CN113219410A - Element space position active measurement system and method of hydrophone array - Google Patents
Element space position active measurement system and method of hydrophone array Download PDFInfo
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Abstract
The invention relates to an active measurement system and method for the element space position of a hydrophone array, wherein the system comprises: the system comprises a hydrophone array distributed in a preset sea area, a sound source ship which performs circumambulated motion on the sea surface of the preset sea area, and a receiving station which is matched with the sound source ship to obtain the element position of the hydrophone array. And a detection sound source output module arranged in the sound source ship sends detection sound signals to the hydrophone array according to a preset time period and sends calibration signals to the receiving station. And the element position calculation module on the receiving station receives the calibration signal and the sensing signal generated when the detection acoustic signal is received by the hydrophone array, samples the sensing signal to obtain a digital signal, divides the digital signal into a plurality of frame signal files according to a preset time length, and gives a signal timestamp to each frame signal file according to the time corresponding to the initial sampling in each frame signal file. And calculating the geodetic coordinates of each element in the hydrophone array according to the signal time stamp and the calibration signal on each frame signal file.
Description
Technical Field
The invention relates to the technical field of underwater acoustic measurement, in particular to an active measurement system and method for the element space position of a hydrophone array.
Background
The array of the hydrophone array is an important parameter of the hydrophone array, and the array is generally required to be accurately known when the hydrophone array receiving signals are used for underwater sound signal processing such as beam forming, matching field positioning and the like. However, in an actual marine environment, the position of the cell is difficult to be determined by a desired deployment start point and formation due to the influence of the terrain, the ocean currents, the deployment method, and the like when the underwater acoustic array is deployed.
The existing formation measurement method mainly comprises a non-acoustic measurement method and an acoustic measurement method. The non-acoustic method generally requires that auxiliary sensors such as a depth sensor and a course sensor are installed in an acoustic array, and an array form is obtained through a curve fitting method, and the non-acoustic method is generally applied to an underwater acoustic towed array with the array form dynamically changing; the acoustic method estimates the time delay of each element receiving signal and calculates the element position, wherein the mature method is a double-source array shape estimation method based on time delay estimation, and the method is widely applied to the marine test of the underwater acoustic array. Although the method can accurately estimate the shape of the array, namely the relative position of each element, to realize ideal array processing gain, the coordinates of the ground position falling into the water and the array direction of a reference element (usually the first element of the array) when the cable laying vessel sails and lays are difficult to accurately obtain. Therefore, although the method does not affect the target detection processing of the underwater acoustic array signal, the method can cause error influence on accurate parameter estimation of the target, such as target direction and target position. In recent years, new application forms such as joint cross positioning of multiple arrays have precise requirements on the orientation and the central position of the array, which requires accurate grasping of the position of each element in the array.
Disclosure of Invention
Technical problem to be solved
The invention provides an active measurement system and method for the spatial position of elements of a hydrophone array, which aim to solve the problem that the prior art cannot obtain the accurate spatial position of each element and are used for supporting the application of combined cross positioning of multiple arrays and the like.
(II) technical scheme
In order to solve the above problems, the present invention provides an active measurement system of the element spatial position of a hydrophone array, comprising: the system comprises a hydrophone array distributed in a preset sea area, a sound source ship performing circumambulation on the sea surface of the preset sea area, and a receiving station matched with the sound source ship to acquire the position of an element in the hydrophone array;
a detection sound source output module used for emitting detection sound signals is arranged in the sound source ship, and the detection sound source output module emits the detection sound signals to the hydrophone array according to a preset time period;
when the detection sound source output module outputs the detection sound signal, a calibration signal is sent to a receiving station in a microwave communication mode, wherein the calibration signal comprises first time information and position information corresponding to the detection sound source output module when the detection sound signal is output and a waveform parameter of the detection sound signal;
the receiving station is provided with a primitive position calculating module used for determining primitive positions of the hydrophone array, and the primitive position calculating module receives the calibration signals and sensing signals generated when the detection acoustic signals received by each primitive in the hydrophone array;
the element position calculation module is used for sampling the sensing signal to obtain a digital signal, dividing the digital signal into a plurality of frame signal files according to a preset time length, and giving a signal timestamp to each frame signal file according to a moment corresponding to initial sampling in each frame signal file; and calculating the geodetic coordinates of the corresponding elements in the hydrophone array according to the signal time stamps and the calibration signals in the frame signal files, namely obtaining the corresponding measurement values of the underwater sound propagation time of the sounding sound signals from the sounding sound source output module to the corresponding elements through the signal time stamps in the frame signal files, the corresponding first time information of the sounding sound source output module when outputting the sounding sound signals and the waveform parameters of the sounding sound signals, selecting 5 groups or more of the measurement values of the underwater sound propagation time of the sounding sound source output module to the corresponding elements in the array and the position information of the sounding sound source output module when outputting the sounding sound signals, and calculating the geodetic coordinates of the elements in the hydrophone array.
