CN113009408B - Underwater target sound identification device based on elastic wave resonance regulation and control - Google Patents
Underwater target sound identification device based on elastic wave resonance regulation and control Download PDFInfo
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- CN113009408B CN113009408B CN202110180210.3A CN202110180210A CN113009408B CN 113009408 B CN113009408 B CN 113009408B CN 202110180210 A CN202110180210 A CN 202110180210A CN 113009408 B CN113009408 B CN 113009408B
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/725—Marker, boundary, call-sign or like beacons transmitting signals not carrying directional information
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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
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic 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
- 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
Abstract
The utility model provides an aquatic target sound identification means based on elastic wave resonance regulation and control, contains elastic ball integrated configuration, sound-transparent shell, elastic connecting rod, elastic rope and bolt, is a passive identification means, and its principle utilizes the low frequency elastic wave resonance characteristic that aquatic high molecular polymer elastic ball is showing, and through design combination ball result regulation and control formant and then structure acoustics bar code. The device is arranged on an underwater target and can be used for target identification, and the device is independently arranged in the water and can be used for navigation and positioning of a navigation channel. The invention improves the detection and identification capability, the detected target does not need to carry energy and supporting instruments thereof, the additional space and quality of the target are saved, the sound stealth performance is enhanced, and the invention has the advantages of low cost and long service life.
Description
Technical Field
The invention relates to an underwater target passive acoustic coding identification device, in particular to an underwater target acoustic identification device based on elastic wave resonance regulation.
Background
At present, underwater targets are rich in types, and are developed from traditional large-scale water surface and underwater vessels to small targets such as various small unmanned aircrafts, mines and the like, and then to a cluster target for cooperative operation, and identification, positioning and navigation of the underwater targets are particularly important for normal operation of the underwater targets. The sound wave is relatively slow to attenuate in water and can be transmitted in a long distance, the communication mode is the most common underwater communication mode at present, and remote positioning, identification, navigation and the like of underwater targets depend on underwater sound beacons to a great extent. The traditional underwater acoustic beacon mainly adopts an active mode of active sonar for transmitting acoustic signals to work, the communication has the defects of narrow frequency band, low communication speed and high error rate, the sound stealth performance of underwater targets can be damaged without concealment, meanwhile, the working time is limited by carried energy, the working time is short, frequent energy supplement is needed, and the included transmitting transducer, power amplifier, electronic cabin and the like occupy relatively large space and have relatively high manufacturing cost, so that a new working mode is expected to be explored. At present, passive identification methods of targets in water are few, target echo characteristics are not fully applied in the field of target detection and identification, and target detection, identification and navigation technologies in complex marine environments and cluster operations need to be further improved.
Disclosure of Invention
In order to overcome the defects of the prior art, the underwater target sound identification device based on elastic wave resonance regulation and control is provided, through regulating and controlling Rayleigh elastic wave low-frequency resonance characteristics of a high-molecular polymer elastic ball, the corresponding relation between target sound scattering characteristics and binary symbols is established so as to construct acoustic codes, passive identification is realized, the device has better concealment, and a detected target does not need to carry energy and matched instrument equipment thereof, so that the durability and stability of the device are improved, and the additional space and quality of the target are saved.
Technical solution of the invention
An underwater target sound identification device based on elastic wave resonance regulation and control is characterized by comprising an elastic ball combined structure, a sound-transmitting shell, an elastic connecting rod and an elastic rope,
the elastic ball composite structure comprises two high molecular polymer solid balls with specific radiuses;
the sound-transmitting shell comprises two half shells, and the two half shells are connected in a sealing way by a plurality of high polymer material bolts to form a cylindrical body with two dome-shaped ends; the surface of the sound-transmitting shell is uniformly distributed with a plurality of running water meshes which are sealed by nylon meshes, and two ends of the sound-transmitting shell are provided with connecting rings for connecting other devices;
the two elastic connecting rods respectively fixedly connect the centers of the two solid balls to the central axis of the sound-transmitting shell and do not touch the surface of the inner shell of the sound-transmitting shell, and the two solid balls are connected through the elastic rope.
The elastic rope comprises ten elastic ropes, the elastic ball combined structure and the sound-transmitting shell are elastically connected in a multidirectional mode, the combined ball is stably located in a central suspension state in the shell, and the length of each elastic rope is half of the corresponding wavelength of the lowest emission frequency.
