CN113030925B - Data acquisition equipment, underwater vertical array element position measurement system and method - Google Patents
Data acquisition equipment, underwater vertical array element position measurement system and method Download PDFInfo
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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
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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- 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
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Abstract
The invention discloses a data acquisition device, an underwater vertical array element position measurement system and a method, wherein the method comprises the following steps: acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in the vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface; acquiring the depth of the vertical array in an inclined state; calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state; acquiring the central depth of a vertical array acoustic section; calculating a second inclination angle according to the central depth of the acoustic section of the vertical array, the depth of the vertical array in an inclined state and the half-array length of the vertical array; acquiring array element spacing of a vertical array in a vertical state; and calculating to obtain the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance. The invention can improve the accuracy of the array element position measurement result of the underwater vertical array.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to data acquisition equipment, an underwater vertical array element position measurement system and an underwater vertical array element position measurement method.
Background
The underwater target radiation noise is one of the important indexes of the concealment of the underwater target radiation noise, and is used for evaluating the risks of the underwater target in enemy sonar detection and underwater weapon attack. The accurate measurement and evaluation of the radiation noise level of the underwater target is an important basis for checking the realization condition of the technical index of the product and design shaping. With the development of vibration reduction and noise reduction technology, the radiation noise of the underwater target is gradually reduced, and under the condition of the same background noise, the conventional single hydrophone measurement method can not meet the test signal-to-noise ratio requirement of the radiation noise of the quiet underwater target gradually. Compared with a single hydrophone measurement method, the vertical array measurement method can improve the measurement signal-to-noise ratio, reduce measurement fluctuation and improve the accuracy of measurement results.
The vertical array measurement system is affected by water flow and can incline, so that the detection precision and the measurement result are affected. In order to reduce measurement errors and realize accurate measurement of radiation noise of a quiet underwater target, it is necessary to perform array calibration on the underwater attitude of the vertical array, and therefore, it is necessary to improve the accuracy of the array element position measurement result of the underwater vertical array.
Disclosure of Invention
The embodiment of the application can improve the accuracy of the array element position measurement result of the underwater vertical array by providing the data acquisition equipment, the underwater vertical array element position measurement system and the underwater vertical array element position measurement method.
The invention provides a method for measuring the position of an underwater vertical array element, which comprises the following steps:
Acquiring a first distance and a second distance; the first distance is the distance between a suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
Acquiring the depth of the vertical array in an inclined state;
Calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclined state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
Acquiring the central depth of the vertical array acoustic section;
Calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
acquiring array element spacing of the vertical array in a vertical state;
And calculating to obtain the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
Preferably, the calculating the first inclination angle according to the first distance, the second distance, and the depth of the vertical array in the inclined state includes:
the first inclination angle is calculated by the following formula:
Wherein θ 1 is the first inclination angle, D 1 is the first distance, D 2 is the second distance, and D d is the depth of the vertical array in the inclined state.
Preferably, the calculating the second inclination angle according to the center depth of the acoustic section of the vertical array, the depth of the vertical array in the inclined state, and the half array length of the vertical array includes:
The second inclination angle is calculated by the following formula:
Wherein θ 2 is the second tilt angle, Z o is the center depth of the acoustic segment of the vertical array, and d 3 is the half-array length of the vertical array.
Preferably, the acquiring the center depth of the acoustic section of the vertical array includes:
Acquiring time domain data of a vertical array element;
according to the time domain data, calculating to obtain frequency domain data;
according to the frequency domain data, calculating to obtain a covariance matrix of the measured data of the vertical array;
Obtaining a near field array epidemic vector, and calculating to obtain a target positioning function according to the covariance matrix and the near field array epidemic vector;
and calculating the center depth of the vertical array acoustic segment according to the target positioning function.
The invention also provides a data acquisition device, which is connected with the vertical array through a cable and comprises;
The distance acquisition module is used for acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
the first depth acquisition module is used for acquiring the depth of the vertical array in an inclined state;
The first inclination angle acquisition module is used for calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
The second depth acquisition module is used for acquiring the center depth of the vertical array acoustic segment;
The second inclination angle acquisition module is used for calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
The array element interval acquisition module is used for acquiring the array element interval of the vertical array in a vertical state;
and the array element position calculation module is used for calculating and obtaining the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
The invention also provides an underwater vertical array element position measurement system, which comprises data acquisition equipment, a vertical array and a sound source, wherein the vertical array and the sound source are both arranged underwater, and the vertical array is connected with the data acquisition equipment through a cable;
The data acquisition device comprises;
The distance acquisition module is used for acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
the first depth acquisition module is used for acquiring the depth of the vertical array in an inclined state;
The first inclination angle acquisition module is used for calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
The second depth acquisition module is used for acquiring the center depth of the vertical array acoustic segment;
The second inclination angle acquisition module is used for calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
The array element interval acquisition module is used for acquiring the array element interval of the vertical array in a vertical state;
and the array element position calculation module is used for calculating and obtaining the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
Preferably, the device also comprises a depth finder and a counterweight device; the counterweight device, the vertical array, the depth finder and the data acquisition device are connected in series through cables;
the depth finder is used for measuring a first distance and a second distance and sending the first distance and the second distance to the data acquisition equipment.