Preferably, the calculating geodetic coordinates of the corresponding primitive in the hydrophone array according to the signal timestamp and the calibration signal in each frame signal file specifically includes:
obtaining the measurement value of the underwater sound propagation time of the sound detection signal from the sound detection source output module to the h element when the sound detection source output module emits the sound detection signal s times according to the signal timestamp, the first time information and the waveform parameter of the sound detection signal
s＝1,2,3...NS，h＝1,2,3...Nh；
Constructing a space coordinate system, wherein the position of the sound source ship when the sound source ship firstly emits the detection sound signal is taken as a coordinate origin, the latitude direction is taken as an X-axis direction, the longitude direction is taken as a Y-axis direction, and the depth direction is taken as a Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Constructing a primitive space position equation set:
wherein v is the equivalent average sound velocity of the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement errors, τhDelay for receive response of primitive No. h;
and (3) according to the five groups or more (namely the number of the values of s is more than or equal to 5) of the element space position equation set, further solving the space coordinate of the No. h element, and converting the space coordinate of the No. h element into the geodetic coordinate.
Preferably, the sounding sound source output module includes:
the system comprises a first GPS signal receiver (A1), a digital waveform generating unit, a signal triggering unit, a digital-to-analog conversion unit, a data transmission unit, a first microwave communication unit (A2) and a measurement sound source;
-said first GPS signal receiver (a1) for generating said first time information and said location information;
the digital waveform generating unit is used for generating digital signal waveform data according to the set waveform parameters;
the signal trigger unit is used for generating a trigger signal according to the first time information and transmitting the trigger signal to the digital-to-analog conversion unit;
the digital-to-analog conversion unit is used for caching the digital signal waveform data and converting the digital signal waveform data into an analog driving waveform signal when the trigger signal is detected;
the digital-to-analog conversion unit is connected with the measurement sound source, and the measurement sound source generates a detection sound signal according to the analog driving waveform signal;
the data transmission unit is used for receiving the first time information and the position information generated by the first GPS signal receiver (A1) and receiving the waveform parameters, and the first time information, the position information and the waveform parameters are transmitted to a first microwave communication unit (A2) through a TCP/IP network protocol;
the first microwave communication unit (a2) is configured to transmit the first time information, the position information, and the waveform parameter of the detection acoustic signal, which correspond to the measurement acoustic source when outputting the detection acoustic signal, as the calibration signal.
Preferably, the sounding sound source output module further includes: a power amplifying unit;
the power amplification unit is positioned between the digital-to-analog conversion unit and the measurement sound source and is used for amplifying the analog driving waveform signal.
Preferably, the primitive position calculating module includes: the system comprises a second GPS signal receiver (B1), a time synchronization unit, a conditioning acquisition unit, a measurement signal processing unit and a second microwave communication unit (B2);
the second microwave communication unit (B2) for receiving the calibration signal including the first time information, the position information, and the waveform parameter of the probe acoustic signal corresponding to the probe acoustic source output module when outputting the probe acoustic signal;
said second GPS signal receiver (B1) for generating second time information and a time pulse signal;
the time synchronization unit is used for correcting the output real-time according to the time pulse signal generated by the second GPS signal receiver (B1) and the second time information;
the conditioning acquisition unit is used for receiving sensing signals generated when each element in the hydrophone array receives a detection sound signal, processing each sensing signal and converting each sensing signal into a digital signal, dividing the digital signal into a plurality of frames of signal files according to a preset time length, and giving a signal timestamp to each frame of signal file according to the real-time corresponding to initial sampling in each frame of signal file;
and the measurement signal processing unit is used for solving geodetic coordinates of the corresponding primitive in the hydrophone array according to the signal time stamp and the calibration signal on each frame signal file.