The combination of the balls with different radiuses of the two high molecular polymer solid balls with specific radiuses of the elastic ball combined structure forms different acoustic codes, the radiuses of the two elastic balls and the resonance frequency corresponding to a resonance peak meet an inverse relation, and through Rayleigh wave phase velocity resonance theory calculation in the high molecular polymer elastic balls and test verification, a plurality of combination modes which are easy to carry out acoustic coding are obtained as follows:
the sound-transmitting shell is made of high molecular polymer and has good sound-transmitting performance.
When the device is used for target identification, the device is arranged on a target in water; when the device is used for navigation path calibration and navigation, the device can be independently placed in water.
The use method of the device comprises the following steps:
the method comprises the following steps: the echo of the underwater high-molecular polymer elastic ball has obvious low-frequency resonance characteristics, the principle is that the subsonic Rayleigh wave of the underwater high-molecular polymer elastic ball is transmitted to form a backscattering low-frequency enhancement phenomenon caused by an acoustic tunnel effect, and the resonance condition is that the phase difference between the subsonic Rayleigh wave and the specular reflection echo satisfies integral multiples of 2 pi. By utilizing the characteristics, the proper radius combination of the two high-molecular polymer elastic spheres is selected, so that the Rayleigh wave resonant frequencies of the two spheres are in different frequency bands, and the formants can be distinguished in a spectrogram so as to carry out acoustic coding.
Step two: and connecting the selected combined balls by acrylic material thin rods, installing the combined balls in the center of the sound-transmitting shell, binding all directions of the two balls with the shell by using elastic ropes, and sealing the shell to finish the assembly of the sound marking device.
Step three: if the device is used for underwater target identification, the device is installed on the side surface of a main body target to be identified, or if the device is used for navigation, the device can be separately placed in water and in a suspension state, placed in water and waits for the inside to be sufficiently watered.
Step four: the underwater acoustic transducer which is combined with the transceiver is distributed in water, the applicable frequency band covers 6k-10.5kHz, and the acoustic wave beam emitted by the transducer can be irradiated to the device from the center.
Step five: the electronic instrument equipment of each part for signal transmission and acquisition is accurately connected and debugged, and circuit crosstalk and external signal interference are reduced.
Step six: the underwater acoustic transducer emits a short pulse chirp signal of 6k-10.5 kHz. The transducer synchronously receives the target echo signal and ensures that the transmitting signal is not limited. And repeating the measurement to obtain stable data.
Step seven: and taking out the transmitting signal and the target echo signal by taking a proper time window, performing convolution on the transmitting signal and the target echo signal respectively with the constructed long-pulse linear frequency modulation signal with the same frequency, and obtaining the strength of the transmitting signal and the strength of the echo signal by using an envelope through Hilbert transform. The spherical wave attenuation law is utilized to respectively convert the spherical wave attenuation law to the target center, the ratio of the spherical wave attenuation law to the target center is calculated to obtain a backscattering morphological function, and the formants of the backscattering morphological function are distributed in different frequency bands.
Wherein, | f | is the form function amplitude, | p i I and I p s I is the amplitude of the transmitting signal and the echo amplitude after being converted to the target center according to the spherical wave attenuation rule, f is the frequency, and a is half of the distance between the centers of the spheres.
Step eight: the frequency band of 6kHz-10.5kHz is divided into 3 sub-bands, the bandwidth of the sub-bands is 1.5kHz, and spheres with different radiuses are combined to form resonance peaks in different frequency bands. And integrating the shape function curve to obtain the scattering energy in each sub-frequency band, and determining a threshold value. The part above the threshold is set to "1", and the frequency band below the threshold is set to "0", that is, binarization processing, to obtain binary acoustic codes. "1" is represented as a black bar, and "0" is represented as a white bar, resulting in an acoustic barcode corresponding to the combination sphere. Each acoustic code corresponds to the elastic ball combination form one to one, namely each device corresponds to a unique acoustic code and can be used as an underwater target identification mark.