Preferably, the first inclination angle obtaining module is configured to calculate the first inclination angle according to the following formula:
Wherein θ 1 is the first inclination angle, D 1 is the first distance, D 2 is the second distance, and D d is the depth of the vertical array in the inclined state.
Preferably, the second inclination angle obtaining module is configured to calculate the second inclination angle according to the following formula:
Wherein θ 2 is the second tilt angle, Z o is the center depth of the acoustic segment of the vertical array, and d 3 is the half-array length of the vertical array.
Preferably, the array elements of the vertical array are uniformly distributed, and the interval between the adjacent array elements of the vertical array is 3cm-75 m.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
The data acquisition equipment provided by the invention can acquire the inclination angle of the cable at the upper part of the vertical array in the vertical direction, the inclination angle of the acoustic section of the vertical array in the vertical direction, the distance between the suspension point of the vertical array in the vertical state and the water surface, the distance between the top end of the acoustic section of the vertical array and the water surface, and the array element distance of the vertical array in the vertical state, and then calculate the position of the vertical array element according to the acquired inclination angle and the distance parameter. The system provided by the invention calculates the array element position by utilizing the collected inclination angle and distance parameters, considers that the vertical array can incline under the influence of water flow under water and the corresponding inclination angle, improves the accuracy of the array element position measurement result of the underwater vertical array, and is beneficial to improving the accuracy of the underwater target detection and radiation noise measurement result when the vertical array can be used for underwater target detection and radiation noise measurement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an underwater vertical array element position measurement system provided by the invention;
FIG. 2 is a schematic diagram of a two-dimensional estimation result of a vertical array center depth corresponding to a sound source distance according to an embodiment of the present invention;
FIG. 3 is a schematic view of sound source localization results according to an embodiment of the present invention;
fig. 4 is a flow chart of the method for measuring the position of the underwater vertical array element provided by the invention.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art, the following detailed description of the technical scheme of the present application will be given by way of specific examples with reference to the accompanying drawings.
The invention provides a data acquisition device and an underwater vertical array element position measurement system, as shown in figure 1, the underwater vertical array element position measurement system comprises: the measuring ship 7, the counterweight equipment, the vertical array 2, the sounding instrument, the data acquisition equipment 5, the display terminal 6 and the sound source 9; the counterweight device, the vertical array 2, the depth finder and the sound source 9 are all arranged under water, and the counterweight device, the vertical array 2, the depth finder, the data acquisition device 5 and the display terminal 6 are connected in series through the cable 4. The data acquisition device 5 and the display terminal 6 are both arranged on the measuring vessel 7. The spacing between the adjacent array elements of the vertical array 2 is between 3cm and 75m, and the underwater sound signals of 10-50000 Hz are correspondingly received.
In an embodiment, the depth finder comprises a first depth finder 3 and a second depth finder 8, and the weight device comprises a first weight device 1 and a second weight device. The first counterweight device 1, the vertical array 2, the first depth finder 3, the data acquisition device 5 and the display terminal 6 are connected in series through cables. The second counterweight device, the sound source 9 and the second depth finder 8 are connected in series by cables and to the measuring vessel 7.
The array elements of the vertical array 2 are uniformly distributed, the water depth of the array elements at the top end of the vertical array 2 is not less than 10 meters, and the vertical array 2 comprises M array elements, wherein M is more than or equal to 2. The cable is a multi-core cable, the number of cable cores of the cable is at least 2M+2, and the cable cores of the cable comprise 2M signal cable cores and 2 power cable cores. Each array element of the vertical array 2 is connected with two cable cores, and the vertical array 2 also needs to be powered by the two cable cores.
The sound source 9 is used for generating the underwater sound signal, and a standard sound source 9 may be used.