Preferably, the first time information and the second time information are both information including the year, month, day, hour, minute and second of the current time, and the preset time period is 5s \10 s.
Preferably, the first GPS signal receiver (a1) and the second GPS signal receiver (B1) are both devices that support serial output of GPS data in NMEA-0183 protocol format;
the first GPS signal receiver (a1) is mounted above a lifting device of a measurement sound source, and the measurement sound source is located in the sea below a sound source vessel.
Preferably, the present invention also provides an active measurement method for the element spatial position of a hydrophone array, comprising:
s1: a hydrophone array positioned in a preset sea area receives detection sound signals sent by a detection sound source output module on a sound source ship moving in the sea surface of the sea area;
s2: the hydrophone array generates a sensing signal when receiving the detection acoustic signal;
s3: a primitive position calculation module on a receiving station matched with the sound source ship receives a calibration signal sent by the sound source ship when the sound source ship generates the detection sound signal, wherein the calibration signal comprises first time information and position information corresponding to the detection sound signal output by the detection sound source output module and a waveform parameter of the detection sound signal; the element position calculation module also receives the sensing signals generated by the hydrophone array, and determines the geodetic coordinates of each element in the hydrophone array according to the calibration signals and the sensing signals.
Preferably, the step S1 is specifically:
and the hydrophone array positioned in the preset sea area receives a plurality of detection sound signals sent by the detection sound source output module at different positions on the sound source ship moving in the sea surface of the sea area.
Preferably, in step S3, the determining, by the cell position calculation module, geodetic coordinates of each cell in the hydrophone array according to the calibration signal and the sensing signal includes:
firstly, the element position calculation module samples the sensing signal to obtain a digital signal, divides the digital signal into a plurality of frame signal files according to a preset time length, and gives a signal timestamp to each frame signal file according to the time corresponding to the initial sampling in each frame signal file;
then, the element position calculation module obtains a measurement value of underwater acoustic propagation time of the sounding sound signal from the sounding sound source output module to the h element when the sounding sound source output module transmits the sounding sound signal s times by using the signal time stamp and the calibration data in each frame of signal file
s＝1,2,3...NS，h＝1,2,3...Nh。
Finally, a space coordinate system is constructed, the position of the sound source ship when the sound source ship firstly emits the detection sound signal is taken as the coordinate origin, the latitude direction is taken as the X-axis direction, the longitude direction is taken as the Y-axis direction, and the depth direction is taken as the Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Constructing a primitive space position equation set:
wherein v is the equivalent average sound velocity of the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement errors, τhDelay for receive response of primitive No. h;
and (3) according to the five groups or more (namely the number of the values of s is more than or equal to 5) of the element space position equation set, further solving the space coordinate of the No. h element, and converting the space coordinate of the No. h element into the geodetic coordinate.
(III) advantageous effects
According to the invention, the detection sound source output module is arranged on the sound source ship, when the sound source ship moves around on the sea surface of a preset sea area, the detection sound source output module outputs detection sound signals at different positions, and sends calibration signals to the element position calculation module on the receiving station, the element position calculation module on the receiving station divides the received sensing signals generated by the hydrophone array according to the detection sound signals into multi-frame signal files, and a signal timestamp is assigned to each frame of signal file; an equation set is constructed according to the measured values of the arrival time from the sound source position to each array element, the three-dimensional space coordinates of the elements, the receiving response delay of the elements and the calculation of the equivalent average sound velocity are achieved, the influence of the marine environment on the whole process is small, and the calculation result is accurate.
