CN113204007B - Real-ship calibration system and method for transducer based on ultra-short baseline positioning - Google Patents
Real-ship calibration system and method for transducer based on ultra-short baseline positioning Download PDFInfo
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- CN113204007B CN113204007B CN202110590367.3A CN202110590367A CN113204007B CN 113204007 B CN113204007 B CN 113204007B CN 202110590367 A CN202110590367 A CN 202110590367A CN 113204007 B CN113204007 B CN 113204007B
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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
- 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
- G01S7/52004—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The invention discloses a transducer real ship calibration system based on ultra-short baseline positioning and a calibration method thereof. The transducer to be tested, the positioning transducer and the transmitting end electronic bin are fixed mutually and then flexibly hoisted underwater through being connected with a mother ship, and the three-dimensional array and the receiving end electronic bin are flexibly hoisted underwater through being connected with a son ship. The primary ship is parked in the center of the lake, the secondary ship moves around the primary ship for multiple circles at a constant speed and a constant distance, and then the measurement process is repeated to meet the requirement of measuring the directivity of the transducer to be measured by 360 degrees; and the workstation processes and calculates all the received measurement data to obtain the relative position of the transducer to be measured and the three-dimensional array and the performance parameters obtained by calibrating the transducer at the position. The invention can realize the performance calibration of a real ship under the condition of not disassembling the transducer, and can also realize the performance calibration of the low-frequency transducer in the ocean, thereby greatly improving the calibration frequency range and the calibration precision.
Description
Technical Field
The invention relates to a low-frequency transducer calibration technology, in particular to a transducer real-ship calibration system based on ultra-short baseline positioning and a calibration method thereof.
Background
In recent years, with the increase of importance of people on ocean resources, the development investment on ocean is increased in various countries, and the underwater sound technology is developed increasingly. Driven by the demands of the fields of marine science research, marine resource development, underwater acoustic countermeasure technology and the like, the research focus of the underwater acoustic transducer is focused on the directions of low-frequency broadband, high power, deep water work and the like. The directivity can reflect the characteristic that the transmitting response or sensitivity of the transducer changes along with the change of the transmitting or incident sound wave direction, and is a necessary parameter of the transducer, and the directivity pattern is an important characteristic parameter for describing the directional response of the transducer.
Common methods for calibrating the performance of the transducer include a sound-deadening water pool method, a near-field measurement method and the like. When the directivity of the transducer is measured in the silencing water pool, the directivity of the low-frequency transducer is difficult to measure due to the limitation of the size of the silencing water pool and the sound absorption coefficient of a silencing material; when the directivity of the low-frequency transducer is measured in an open water area, the rigid suspension and attitude control of the transducer to be measured and the standard hydrophone cannot be realized; if a near-field measurement principle is used, a near-field measurement array is needed, the size of the array is large, special hoisting equipment is needed for auxiliary control, the manufacturing cost is high, the efficiency is not high, the maintenance workload is large, and the near-field measurement array cannot be popularized and used.
The ultra-short baseline positioning technology is taken as a technical means of underwater positioning and is always valued by research units engaged in ocean exploration instruments at home and abroad, and the precision, the positioning range and the anti-interference capability of the ultra-short baseline positioning technology are greatly improved after decades of development. If the ultra-short baseline positioning technology can be applied to the real ship calibration of the underwater acoustic transducer, the frequency range and the accuracy of the calibration of the transducer can be obviously improved, the method is a great breakthrough in the field of the calibration of the low-frequency transducer, becomes a beneficial supplement to the calibration standard specification of the low-frequency transducer in China, and has important theoretical significance and application value.