When no water flow and no wind wave exist in an ideal state, the vertical array 2 is in a vertical state under the action of gravity, as shown by a broken line in fig. 1; in practice, the vertical array 2 is inclined due to the influence of water currents and wind waves, and the inclination of the lower acoustic section of the vertical array 2 is smaller than the inclination of the upper cable due to the influence of the counterweight device, so that the vertical array 2 can be simplified to an inclination model shown by a solid line in fig. 1.
The data acquisition device 5 includes: the device comprises a distance acquisition module, a first depth acquisition module, a first inclination angle acquisition module, a second depth acquisition module, a second inclination angle acquisition module, an array element distance acquisition module and an array element position calculation module.
The distance acquisition module is used for acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in the vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface.
The first depth acquisition module is used for acquiring the depth of the vertical array in an inclined state.
The first inclination angle acquisition module is used for calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array 2 in the vertical direction.
The second depth acquisition module is used for acquiring the center depth of the vertical array acoustic segment.
The second inclination angle acquisition module is used for calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array 2 acoustic section in the vertical direction.
The array element interval acquisition module is used for acquiring the array element interval of the vertical array 2 in a vertical state.
The array element position calculation module is used for calculating and obtaining the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
The underwater vertical array element position measuring system also comprises a depth finder and a counterweight device. The counterweight device, the vertical array, the depth finder and the data acquisition device are connected in series through cables. The depth finder is used for measuring a first distance and a second distance and transmitting the first distance and the second distance to the data acquisition equipment.
Specifically, the first inclination angle acquisition module is configured to calculate the first inclination angle according to the following formula:
Wherein θ 1 is a first inclination angle, D 1 is a first distance, D 2 is a second distance, and D d is a depth of the vertical array in an inclined state.
In one embodiment, the center depth of the acoustic segment of the vertical array 2 is Z 0, the half-array length of the vertical array 2 is d 3, and the second tilt angle θ 2 is calculated as follows:
the second depth acquisition module includes: the device comprises a time sequence calculating unit, a frequency domain calculating unit, a matrix calculating unit, a target positioning function calculating unit and a center depth calculating unit.
The time sequence calculating unit is used for obtaining the time domain data of the vertical array 2 array elements.
The frequency domain calculating unit is used for calculating frequency domain data according to the time domain data.
The matrix calculation unit is used for calculating covariance matrix of the measured data of the vertical array 2 according to the frequency domain data.
The target positioning function calculation unit is used for obtaining the near-field array epidemic vector and calculating to obtain a target positioning function according to the covariance matrix and the near-field array epidemic vector.
Specifically, the target positioning function calculating unit is configured to calculate a near field array popularity vector according to the detection frequency of the underwater sound source 9 and the distance between the underwater sound source 9 and the array element of the vertical array 2.
The center depth calculating unit is used for calculating the center depth of the acoustic segment of the vertical array 2 according to the target positioning function.
The array element interval acquisition module is used for acquiring the array element interval of the vertical array 2 in a vertical state.
The array element position calculation module is used for calculating and obtaining the position of the array element of the vertical array 2 according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
The target position estimation is performed on the distance and depth dimensions, and the time domain data of M array elements obtained by sampling the vertical array 2 is assumed to be x (t):
x(t)＝[x1(t),x2(t),…xn(t),…xM(t)] (3)
Wherein x n (t) is time domain data of the nth sampling point, and M is the number of 2 array elements of the vertical array.
Fourier transforming equation (3) to obtain frequency domain data X (f):
Covariance matrix of measured data of the vertical array 2 is obtained by the following calculation
In the formula, the superscript (H) represents the conjugate transpose.
The object localization function, which is a variable of the horizontal distance r of the vertical array 2 from the sound source 9 and the depth z of the vertical array 2, can be expressed as:
wherein w (r, z) represents a near field array manifold vector, the superscript H represents a conjugate transpose, and the central array element of the vertical array 2 is taken as a reference array element, which is expressed as follows:
wherein c is the sound velocity under water, f is the frequency of the underwater sound signal, d i (r, z) represents the distance from the position point (r, z) of the sound source 9 to the ith array element, and is expressed as follows:
Where z i denotes the depth of the i-th element.
The depth z o corresponding to the maximum point of the objective function is the central depth of the vertical array 2, and the position of each array element can be obtained by further combining the first inclination angle theta 1 and the second inclination angle theta 2 of the vertical array 2. Calculating to obtain the calibrated array element position by taking the hanging point O of the vertical array 2 as an origin:
Wherein h is the array element spacing of the vertical array 2 in the vertical state.
After the calibrated array element position is calculated, the array element position can be verified by utilizing a near-field focusing wave velocity forming method according to the depth of the sound source 9 recorded by the second depth finder 8 and combining the amplitude and phase information of the sound source 9, so as to determine whether the calibrated array element position is accurate.