Drawings
FIG. 1 is an internal structural view of an active measurement system for the spatial position of elements of a hydrophone array according to the invention;
fig. 2 is an internal structural view of a sounding source output module according to the present invention;
FIG. 3 is an internal structural view of a cell position calculating module according to the present invention;
fig. 4 is a flowchart of an active measurement method for the element spatial position of a hydrophone array according to the invention.
[ description of reference ]
1: a detection sound source output module; 11: a first GPS signal receiver (a 1); 12: a digital waveform generating unit; 13: a digital-to-analog conversion unit; 14: a power amplifying unit; 15: measuring a sound source; 16: a signal triggering unit; 17: a first microwave communication unit (a 2); 18: a data transmission unit; 2: a hydrophone array; 3: a primitive position calculation module; 31: a conditioning and collecting unit; 32: a time synchronization unit; 33: a second GPS signal receiver (B1); 34: a measurement signal processing unit; 35: a second microwave communication unit (B2).
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides an active measurement system for the element spatial position of a hydrophone array 2, comprising: the system comprises a hydrophone array 2 distributed in a preset sea area, a sound source ship performing circumambulation on the sea surface of the preset sea area, and a receiving station matched with the sound source ship and used for acquiring the element position of the hydrophone array 2. In practical application, the primitive is a component for converting an acoustic signal into an electrical signal, and a plurality of primitives are sequentially arranged to form the hydrophone array 2.
The sound source ship is provided with a detection sound source output module 1 used for sending detection sound signals, the detection sound source output module 1 sends the detection sound signals to the hydrophone array 2 according to a preset time period, the detection sound source output module 1 sends calibration signals to a receiving station in a microwave communication mode when outputting the detection sound signals, and the calibration signals comprise first time information, position information and waveform parameters of the detection sound signals corresponding to the detection sound source output module 1 when outputting the detection sound signals. The preset time period is 5s \10 s.
The receiving station is provided with a primitive position calculating module 3 used for determining primitive positions of the hydrophone array 2, and the primitive position calculating module 3 receives calibration signals and sensing signals generated by all primitives in the hydrophone array 2 according to received detection sound signals. The receiving station is typically a ship or a shore-based station connected to a hydrophone array.
The element position calculation module 3 is used for sampling the sensing signal to obtain a digital signal, dividing the digital signal into a plurality of frame signal files according to a preset time length, and giving a signal timestamp to each frame signal file according to a time corresponding to initial sampling in each frame signal file; and calculating the geodetic coordinates of the corresponding primitive in the underwater sound receiving array according to the signal time stamp and the calibration signal on each frame signal file.
The specific step of solving the geodetic coordinates of the corresponding elements in the hydrophone array according to the signal time stamp and the calibration signal on each frame signal file is as follows:
according to the signal timestamp, the first time information and the waveform parameters of the detection sound signal, obtaining the measurement value of the underwater sound propagation time of the detection sound signal from the detection sound source output module to the h element when the detection sound signal is emitted by the detection sound source output module for the s time
s＝1,2,3...NS，h＝1,2,3...Nh. In the present embodiment, the number of primitives is NhN is emitted by the detection sound source output modulesThe position of the sound source output module which transmits the sound signal s times is regarded as a sound source measuring point s,
the specific expression of (a) may be:
wherein the content of the first and second substances,
the detection sound source output module transmits a signal timestamp and T of a signal file of a digital signal corresponding to a detection sound signal at the s-th sound source measuring pointsFor first time information, tau, of the emission of the probe signal by the probe sound source output module for the s-th times,hThe difference value between the time when the detection sound signal transmitted by the detection sound source output module at the s-th sound source measuring point is received by the primitive for the first time and the signal timestamp of the corresponding signal file.
Constructing a space coordinate system, wherein the position of a sound source ship when the sound source ship firstly emits a detection sound signal is taken as a coordinate origin, the latitude direction is taken as the X-axis direction, the longitude direction is taken as the Y-axis direction, and the depth direction is taken as the Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Constructing a primitive space position equation set:
in particular, the amount of the solvent to be used,
the real time from the s-number sound source measuring point to the h-number element is detected.