Disclosure of Invention
In order to solve the problems, the invention provides a transducer real-ship calibration system based on ultra-short baseline positioning and a calibration method thereof, the invention can realize real-ship performance calibration under the condition of not disassembling the transducer, can also realize performance calibration of lower frequency of the transducer in the ocean, greatly improves the calibration frequency range and the calibration precision, and has light equipment, simple installation and convenient use.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
one aspect of the present invention provides a real-ship calibration system for a transducer based on ultra-short baseline positioning, comprising: the transducer to be tested, the positioning transducer, the three-dimensional array, the transmitting end electronic bin, the receiving end electronic bin, the transmitting end workstation and the receiving end workstation are fixed with each other and then flexibly hoisted underwater through being connected with a mother ship, the three-dimensional array and the receiving end electronic bin are flexibly hoisted underwater through being connected with a son ship, the transducer to be tested and the positioning transducer are connected with the transmitting end electronic bin, the three-dimensional array is connected with the receiving end electronic bin, the transmitting end electronic bin and the receiving end electronic bin are respectively connected with the transmitting end workstation and the receiving end workstation through network cables, the mother ship and the son ship drive away from a bank to an open water area to avoid the reflection of sound waves from the bank in the calibration process and keep a certain distance, the transducer to be tested and the positioning transducer are flexibly hoisted underwater by being connected with the mother ship to a certain depth after being fixed with each other, the transmitting end workstation controls the signal transmitting module to transmit a positioning signal and a calibration signal to a three-dimensional array which is flexibly hung under the water of the sub-ship at the same depth, the signal received by the three-dimensional array is processed by the signal receiving module and then uploaded from the receiving end workstation, and meanwhile, the sensor and the GPS second pulse module synchronously upload the measured environment information from the workstation so as to correct the interference of the measured environment and synchronize the time between the mother ship and the sub-ship; the parent ship is parked in the center of the lake, the child ship moves around the parent ship for multiple circles at a constant speed and a constant distance, and then the measuring process is repeated to meet the requirement of measuring the directivity of the transducer to be measured by 360 degrees; the workstation processes and operates all received measurement data to obtain the relative position of the transducer to be measured and the three-dimensional array and the performance parameters obtained by calibrating the transducer at the position, and can also monitor the real-time measurement condition of the transducer in real time.
The transmitting terminal electronic bin comprises a transmitting terminal FPGA main control board, a signal transmitting module, a transmitting terminal sensor, a GPS second pulse module, a transmitting terminal power module and a transmitting terminal Ethernet interface, the transmitting end FPGA main control board is electrically connected with the transmitting end Ethernet interface and the signal transmitting module, the output ends of the transmitting end sensor and the GPS second pulse module are connected with the input end of the transmitting end FPGA main control board, the transmitting end power supply module is connected with each module in the transmitting end electronic bin to supply power to the transmitting end power supply module, the power supply conversion circuit outputs +24V, -24V, +12V, -12V, +5V, -5V, +3.3V multiple voltages to supply power for the system, the signal transmitting module is used for amplifying the power of the calibration signal and the positioning signal to enable the signals to have high enough voltage, the sound source level needs to reach over 150dB, and the sound can propagate far enough after being transmitted by the transducer.
The receiving terminal electronic bin comprises a receiving terminal FPGA main control board, a signal receiving module, a receiving terminal sensor, a GPS second pulse module, a receiving terminal power supply module and a receiving terminal Ethernet interface, wherein the receiving terminal FPGA main control board is used for controlling the signal receiving module to collect 12 paths of hydrophone signals of the three-dimensional array and receive data information at the output ends of the receiving terminal sensor and the GPS second pulse module, the receiving end FPGA main control board is respectively electrically connected with the receiving end Ethernet interface and the signal receiving module, the output ends of the receiving end sensor and the GPS second pulse module are connected with the input end of a receiving end FPGA main control board, the receiving end power supply module is connected with each module in the receiving end electronic bin to supply power to the receiving end power supply module, through the power conversion circuit, various voltages of +24V, -24V, +12V, -12V, +5V, -5V, +3.3V are output to supply power for the system.