In another specific embodiment, the first distance D 1 =5.0 meters, the second distance D 2 =9.6 meters, the half array length D 3 =15.36 meters of the vertical array 2, the array element distance h=5.0 meters in the vertical state of the vertical array 2 are measured by using a metric ruler, the depth D d =8.34 meters in the inclined state of the vertical array 2 is recorded by using the first depth finder 3, the depth D s =24.65 meters of the sound source 9 is recorded by using the second depth finder 8, and the inclination angle of the cable at the upper part of the vertical array 2 is calculated by substituting formula (1) under the working condition to be θ 1 =24 °.
And transmitting the linear frequency modulation signal by utilizing the sound source 9, and starting the data acquisition equipment 5 to record the time domain data x (t) of the M-element vertical array 2.
Performing Fourier transform on time domain data X (t) of the M-ary vertical array 2 by using the formula (4) to obtain frequency domain data X (f), and obtaining a covariance matrix of the frequency domain data by using the formula (5)
The array manifold vector w (r, z) of the vertical array 2 is calculated by using the expression (7) and the expression (8), and the target positioning function Φ (r, z) is calculated by substituting the expression (6).
And drawing a two-dimensional pseudo color diagram of the target positioning function phi (r, z) with respect to the distance r and the depth z, wherein the depth corresponding to the maximum value point (23.69,39.6) is the central depth of the matrix, namely the central depth z o of the vertical matrix 2 is 23.69 meters, as shown in fig. 2.
Substituting z o into formula (2) to calculate to obtain the inclination angle theta 2 =2° of the acoustic segment of the vertical array 2 in the vertical direction, substituting the parameters into formula (9) to calculate to obtain the calibrated array element position P i (x, z).
And (3) performing position estimation on the sound source 9 by using the calibrated vertical array 2 array to obtain a distance depth two-dimensional map shown in fig. 3. It can be seen that the estimated sound source 9 position coincides with the actual sound source 9 position (39.6,24.65), indicating that the calibrated vertical array 2 pattern coincides with the actual situation.
The invention also provides a method for measuring the position of the underwater vertical array element, which is executed by the underwater vertical array element position measuring system, as shown in fig. 4, and comprises the following steps:
s1, acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in the vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface.
S2, acquiring the depth of the vertical array in an inclined state.
And S3, calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in the inclined state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array 2 in the vertical direction.
S4, acquiring the center depth of the vertical array acoustic segment.
Acquiring the central depth of the acoustic segment of the vertical array 2 comprises the following steps:
s221, acquiring time domain data of 2 array elements of the vertical array.
S222, calculating to obtain frequency domain data according to the time domain data.
S223, calculating to obtain a covariance matrix of the measured data of the vertical array 2 according to the frequency domain data.
S224, obtaining a near-field array epidemic vector, and calculating to obtain an object positioning function according to the covariance matrix and the near-field array epidemic vector.
Acquiring a near field array popularity vector, comprising:
and calculating to obtain a near-field array popularity vector according to the detection frequency of the underwater sound source 9 and the distance between the underwater sound source 9 and the array elements of the vertical array 2.
S225, calculating the center depth of the acoustic segment of the vertical array 2 according to the target positioning function.
And S5, calculating a second inclination angle according to the central depth of the acoustic section of the vertical array, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the acoustic section of the vertical array 2 in the vertical direction.
S6, acquiring array element spacing of the vertical array in a vertical state.
And S7, calculating to obtain the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
In summary, the data acquisition device 5 provided by the invention can acquire the inclination angle of the cable at the upper part of the vertical array 2 in the vertical direction, the inclination angle of the acoustic section of the vertical array 2 in the vertical direction, the distance between the suspension point of the vertical array 2 in the vertical state and the water surface, the distance between the top end of the acoustic section of the vertical array 2 and the water surface, and the array element distance of the vertical array 2 in the vertical state, and then calculate the position of the array element of the vertical array 2 according to the acquired inclination angle and distance parameters. The system provided by the invention calculates the array element position by utilizing the collected inclination angle and distance parameters, considers that the vertical array 2 can incline under the influence of water flow and the corresponding inclination angle, improves the accuracy of the array element position measurement result of the underwater vertical array 2, and is beneficial to improving the accuracy of the underwater target detection and radiation noise measurement result when the vertical array is used for underwater target detection and radiation noise measurement.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The method for measuring the position of the underwater vertical array element is characterized by comprising the following steps:
Acquiring a first distance and a second distance; the first distance is the distance between a suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
Acquiring the depth of the vertical array in an inclined state;
Calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclined state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
Acquiring the central depth of the vertical array acoustic section;
Calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
acquiring array element spacing of the vertical array in a vertical state;
And calculating to obtain the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
2. The method for measuring the position of an underwater vertical array element according to claim 1, wherein the calculating a first inclination angle according to the first distance, the second distance, and the depth of the vertical array in an inclined state comprises:
the first inclination angle is calculated by the following formula:
Wherein θ 1 is the first inclination angle, D 1 is the first distance, D 2 is the second distance, and D d is the depth of the vertical array in the inclined state.
