respectively connected with the plurality of unmanned aerial vehicles through cables and are used for transmitting pulse information signals to underwater and receiving echo signals, Fourier transform is carried out on the echo signals to obtain a cross spectrum of sound pressure and vibration velocity, components of the vibration velocity in different directions and the sound pressure are subjected to cross spectrum, a real part of a cross spectrum result is obtained, the estimated direction of a target sound source is obtained by utilizing the vibration velocity directivity of the vector hydrophone, space-domain filtering is carried out on the echo signals by utilizing the target azimuth angle of the estimated direction, and main lobe signals of the echo signals are extracted; matching and filtering the main lobe signal of the echo signal and the original pulse signal through a matched filter, finding out the time corresponding to the output peak point, solving the delay of the target echo signal, estimating the distance of the target, obtaining the position of the target, and feeding back the position of the target to the command platform;
and the underwater submarine is in signal connection with the command platform and is used for receiving the command of the command platform and attacking the target position.
10. A method of anti-submergence of cluster vector hoist sonar, characterized by being implemented using the system of claim 9, the method comprising the steps of:
the command platform calculates the number of the needed unmanned aerial vehicles and sends out positioning instructions;
the unmanned aerial vehicles fly to the designated positions according to the positioning instructions;
the unmanned aerial vehicles respectively hoist sonar to search the position of a target sound source, calculate the target position and feed the target position back to the command platform;
and the command platform commands the underwater submarine to attack the target position according to the received target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011640246.7A CN112731408A (en) | 2020-12-31 | 2020-12-31 | Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011640246.7A CN112731408A (en) | 2020-12-31 | 2020-12-31 | Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112731408A true CN112731408A (en) | 2021-04-30 |
Family
ID=75608939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011640246.7A Pending CN112731408A (en) | 2020-12-31 | 2020-12-31 | Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112731408A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879901A (en) * | 2023-05-05 | 2023-10-13 | 中国人民解放军国防科技大学 | Vector hydrophone vertical array deep sea broadband sound source depth estimation method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808207A (en) * | 2015-04-14 | 2015-07-29 | 西安理工大学 | Chaotic underwater sound positioning method |
| CN110988887A (en) * | 2019-12-25 | 2020-04-10 | 中国船舶重工集团公司七五0试验场 | Hanging type search and rescue sonar device, system and direction measurement method |
| CN112083427A (en) * | 2020-09-14 | 2020-12-15 | 哈尔滨工程大学 | Distance measurement method for unmanned underwater vehicle |
| WO2020249656A1 (en) * | 2019-06-13 | 2020-12-17 | Thales | Device for locking an object suspended on a cable |
-
2020
- 2020-12-31 CN CN202011640246.7A patent/CN112731408A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808207A (en) * | 2015-04-14 | 2015-07-29 | 西安理工大学 | Chaotic underwater sound positioning method |
| WO2020249656A1 (en) * | 2019-06-13 | 2020-12-17 | Thales | Device for locking an object suspended on a cable |
| CA3141425A1 (en) * | 2019-06-13 | 2020-12-17 | Philippe Thomas | Device for locking an object suspended on a cable |
| CN110988887A (en) * | 2019-12-25 | 2020-04-10 | 中国船舶重工集团公司七五0试验场 | Hanging type search and rescue sonar device, system and direction measurement method |
| CN112083427A (en) * | 2020-09-14 | 2020-12-15 | 哈尔滨工程大学 | Distance measurement method for unmanned underwater vehicle |
Non-Patent Citations (5)
| Title |
|---|
| 习亚平: ""一种混沌水声定位方法研究"", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
| 秦松磊: ""矢量舷侧阵信号检测和目标方位估计研究"", 《中国优秀博硕士学位论文全文数据库(硕士)基础科学辑》 * |
| 程龙 等: "基于ARM内核的履带式机器人控制方法及程序设计研究", 东北大学出版社 * |
| 邓兴民 等: ""无人机反潜作战研究"", 《科学技术创新》 * |
| 闫明松: ""舰载无人机作战使用及关键技术综述"", 《航空电子技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116879901A (en) * | 2023-05-05 | 2023-10-13 | 中国人民解放军国防科技大学 | Vector hydrophone vertical array deep sea broadband sound source depth estimation method |
| CN116879901B (en) * | 2023-05-05 | 2024-03-01 | 中国人民解放军国防科技大学 | Vector hydrophone vertical array deep sea broadband sound source depth estimation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11486346B1 (en) | Autonomous underwater beacon locator | |
| RU2463203C2 (en) | Towed underwater vehicle equipped with hydroacoustic equipment for sludged objects and pipelines | |
| CN110764055A (en) | Virtual plane array underwater moving target radiation noise vector measurement system and measurement method | |
| CN110231778B (en) | Universal UUV underwater target detection simulation method and system | |
| CN108680170A (en) | AUV based on electromagnetic wave attenuation principle returns depressed place navigation system and method | |
| CN105203999A (en) | Rotorcraft early-warning device and method | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN110703202B (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider and unmanned surface vehicle | |
| US20030005872A1 (en) | Active noise cancellation for a torpedo seeker head | |
| CN112731408A (en) | Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method | |
| CN103926934A (en) | Sonar detection device and method for docking between underwater robot and underwater working platform | |
| CN112130549A (en) | Unmanned ship formation control system with variable working modes and control method | |
| Terracciano et al. | Passive bearing estimation using a 2-D acoustic vector sensor mounted on a hybrid autonomous underwater vehicle | |
| CN110780303A (en) | Parametric array ice layer profile detection underwater robot and ice layer profile detection method | |
| CN111986518B (en) | Unmanned ship cooperative communication control system | |
| CN112098982B (en) | Tracking type lifting sonar and sonar control method | |
| Barbagelata et al. | Thirty years of towed arrays at NURC | |
| CN106952554A (en) | A kind of special civil-military inosculation fishing boat sonar system of teenager's research in defense-related science and technology | |
| Wang et al. | Application study of a new underwater glider with single vector hydrophone for target direction finding | |
| CN112729532B (en) | Method, device, equipment and medium for acquiring near-field transfer function of shallow sea motion sound source | |
| CN111273299B (en) | Underwater distributed suppressive interference arrangement method for networking sonar | |
| CN113608168A (en) | System and method for real-time self-calibration of underwater acoustic receiver position for water surface movable platform | |
| CN112362153A (en) | Low-frequency active underwater sound detection system and method based on UUV platform | |
| CN112550644A (en) | Water-spraying type underwater robot based on multi-beam forward-looking sonar | |
| RU2210087C1 (en) | Method of location of flying vehicle above water area from submarine ship |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210430 |