As a preferred technical solution of the present design, the signal transmitting module includes a to-be-tested transducer DA conversion module, a power amplifier 1, a positioning transducer DA conversion module, and a power amplifier 2, an output end of the to-be-tested transducer DA conversion module is connected to an input end of the power amplifier 1, an output end of the power amplifier 1 is connected to an input end of the to-be-tested transducer, an output end of the positioning transducer DA conversion module is connected to an input end of the power amplifier 2, an output end of the power amplifier 2 is connected to an input end of the positioning transducer, the signal transmitting module is configured to generate a calibration signal and a positioning signal, amplify the calibration signal and transmit the calibration signal through the power amplifier and then transmit the calibration signal and the positioning signal through the transducer, the signal receiving module includes an AD conversion module and a preamplifier, an output end of the AD conversion module is connected to an input end of the preamplifier, an output end of the preamplifier is connected to an input end of the three-dimensional array, the signal receiving module amplifies, filters and converts the signals received by the 12 channels of hydrophones of the three-dimensional stereo array in an analog-to-digital mode, and because the frequency range of the used positioning signals and calibration signals is 2kHz-15kHz, the best signal reduction is required to be carried out according to the Nyquist sampling law, and the sampling rate of each channel is required to be more than 150 kSps.
As a preferred technical scheme of the design, the transmitting end sensor and the GPS second pulse module, and the receiving end sensor and the GPS second pulse module each include an attitude sensor, a temperature and depth sensor, and a GPS second pulse module, wherein the attitude sensor is used to correct a coordinate attitude, and convert the transmitting end system and the receiving end system into the same coordinate system, so as to facilitate subsequent data processing and calculation, the temperature and depth sensor is used to correct environmental interference, and the GPS second pulse module is used to synchronize the time of the transmitting end system and the receiving end system, so as to facilitate synchronization of signals and time delay calculation.
As a preferred technical solution of the present design, the transducer real-ship calibration system based on ultra-short baseline positioning is characterized in that: the three-dimensional array is formed by three pairwise orthogonal shafts and twelve hydrophone array elements, four hydrophone array elements are respectively arranged on each shaft, and two hydrophone array elements are respectively arranged at two ends of each shaft and are used for ultra-short baseline positioning.
As a preferable technical scheme of the design, the transducer to be tested is replaced by a transducer array or a sonar receiving array, and the system is still applicable.
The invention also provides a transducer real ship calibration method based on ultrashort baseline positioning, which comprises the following steps:
step one, installing a real ship calibration system: the method comprises the steps of fixing a transducer to be tested, a positioning transducer and a transmitting end electronic cabin mutually, then flexibly hanging the transducer to be tested, the positioning transducer and the transmitting end electronic cabin to a certain depth underwater through connection with a mother ship, assembling a three-dimensional array through three pairwise orthogonal shafts and twelve hydrophone array elements, then flexibly hanging the three-dimensional array and a receiving end electronic cabin to the same depth underwater through connection with a son ship, connecting the transducer to be tested and the positioning transducer with the transmitting end electronic cabin, connecting the three-dimensional array with the receiving end electronic cabin, and respectively connecting the transmitting end electronic cabin and the receiving end electronic cabin with a transmitting end workstation and a receiving end workstation through network cables.
Step two, the mother ship and the son ship drive away from the shore to keep a certain distance to the open water area, the transmitting end workstation controls a signal transmitting module in the transmitting end electronic cabin to sequentially transmit 10 sine filling pulse signals with the whole period frequency of 13.5kHz and 10 sine filling pulse signals with the whole period calibration frequency at regular intervals for positioning and calibration respectively, the receiving end workstation controls a signal receiving module in the receiving end electronic cabin to synchronously acquire waveform signals received by 12 channels of hydrophones in a three-dimensional array, the transmitting period is determined according to the distance between the mother ship and the son ship, the transmitting and the received signals are ensured to be correspondingly processed in the same period, meanwhile, a transmitting end sensor and a GPS second pulse module synchronously acquire data information of the environment together with the receiving end sensor and the GPS second pulse module, and the transmitting end sensor and the GPS second pulse module comprise an attitude sensor, a temperature depth sensor and a GPS second pulse module, wherein the attitude sensor is used for correcting the coordinate attitude, the system of the transmitting end and the receiving end is converted into the same coordinate system, so that subsequent data processing and calculation are facilitated, the temperature and depth sensor is used for correcting environmental interference, and the GPS second pulse module is used for time synchronization of the transmitting end and the receiving end, so that signal synchronization correspondence and time delay calculation are facilitated.
And step three, slowly sailing the secondary ship around the primary ship for multiple circles, continuously repeating the step two, and collecting signals and data information at all angles.