The invention has the following advantages:
(1) The principle of the invention is that the phenomenon of low-frequency backscattering enhancement caused by an acoustic tunnel effect is formed by using the propagation of subsonic Rayleigh waves in the high-molecular polymer elastic ball in water, and an acoustic coding is constructed by regulating and controlling an echo structure through proper radius combination design, wherein the elastic wave has obvious low-frequency resonance characteristics, large resonance peak frequency bandwidth intensity and long low-frequency propagation distance, and is easy to detect, identify and code;
(2) The invention belongs to a passive recognition device, a detected target does not need to carry energy and matched instrument equipment like an active acoustic beacon, thereby improving the durability of the device and saving the additional space and quality of the target, the detected target does not need to actively transmit signals, and the device has better concealment;
(3) Compared with an active acoustic beacon device, the active acoustic beacon device does not need to consider the problems of instrument failure, equipment aging and the like, is mainly made of common high-molecular polymers, and has the advantages of low cost, good stability and long service life.
Drawings
FIG. 1 is a diagram of an underwater target sound identification device based on elastic wave resonance regulation and control provided by the invention; wherein, (a) is a schematic diagram of the whole structure; (b) is a top view of the acoustically transparent enclosure;
fig. 2 is a schematic diagram of a preferred embodiment of an underwater target acoustic identification device based on elastic wave resonance regulation and control provided in the present invention;
FIG. 3 is a data processing flow chart of the acoustic identification device for underwater targets based on elastic wave resonance regulation and control provided by the invention;
FIG. 4 is a graph of the results of the morphology functions provided by the present embodiment; wherein (a) is a combined spherical state function of 60mm + 45mm; (b) is a combined spherical state function of 65mm + 50mm;
FIG. 5 is a diagram of the results of acoustic encoding provided by an embodiment of the present invention; wherein (a) the morphological function integral surface of the four composite spheres; (b) acoustic coding results of the four combination balls;
reference numbers in the figures: 1. a high-molecular polymer solid sphere (1); 2. a high-molecular polymer solid sphere (2); 3. an acoustically transparent housing; 4. an elastic connecting rod; 5. an elastic cord; 6. mesh holes for water flowing; 7. and (4) bolts.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The invention is used for underwater target identification, route calibration and navigation. When the target recognition is used, the target recognition device is arranged on the underwater target; when the device is used for calibrating and navigating the navigation path, the device can be independently placed in water.
Referring to fig. 1, the device for underwater object identification, route calibration and navigation of the present invention comprises elastic ball assembly structures 1 and 2, a sound-transparent casing 3, an elastic connecting rod 4, an elastic rope 5, a water flow mesh 6 and a bolt 7.
The elastic ball combined structures 1 and 2 comprise two high molecular polymer solid balls with specific radiuses.
The sound-transmitting shell 3 comprises two half shells, and the two half shells are sealed and connected by a plurality of high polymer material bolts 7 to form a cylindrical body with two dome-shaped ends; a plurality of water flow mesh holes 6 are uniformly distributed on the surface of the sound-transmitting shell 3, the mesh holes are sealed by nylon meshes, and connecting rings for connecting other devices are arranged at two ends of the sound-transmitting shell 3.
The two elastic connecting rods 4 respectively fixedly connect the centers of the two solid balls to the central axis of the sound-transmitting shell 3 and do not touch the surface of the inner shell of the sound-transmitting shell 3, and the two solid balls are connected through the elastic ropes 5.
The elastic rope 5 comprises ten elastic ropes, the elastic ball combined structures 1 and 2 and the sound-transmitting shell 3 are elastically connected in a multi-direction mode, the combined ball is stably located in a central suspension state in the shell, and the length of each elastic rope is half of the corresponding wavelength of the lowest emission frequency.
The combination of the balls with different radiuses of the two high polymer solid balls with specific radiuses of the elastic ball combined structures 1 and 2 forms different acoustic codes, the radiuses of the two elastic balls and the resonance frequency corresponding to a resonance peak meet an inverse relation, and through Rayleigh wave phase velocity resonance theory calculation in the high polymer elastic balls and test verification, a plurality of combination modes which are easy to carry out acoustic coding are obtained as follows:
the material of the sound-transmitting shell 3 is high molecular polymer, and has good sound-transmitting performance.
Examples
The device comprises elastic ball combined structures 1 and 2, a sound-transmitting shell 3, an elastic connecting rod 4, an elastic rope 5, a water flowing mesh 6 and a bolt 7, as shown in figure 1 (a).