Wherein v is the equivalent average sound velocity in the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement error, it can be considered as zero mean Gaussian noise, and ignored in subsequent calculations, τhThe receiving response delay of the h-th element (mainly composed of time delays such as system clock deviation, signal demodulation delay and sound source emission delay of the array element, and the corresponding unknown variable number is Nh)；
In the system of elementary space position equations
Is an unknown quantity, 4N in numberhAnd +1, so that the space coordinates of one element can be measured, and at least 5 different sound source measurement points are needed to obtain the space coordinates of the element, the receiving response delay of the element and the equivalent average sound velocity in the sea area where the element is located. In the prior art, the sound velocity is generally taken as a known value to find the space coordinates of the primitive, while in the real scene, the sound velocity in the sea takes a form of distribution changing with the depth profile, and in the scheme of the present application, the propagation velocity of the detection sound signal in the sea is taken as an unknown quantity, namely v is an unknown quantity. The corresponding receiving delay of each element is considered in the process of solving the space position of the element, and the space coordinate of the element in the scheme is more accurate by establishing an element space position equation set and utilizing a plurality of groups of data to simultaneously calculate the receiving response delay of the element and the equivalent average sound velocity in the sea area where the element is located.
And obtaining the space coordinate of the No. h element according to five or more groups of element space position equations (namely the number of s is more than or equal to 5, namely the space coordinate of one element is measured, and at least 5 different sound source measurement points are needed), and converting the space coordinate of the No. h element into geodetic coordinates. Because the element space position equation set is a nonlinear equation set, the element space position equation set can be solved by adopting a Trust region reflecting method and a Levenberg-Marquardt method, and can also be solved by adopting a classical steepest descent method and a linearization method.
The solution of the system of nonlinear equations is described below, taking a relatively simple linearization method as an example. The idea of the linearization method is that the nonlinear equation is linearized around a test set of values (estimated sound velocity, primitive position, primitive delay, etc.) and then convergence is achieved in an iterative manner.
The initial estimated h-th element is located in (x)h,0,yh,0,zh,0) And the actual position of the h-th primitive is (x)h＝xh,0+Δxh,yh＝yh,0+Δyh,zh＝zh,0+Δzh)，
Can be represented by linearization as follows:
in the formula v0Is a sound velocity test value of a detected acoustic signal, dv is v-v0And an
In the formula tauh,0Is the test set value of the h-th received element delay, Δ τh＝τh-τh,0。
By using the linear equation set (3), Δ x can be solvedh,Δyh,ΔzhAnd dv approximations. By the determined Δ xh,Δyh,Δzh,ΔτhAnd dv value and original test set value (x)h,0,yh,0,zh,0,τh,0,v0) Adding to obtain the test set value (x) after the first iterationh,1,yh,1,zh,1,τh,1,v1) Then (x)h,1,yh,1,zh,1,τh,1,v1) And can be used to solve the equation set (3) to obtain the test set value (x) after the second iterationh,2,yh,2,zh,2,τh,2,v2) And so on until the test set value (x) obtained after k linearization iterationsh,k,yh,k,zh,k,τh,k,vk) Converge to the actual value, then (x) will beh,k,yh,k,zh,k) As the spatial coordinates of primitive No. h.
Through the analysis, the convergence of the obtained result can be realized through linear iteration, so that the equivalent average sound velocity of the detected sound signal obtained by the method in the sea area and the receiving response delay of each element are closer to the actual value, the space coordinate of the element obtained by the method is closer to the actual value, and the error is small.
In a preferred embodiment, the matrix representation of the linear equation set (3) is in the form:
ΔΓ＝AP+dT (4)
wherein the content of the first and second substances,
the least squares solution for equation (4) is:
P＝(ATA)-1ATΔΓ
therefore, by solving the vector P through linearization iteration, the three-dimensional space coordinates of the elements, the receiving response delay of the elements and the equivalent average sound velocity of the detection sound signal in the sea area can be obtained through convergence finally.
Performing polynomial curve fitting on the space coordinates of each array element to obtain a coefficient of a fitting polynomial; according to the polynomial coefficient and the known distance between each array element, new space coordinates of each array element are obtained through interpolation, and compared with the space coordinates of each array element solved by an equation, the method has higher precision; the spatial coordinates of each array element are converted to geodetic coordinates including longitude, latitude, and depth.