And step four, according to the waveform signals received by the 12 channels of hydrophones, processing by a signal cross-correlation information extraction method to obtain the required positioning signals and calibration signals, and obtaining the phase delay information of the positioning signals of each array element and the amplitude information of the calibration signals.
And step five, processing the positioning signal phase time delay information extracted in the step four, processing the positioning signals of the 12-channel hydrophone based on an ultra-short baseline positioning technology to obtain the relative position of the transducer to be detected and the three-dimensional array, eliminating environmental interference through environmental information collected by the temperature and depth sensor, and finally correcting the relative position after performing coordinate conversion through an attitude angle measured by the attitude sensor.
And sixthly, selecting data with the pitch angle within 5 degrees, processing the extracted low-frequency signals to obtain directivity data and other performance parameters of the low-frequency signals, and drawing the directivity data and other performance parameters.
The method for extracting the signal cross-correlation information in the step four comprises the following steps of receiving a waveform signal S0(t), the extraction step is:
(1) for waveform signal S0(t) performing a filtering process to obtain a filtered signal S1(t)；
(2) To transmit a waveform signal S0' (t) as a reference signal, for S1(t) performing a cross-correlation to obtain a cross-correlation function S2(t), which characterizes the degree of similarity of the two signals;
(3) by means of a cross-correlation function S2(t) obtaining the required positioning and calibration signals;
(4) phase time delay information of the positioning signals received by each array element and amplitude information of the calibration signals can be extracted through Fourier transformation.
The invention has the beneficial effects that:
1. when the designed transducer real-ship calibration system based on ultrashort baseline positioning and the calibration method thereof are used for carrying out real-ship calibration on a served low-frequency transducer, a mother ship and a son ship which are stopped in an open water area and are converged for a certain distance are respectively and flexibly hung and placed on a transmitting end system and a receiving end system at a certain depth under water, and the son ship slowly winds around the mother ship for multiple circles, so that the performance calibration work of the low-frequency transducer can be completed, the real-ship calibration of the served transducer is realized, the calibration efficiency is greatly improved, and the additional cost in the calibration process is reduced.
2. The calibration method solves the problem that signal reflection is difficult to eliminate in the traditional calibration method for the low-frequency transducer of the anechoic pool, also avoids expensive cost required by a near-field measurement method, improves calibration precision by utilizing an ultra-short baseline positioning technology while solving the problems, has wide application range of the designed calibration system and method, is suitable for calibration of the low-frequency transducer and actual ship calibration of a served transducer, and has the advantages of simple installation, convenient use and low cost.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a calibration process of a real-ship transducer calibration system based on ultra-short baseline positioning according to the present invention;
FIG. 2 is a system block diagram of the transducer real-vessel calibration system based on ultra-short baseline positioning of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional array according to the present invention;
FIG. 4 is a timing diagram of the time synchronization of the present invention;
FIG. 5 is a schematic diagram of the signal extraction process of the present invention;
fig. 6 is a schematic diagram of coordinate transformation between a transmitting end and a receiving end in the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1 to 3, a real-ship transducer calibration system based on ultra-short baseline positioning includes: a transducer to be tested 51, a positioning transducer 54, a three-dimensional volumetric array 55, a transmitting end electronics warehouse 56, a receiving end electronics warehouse 57, a transmitting end workstation 58 and a receiving end workstation 59. The transducer 51 to be tested, the positioning transducer 54 and the transmitting end electronic cabin 56 are fixed with each other and then flexibly hoisted underwater by being connected with the mother ship 52; the three-dimensional array 55 and the receiving end electronic bin 57 are flexibly suspended underwater by being connected with the sub-ship 53; the transducer 51 to be tested and the positioning transducer 54 are connected with a transmitting end electronic bin 56, the three-dimensional array 55 is connected with a receiving end electronic bin 57, and the transmitting end electronic bin 56 and the receiving end electronic bin 57 are respectively connected with a transmitting end workstation 58 and a receiving end workstation 59 through network cables.