The elastic ball combined structure comprises two high polymer solid balls 1 and 2, the material is high Polymer (PMMA), the combined ball structure with specific radius has specific acoustic identification, namely acoustic coding, and the combined form of the balls with different radii has different acoustic coding.
The radius of the elastic ball and the resonance frequency corresponding to the resonance peak meet the inverse relation, and several combination modes which are easy to acoustically encode are obtained through Rayleigh wave phase velocity resonance theory calculation and experimental verification in the high-molecular polymer elastic ball and are selected from the combination modes.
The elastic connecting rod 4 is used for fixedly connecting the centers of the two balls, and the length of the connecting rod is half of the wavelength corresponding to the lowest frequency of emission.
The sound-transmitting shell 3 is composed of two water-permeable half shells, is in a peanut shape in appearance, is made of high-molecular polymer, has good sound-transmitting performance, is 3mm thick, and is arranged in the center of the combined ball structure and does not touch the surface of the inner shell. 20 water flow mesh openings 6 with the radius of 5mm are uniformly distributed on the surface of the sound-transmitting shell, and the mesh openings are sealed by nylon meshes to prevent external sundries from entering. The two half shells are sealed by a high polymer material bolt 7;
the elastic rope 5 comprises ten elastic ropes, and the elastic ball combined structure and the sound-transmitting shell are elastically connected in a multidirectional manner, so that the combined ball is stably suspended in the center in the shell.
The invention is further described below with reference to the accompanying drawings, comprising the steps of:
the method comprises the following steps: the echo of the underwater high-molecular polymer elastic ball has obvious low-frequency resonance characteristics, the principle is that the subsonic Rayleigh wave of the underwater high-molecular polymer elastic ball is transmitted to form a backscattering low-frequency enhancement phenomenon caused by an acoustic tunnel effect, and the resonance condition is that the phase difference between the subsonic Rayleigh wave and the specular reflection echo satisfies integral multiples of 2 pi. By utilizing the characteristics, the proper radius combination of the two high molecular polymer elastic spheres is selected, so that the Rayleigh wave resonant frequencies of the two spheres are in different frequency bands, and the resonance peaks can be distinguished in a spectrogram so as to carry out acoustic coding.
Step two: the selected combined balls 1 and 2 are connected by a thin rod 4 made of acrylic materials, the length of the thin rod is 18cm, the diameter of the thin rod is 4mm, the combined balls are arranged in the center of a sound-transmitting shell 3, all directions of the two balls are bound with the shell by elastic ropes 5, the shell is sealed, and the assembly of the sound marking device is completed, wherein the structural schematic diagram of the device and the top view of the shell are respectively shown in figures 1 (a) and (b).
Step three: if the device is used for underwater target identification, the device is installed on the side surface of a main body target to be identified, or if the device is used for navigation, the device can be separately placed in water and in a suspension state, placed in water and waits for the inside to be sufficiently watered.
Step four: the energy exchanger is arranged in water, the applicable frequency range covers 6k-10.5kHz, and the sound wave beam emitted by the energy exchanger can irradiate the device from the center, and the using mode is shown in figure 2.
Step five: the electronic instrument equipment of each part for signal transmission and acquisition is accurately connected and debugged, and circuit crosstalk and external signal interference are reduced.
Step six: the underwater acoustic transducer emits a linear frequency modulation signal of 6k-10.5kHz, the pulse width is 0.2ms, the pulse period is 500ms, and the amplitude is 1v. The transducer synchronously receives the target echo signal and ensures that the transmitting signal is not limited. And repeating the measurement to obtain stable data.
Step seven: fig. 3 is a flow chart of signal processing to obtain a morphological function and acoustic coding. And taking out the transmitting signal and the target echo signal by taking a proper time window, performing convolution on the transmitting signal and the target echo signal respectively with the constructed long-pulse linear frequency modulation signal with the same frequency, and obtaining the strength of the transmitting signal and the strength of the echo signal by using an envelope through Hilbert transform. The spherical wave attenuation law is utilized to respectively convert the spherical wave attenuation law to the target center, the ratio of the spherical wave attenuation law to the target center is calculated to obtain a backscattering form function, the form functions of the two combination forms are shown in figure 4, and it can be seen that formants are distributed in different frequency bands.
Where | f | is the magnitude of the shape function, | p i I and I p s I is the amplitude of the transmitting signal and the echo amplitude after being converted to the target center according to the spherical wave attenuation rule, f is the frequency, and a is half of the distance between the centers of the spheres.