3. The method for measuring the position of an underwater vertical array element according to claim 2, wherein the calculating a second tilt angle according to the center depth of the vertical array acoustic section, the depth of the vertical array in the tilt state, and the half array length of the vertical array comprises:
The second inclination angle is calculated by the following formula:
Wherein θ 2 is the second tilt angle, Z o is the center depth of the acoustic segment of the vertical array, and d 3 is the half-array length of the vertical array.
4. A method for measuring the position of an underwater vertical array element as claimed in claim 3, wherein the step of obtaining the center depth of the vertical array acoustic segment comprises the steps of:
Acquiring time domain data of a vertical array element;
according to the time domain data, calculating to obtain frequency domain data;
according to the frequency domain data, calculating to obtain a covariance matrix of the measured data of the vertical array;
Obtaining a near field array epidemic vector, and calculating to obtain a target positioning function according to the covariance matrix and the near field array epidemic vector;
and calculating the center depth of the vertical array acoustic segment according to the target positioning function.
5. The data acquisition device is characterized by being connected with a vertical array through a cable and comprising;
The distance acquisition module is used for acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
the first depth acquisition module is used for acquiring the depth of the vertical array in an inclined state;
The first inclination angle acquisition module is used for calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
The second depth acquisition module is used for acquiring the center depth of the vertical array acoustic segment;
The second inclination angle acquisition module is used for calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
The array element interval acquisition module is used for acquiring the array element interval of the vertical array in a vertical state;
and the array element position calculation module is used for calculating and obtaining the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
6. The underwater vertical array element position measurement system is characterized by comprising data acquisition equipment, a vertical array and a sound source, wherein the vertical array and the sound source are both arranged underwater, and the vertical array is connected with the data acquisition equipment through a cable;
The data acquisition device comprises;
The distance acquisition module is used for acquiring a first distance and a second distance; the first distance is the distance between the suspension point of the vertical array in a vertical state and the water surface, and the second distance is the distance between the top end of the acoustic section of the vertical array and the water surface;
the first depth acquisition module is used for acquiring the depth of the vertical array in an inclined state;
The first inclination angle acquisition module is used for calculating a first inclination angle according to the first distance, the second distance and the depth of the vertical array in an inclination state, wherein the first inclination angle is the inclination angle of the cable at the upper part of the vertical array in the vertical direction;
The second depth acquisition module is used for acquiring the center depth of the vertical array acoustic segment;
The second inclination angle acquisition module is used for calculating a second inclination angle according to the central depth of the vertical array acoustic section, the depth of the vertical array in an inclined state and the half-array length of the vertical array, wherein the second inclination angle is the inclination angle of the vertical array acoustic section in the vertical direction;
The array element interval acquisition module is used for acquiring the array element interval of the vertical array in a vertical state;
and the array element position calculation module is used for calculating and obtaining the vertical array element position according to the first inclination angle, the second inclination angle, the first distance, the second distance and the array element distance.
7. The underwater vertical array element position measurement system of claim 6, further comprising a depth finder and a weight device; the counterweight device, the vertical array, the depth finder and the data acquisition device are connected in series through cables;
the depth finder is used for measuring a first distance and a second distance and sending the first distance and the second distance to the data acquisition equipment.
8. The underwater vertical array element position measurement system of claim 6, wherein the first inclination angle acquisition module is configured to calculate the first inclination angle by the following formula:
Wherein θ 1 is the first inclination angle, D 1 is the first distance, D 2 is the second distance, and D d is the depth of the vertical array in the inclined state.
9. The underwater vertical array element position measurement system of claim 8, wherein the second inclination angle acquisition module is configured to calculate the second inclination angle by the following formula:
Wherein θ 2 is the second tilt angle, Z o is the center depth of the acoustic segment of the vertical array, and d 3 is the half-array length of the vertical array.
10. The underwater vertical array element position measurement system of claim 6, wherein,
The array elements of the vertical array are uniformly distributed, and the interval between the adjacent array elements of the vertical array is 3cm-75 m.
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