The three-dimensional array is formed by three pairwise orthogonal axes and twelve hydrophone array elements, four hydrophone array elements are respectively arranged on each axis, two hydrophone array elements are respectively arranged at two ends of each axis and used for an ultra-short baseline positioning technology to determine the position between the transducer 51 to be measured and the three-dimensional array 55, wherein the distance between small array elements is D, the distance between D is smaller than half wavelength, such as array element 1 and array element 2, the distance between large array elements is D ═ Nd and used for increasing the measurement precision, such as array element 1 and array element 4, the transmitting end electronic bin 56 comprises a transmitting end FPGA main control board 561, a signal transmitting module 562, a transmitting end sensor and GPS second pulse module 563, a transmitting end power module 564 and a transmitting end Ethernet interface 565; the transmitting terminal FPGA main control board 561 is respectively electrically connected with the transmitting terminal Ethernet interface 565 and the signal transmitting module 562, the transmitting terminal sensor and GPS second pulse module output end 563 is connected with the transmitting terminal FPGA main control board 561 input end, and the transmitting terminal power supply module 564 is connected with each module in the transmitting terminal electronic cabin 56 to supply power to the transmitting terminal FPGA main control board 561. The receiving end electronic bin 57 comprises a receiving end FPGA main control board 571, a signal receiving module 572, a receiving end sensor and GPS second pulse module 573, a receiving end power module 574 and a receiving end ethernet interface 575, the receiving end FPGA main control board 571 is respectively electrically connected with the receiving end ethernet interface 575 and the signal receiving module 572, the receiving end sensor and GPS second pulse module output ends 573 are connected with the receiving end FPGA main control board 571 input end, the receiving end power module 574 is connected with each module in the receiving end electronic bin 57 for supplying power, the signal transmitting module comprises a to-be-tested transducer DA conversion module 5621, a power amplifier 15622, a positioning transducer DA conversion module 5623 and a power amplifier 25624, the output end of the to-be-tested transducer DA conversion module 5621 is connected with the power amplifier 15622 input end, the output end of the power amplifier 15622 is connected with the to-be-tested transducer 51 input end, the output end of the positioning transducer DA conversion module 5623 is connected with the input end of a power amplifier 25624, the output end of the power amplifier 25624 is connected with the input end of the positioning transducer 54, the signal receiving module comprises an AD conversion module 5721 and a preamplifier 5722, the output end of the AD conversion module 5721 is connected with the input end of the preamplifier 5722, and the output end of the preamplifier 5722 is connected with the input end of the three-dimensional array 55.
A real-ship calibration method of a transducer based on ultra-short baseline positioning uses the real-ship calibration system of the transducer based on ultra-short baseline positioning, and the calibration steps are as follows:
firstly, a real ship calibration system is installed, a transducer 51 to be tested, a positioning transducer 54 and a transmitting end electronic cabin 56 are fixed mutually and then flexibly hung underwater to a certain depth through being connected with a mother ship 52, a three-dimensional array 55 is assembled through three pairwise orthogonal shafts and twelve hydrophone array elements, then the three-dimensional array and a receiving end electronic cabin 57 are flexibly hung underwater to the same depth through being connected with a son ship 53, the transducer 51 to be tested and the positioning transducer 54 are connected with the transmitting end electronic cabin 56, the three-dimensional array 55 is connected with the receiving end electronic cabin 57, and the transmitting end electronic cabin 56 and the receiving end electronic cabin 57 are respectively connected with a transmitting end workstation 58 and a receiving end workstation 59 through network cables.
Secondly, the mother ship 52 and the daughter ship 53 are driven away from the shore to keep a certain distance to the open water area, the transmitting end workstation 58 controls the signal transmitting module in the transmitting end electronic cabin 56 to sequentially transmit 10 sinusoidal filling pulse signals with the whole cycle frequency of 13.5kHz and 10 sinusoidal filling pulse signals with the whole cycle calibration frequency at regular intervals for positioning and calibration respectively, the receiving end workstation 59 controls the signal receiving module in the receiving end electronic cabin 57 to synchronously acquire waveform signals received by 12 channels of hydrophones in the three-dimensional array 55, the transmitting cycle is determined according to the distance between the mother ship 52 and the daughter ship 53, the transmitting and receiving signals are ensured to be correspondingly processed in the same cycle, as shown in FIG. 4, the signal transmitting and receiving schematic diagram of the transducer real ship calibration system based on ultra-short baseline positioning is used, and simultaneously, the transmitting end sensor and GPS second pulse module 563 and the receiving end sensor and the GPS second pulse module are used for synchronously acquiring data information of the environment, the system comprises an attitude sensor, a temperature and depth sensor and a GPS second pulse module, wherein the attitude sensor is used for correcting the coordinate attitude and converting a transmitting end system and a receiving end system into the same coordinate system, so that the subsequent data processing and calculation are facilitated, the temperature and depth sensor is used for correcting the environmental interference, and the GPS second pulse module is used for synchronizing the time of the transmitting end system and the receiving end system so as to facilitate the synchronous correspondence of signals and the time delay calculation.