Further, as shown in fig. 2, in one embodiment, the sounding source output module 1 includes:
a first GPS signal receiver (A1)11, a digital waveform generating unit 12, a signal triggering unit 16, a digital-to-analog converting unit 13, a data transmitting unit 18, a first microwave communication unit (A2)17 and a measuring sound source 15.
A first GPS signal receiver (a1)11 for generating first time information and location information. The first time information includes information of year, month, day, hour, minute, and second at the current time, and the position information is GPS geodetic coordinate information of the current position of the first GPS signal receiver (a 1). In a specific embodiment, the first GPS signal receiver (a1)11 is installed above the measurement sound source 15, so that GPS geodetic coordinate information of the position of the measurement sound source 15 can be obtained from the position information generated by the first GPS signal receiver (a1) 11.
And a digital waveform generating unit 12 for generating digital signal waveform data according to the set waveform parameters.
And the signal triggering unit 16 is used for generating a triggering signal according to the first time information and transmitting the triggering signal to the digital-to-analog conversion unit 13. In a preferred embodiment, the signal triggering unit 16 determines whether the second information is an integral multiple of 5 or 10 at the current time according to the first time information, and if so, generates a triggering signal; if not, no trigger signal is generated.
The digital-to-analog conversion unit 13 is configured to buffer the digital signal waveform data, and when a trigger signal is detected, specifically, when a rising edge or a falling edge of the trigger signal is detected, convert the digital signal waveform data into an analog driving waveform signal. The action of converting the digital signal waveform data into the analog driving waveform signal by the digital-to-analog conversion unit 13 is triggered by a trigger signal, which is a way for the detection sound source output module 1 to send a detection sound signal to the hydrophone array 2 according to a preset time period. The digital-to-analog conversion unit 13 is periodically triggered by the signal triggering unit 16 to perform digital-to-analog conversion on the digital signal waveform data to obtain an analog driving signal, and the analog driving signal is sent to the measurement sound source, so that the starting time of the sound detection signal output by the measurement sound source 15 is accurate, and the measurement sound source is used for supporting and calculating the geodetic coordinates of the obtained accurate primitive.
The digital-to-analog conversion unit 13 is connected with a measurement sound source 15, and the measurement sound source 15 generates a detection sound signal according to the analog driving waveform signal.
A first microwave communication unit (a2)17 for transmitting, as a calibration signal, first time information, position information, and waveform parameters of the probe acoustic signal corresponding to the measurement acoustic source 15 when outputting the probe acoustic signal.
A data transmission unit 18 for receiving the GPS data such as time and position transmitted from the first GPS signal receiver (a1), receiving the waveform parameter data used by the digital waveform generation unit, and transmitting the data to the first microwave communication unit (a2) through a TCP/IP network protocol;
further, as shown in fig. 2, the sounding source output module 1 further includes: a power amplification unit 14.
The power amplifier is located between the digital-to-analog conversion unit 13 and the measurement sound source 15, and amplifies the analog drive waveform signal.
In view of the above-mentioned accuracy of the influence result related to the travel time of the probe acoustic signal in the water, in the present embodiment, first time information and position information are generated by the first GPS signal receiver (a1)11, so that the underwater acoustic travel time obtained by the first time information and the waveform parameters of the probe acoustic signal is accurate, that is, the start position and start time of the probe acoustic signal traveling in the water are accurate, and a calculation reference for the positions of the elements of the underwater acoustic array is provided.
In another embodiment, as shown in fig. 3, the primitive position calculating module 3 includes: a second GPS signal receiver (B1)33, a time synchronization unit 32, a conditioning acquisition unit 31, a measurement signal processing unit 34 and a second microwave communication unit (B2) 35.
A second microwave communication unit (B2)35 for receiving the calibration signal including first time information, position information, and waveform parameters of the probe sound signal corresponding to the probe sound source output module 1 when outputting the probe sound signal. The first microwave communication unit (a2)17 and the second microwave communication unit (B2)35 are commonly used wireless communication equipment on the sea, and the signal sending function of the units is responsible for generating and amplifying the input network communication data by radio frequency signals and transmitting the network communication data by microwave antennas; the signal receiving function of the unit is mainly to receive radio frequency signals transmitted by other microwave communication modules of the offshore mobile platform, amplify and decode the radio frequency signals, and transmit data to other data processing equipment through a TCP/IP network protocol.