Step eight: the frequency band 6kHz-10.5kHz is divided into 3 sub-frequency bands, the sub-bandwidth is 1.5kHz, and spheres with different radii are combined to form resonance peaks in different frequency bands. And integrating the shape function curve to obtain the scattering energy in each sub-frequency band, and determining a threshold value. The part above the threshold is set to "1", and the frequency band below the threshold is set to "0", that is, binarization processing, resulting in binary acoustic coding. Representing "1" as a black bar and "0" as a white bar results in an acoustic barcode corresponding to the composite sphere, as shown in fig. 5. Each acoustic code corresponds to the elastic ball combination form one to one, namely each device corresponds to a unique acoustic code and can be used as an underwater target identification mark.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and 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 (4)
1. An underwater target sound identification device based on elastic wave resonance regulation and control is characterized by comprising an elastic ball combined structure (1,2), a sound-transmitting shell (3), an elastic connecting rod (4), an elastic rope (5), a water flow mesh (6) and a bolt (7);
the elastic ball combined structure (1,2) comprises two high polymer solid balls with specific radiuses;
the sound-transmitting shell (3) comprises two half shells, and the two half shells are connected in a sealing way by a plurality of high polymer material bolts (7) to form a cylindrical body with two dome-shaped ends; a plurality of running water meshes (6) are uniformly distributed on the surface of the sound-transmitting shell (3), the meshes are closed by nylon nets, and connecting rings for connecting other devices are arranged at two ends of the sound-transmitting shell (3);
the elastic connecting rod (4) fixedly connects the centers of the two solid balls to the central axis of the sound-transmitting shell (3) and does not touch the surface of the inner shell of the sound-transmitting shell (3), and the two solid balls are connected through the elastic rope (5).
2. The acoustic identification device for underwater targets based on elastic wave resonance regulation and control as claimed in claim 1, wherein the elastic cord (5) comprises ten elastic cords, and the elastic ball combined structure (1,2) and the sound-transparent casing (3) are elastically connected in multiple directions, so that the combined ball is stably suspended in the center of the casing, and the length of the elastic cord is half of the wavelength corresponding to the lowest frequency of emission.
3. The underwater target sound identification device based on elastic wave resonance regulation and control of claim 1 is characterized in that the combination of two high polymer solid spheres with specific radiuses of the elastic sphere combined structure (1,2) forms different acoustic codes, the radiuses of the two elastic spheres and the resonance frequency corresponding to the Rayleigh elastic wave low-frequency formant satisfy an inverse proportion relation, and through Rayleigh wave phase velocity resonance theory calculation in the high polymer elastic spheres and test verification, the combination modes of the several easy acoustic codes suitable for the 6k-10.5kHz frequency band are obtained as follows:
when the combined radius is a4=65mm, a1=45mm, the acoustic coding is 100;
when the combined radius is a2=50mm, the acoustic encoding is 010;
when the combined radius is a1=45mm, then the acoustic coding is 001;
when the combined radius is a3=60mm, a1=45mm, the acoustic coding is 101;
when the combined radius is a4=65mm, a2=50mm, the acoustic coding is 110;
when the combined radius is a2=50mm, a1=45mm, the acoustic coding is 011;
when the combined radius is a3=60mm, a2=50mm, the acoustic encoding is 111.
4. The acoustic target sound identification apparatus based on elastic wave resonance control according to any one of claims 1 to 3, wherein the acoustically transparent casing (3) has an acoustically transparent property.
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| US4476549A (en) * | 1982-03-31 | 1984-10-09 | The United States Of America As Represented By The Secretary Of The Navy | Calibration method for acoustic scattering measurements using a spherical target |
| US6397661B1 (en) * | 1998-12-30 | 2002-06-04 | University Of Kentucky Research Foundation | Remote magneto-elastic analyte, viscosity and temperature sensing apparatus and associated methods of sensing |
| RU2205425C1 (en) * | 2002-01-28 | 2003-05-27 | Бахарев Сергей Алексеевич | Method determining stocks of fish with gas bladders |
| WO2006132861A1 (en) * | 2005-06-03 | 2006-12-14 | Baker Hughes Incorporated | Pore-scale geometric models for interpetation of downhole formation evaluation data |
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