And step three, slowly sailing the secondary ship 53 around the primary ship 52 for multiple circles, continuously repeating the step two, and collecting signals and data information at all angles.
Step four, according to the waveform signals received by the 12 channels of hydrophones, the required positioning signals and calibration signals are obtained through processing by a signal cross-correlation information extraction method, and phase delay information of the positioning signals of each array element and amplitude information of the calibration signals are obtained, as shown in fig. 5, a schematic diagram of the signal cross-correlation information extraction method is shown, and the processing steps are as follows:
(1) filtering the original signal through a band-pass filter to obtain a filtered signal;
(2) taking the transmitted waveform signal as a reference signal, and performing cross correlation on the filtered signal to obtain a cross correlation function which represents the similarity degree of the two signals;
(3) intercepting a required positioning and calibrating signal according to the cross-correlation function;
(4) the phase time delay information of the positioning signal of each array element and the amplitude information of the calibration signal can be extracted through Fourier transformation.
Processing the positioning signal phase delay information extracted in the fourth step, processing the high-frequency signals of the 12 channels of hydrophones based on an ultra-short baseline positioning technology to obtain the relative position between the transducer to be measured and the three-dimensional array, eliminating environmental interference through environmental information acquired by the temperature and depth sensor, and finally correcting the relative position after performing coordinate conversion through an attitude angle measured by the attitude sensor, wherein the processing steps are as follows, as shown in fig. 6, the schematic diagram of coordinate conversion is shown, and the schematic diagram of coordinate conversion is as follows:
(1) measuring corresponding attitude angles a, b and c and alpha, beta and gamma respectively by the attitude sensors of the transmitting end and the receiving end, and obtaining a rotation matrix by the attitude angles a, b and c of the transmitting end
Obtaining a rotation matrix through receiving end attitude angles a, beta and gamma
(2) Regarding the positioning transducer as a point sound source, and obtaining the positioning transducer O by an ultra-short baseline positioning technology under the current { A } coordinate system O-XYZ of the hydrophone arrayHCoordinate of (3), known hydrophone array any array element coordinate PA；
(3) By rotating the matrix
Converting the coordinate system O-XYZ to be under the { A ' } geodetic coordinate system O-X ' Y ' Z ' with the array intersection point O as the origin, and calculating the position O ' of the positioning transducer under the coordinate system O-X ' Y ' Z ' through a formula 'HThe formula is as follows:
(4) the geodetic coordinate system O-X ' Y ' Z ' is then translated to position the transducer OHThe origin is the { H' } geodetic coordinate system OH-X′HY′HZ′HNext, calculating to obtain the array element coordinate P 'in the coordinate system by a formula'HThe formula is as follows:
(5) by rotating the matrix
Coordinate system OH-X′HY′HZ′HConversion to the current H coordinate System O of the positioning transducerH-XHYHZHThen, the array element coordinate P in the coordinate system can be obtained by formula calculationHThe formula is as follows:
(6) because the positioning transducer and the transducer to be measured are rigidly fixed and the relative position is known, the current coordinate system O is determinedH-XHYHZHTranslated to the transducer O to be testedL{ L } coordinate system O as originL-XLYLZLThen, the position P of any array element of the hydrophone in the current coordinate system { L } of the transducer to be measured is obtainedL(x′,y′,z′)；
(7) By position P in the current coordinate system { L }L(x ', y ', z ') obtaining the included angle theta between the hydrophone array element and the main sound axis of the transducer, wherein the formula is as follows:
and sixthly, selecting data with the pitch angle within 5 degrees, processing the extracted calibration signal to obtain directivity data and other performance parameters of the calibration signal, and drawing.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A transducer real ship calibration method based on ultra-short baseline positioning is characterized by comprising the following steps:
step one, installing a real ship calibration system: after being mutually fixed, a transducer (51) to be tested, a positioning transducer (54) and a transmitting end electronic cabin (56) are flexibly hung underwater through being connected with a mother ship (52), after being assembled by three pairwise orthogonal shafts and twelve hydrophone array elements, a three-dimensional array (55) and a receiving end electronic cabin (57) are flexibly hung underwater through being connected with a son ship (53), the transducer (51) to be tested and the positioning transducer (54) are connected with the transmitting end electronic cabin (56), the three-dimensional array (55) is connected with the receiving end electronic cabin (57), and the transmitting end electronic cabin (56) and the receiving end electronic cabin (57) are respectively connected with a transmitting end workstation (58) and a receiving end workstation (59) through network cables;
step two, the mother ship (52) and the son ship (53) drive away from the shore to keep a certain distance to an open water area, a transmitting end workstation (58) controls a signal transmitting module in a transmitting end electronic bin (56) to sequentially transmit 10 sine filling pulse signals with the whole-cycle frequency of 13.5kHz and 10 sine filling pulse signals with the whole-cycle calibration frequency at regular intervals for positioning and calibration respectively, a receiving end workstation (59) controls a signal receiving module in a receiving end electronic bin (57) to synchronously acquire waveform signals received by 12 channels of hydrophones in the three-dimensional array (55), the transmitting period is determined according to the distance between the mother ship (52) and the son ship (53), and the transmitted signals and the received signals are guaranteed to be correspondingly processed in the same period;
meanwhile, a transmitting end sensor and a GPS pulse-per-second module (563) in a transmitting end electronic bin (56) and a receiving end sensor and a GPS pulse-per-second module (573) in a receiving end electronic bin (57) synchronously acquire data information of the environment, wherein the data information comprises an attitude sensor, a temperature and depth sensor and a GPS pulse-per-second module, the attitude sensor is used for correcting coordinate attitude, and the transmitting end system and the receiving end system are converted into the same coordinate system, so that subsequent data processing and calculation are facilitated; the temperature and depth sensor is used for correcting environmental interference, and the GPS second pulse module is used for time synchronization of the transmitting end and the receiving end so as to facilitate synchronization correspondence of signals and time delay calculation;
thirdly, slowly sailing the sub-ship (53) around the main ship (52) for multiple circles, continuously repeating the second step, and collecting signals and data information under all angles;
processing the waveform signals received by the 12 channels of hydrophones by a signal cross-correlation information extraction method to obtain required positioning signals and calibration signals, and obtaining phase delay information of the positioning signals of each array element and amplitude information of the calibration signals;
processing the positioning signal phase delay information extracted in the step four, processing the positioning signals of the 12-channel hydrophone based on an ultra-short baseline positioning technology to obtain the relative position of the transducer to be measured and the three-dimensional array, eliminating environmental interference through environmental information collected by the temperature and depth sensor, and correcting the relative position after performing coordinate conversion through an attitude angle measured by the attitude sensor;
selecting data with a pitch angle within 5 degrees, processing the extracted low-frequency signals to obtain directivity data and other performance parameters of the low-frequency signals, and drawing the directivity data and other performance parameters;
the method for extracting the signal cross-correlation information in the fourth step comprises the following steps of0(t), the extraction step is:
(1) for waveform signal S0(t) performing a filtering process to obtain a filtered signal S1(t)；
(2) To transmit a waveform signal S0' (t) as a reference signal, for S1(t) performing a cross-correlation to obtain a cross-correlation function S2(t) which characterizes the degree of similarity of the two signals;
(3) by means of a cross-correlation function S2(t) obtaining the required positioning and calibration signals;
(4) and extracting phase delay information of the positioning signal received by each array element and amplitude information of the calibration signal through Fourier transform.
2. The transducer real-ship calibration method based on ultra-short baseline positioning as claimed in claim 1, wherein: the transducer (51) to be tested can be replaced by a transducer array or a sonar receiving array.
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