The second GPS signal receiver (B1)33 is for generating second time information and a time pulse signal, wherein the pulse signal is a PPS signal that outputs one pulse per second.
And a time synchronization unit 32 for correcting the outputted real time based on the time pulse signal generated by the second GPS signal receiver (B1)33 and the second time information. The time synchronization unit 32 performs time correction on the real-time clock of the time synchronization unit 32 based on the standard time and the PPS signal, eliminates an error caused by delay, and converts the time and time information provided from the second GPS signal receiver (B1)33 into a real-time output, thereby obtaining a highly accurate time.
The conditioning and collecting unit 31 is configured to receive sensing signals generated by each element in the hydrophone array 2 according to the received detection acoustic signals, process and convert each sensing signal into a digital signal, and the processing and converting of the sensing signals by the conditioning and collecting unit 31 specifically includes: the conditioning and collecting unit 31 filters and amplifies the sensing signal, and performs analog-to-digital conversion on the analog sensing signal into a digital signal. Meanwhile, the conditioning and collecting unit 31 divides the digital signal into a plurality of frame signal files by a preset time length, and assigns a signal time stamp to each frame signal file according to the real-time corresponding to the initial sampling in each frame signal file, the signal time stamp is the initial time when the primitive receives the corresponding detection sound signal, and the initial time is determined according to the real-time output by the time synchronizing unit 32, because the real-time output by the time synchronizing unit 32 is output after being corrected according to the time pulse signal generated by the second GPS signal receiver (B1)33 and the second time information, the signal time stamp of each frame signal file is accurate. The preset time length may be the aforementioned preset time period, so that each frame of signal file corresponds to the detection sound signal emitted by the detection sound source output module 1 at different positions, that is, in the course of the sound source ship detouring on the sea surface of the preset sea area, if the detection sound source output module 1 emits N detection sound signals, each element in the hydrophone array 2 can be divided into N frames of signal files after being processed by the element position calculation module 3 according to the sensing signal generated by the received detection sound signal, and each frame of signal file corresponds to one detection sound signal. The real-time output by the time synchronization unit 32 is a time stamp attached to each frame of signal file, and is used for supporting and calculating the propagation time of the precisely measured acoustic signal propagating to the primitive in water.
And the measurement signal processing unit 34 is used for solving the geodetic coordinates of the corresponding primitive in the underwater sound receiving array according to the signal time stamp and the calibration signal on each frame signal file.
Further, the first time information and the second time information are both information including the year, month, day, hour, minute, and second of the current time. The first GPS signal receiver (A1)11 and the second GPS signal receiver (B1)33 are both devices supporting serial output of GPS data in the NMEA-0183 protocol format; the first GPS signal receiver (a1)11 is installed above the elevating device of the measurement sound source 15, and the measurement sound source 15 is located in the sea water below the sound source vessel.
As shown in fig. 4, the present invention also provides an active measurement method for the element spatial position of the hydrophone array 2, including:
s1: the hydrophone array 2 located in a preset sea area receives a detection sound signal sent by a detection sound source output module 1 on a sound source ship moving in the sea surface of the sea area. Step S1 specifically includes: the hydrophone array 2 located in a preset sea area receives a plurality of detection sound signals emitted by the detection sound source output module 1 on a sound source ship moving in the sea surface of the sea area at different positions. In which a sounding sound signal is emitted is a measurement sound source 15 in the sounding sound source output module 1.
S2: the hydrophone array 2 generates a sensing signal based on the received detection acoustic signal.
S3: a primitive position calculating module 3 on a receiving station matched with the sound source ship receives a calibration signal sent by the sound source ship when a detection sound signal occurs, wherein the calibration signal comprises first time information, position information and a waveform parameter of the detection sound signal corresponding to the detection sound signal output module 1 when the detection sound signal is output; the element position calculation module 3 also receives the sensing signals generated by the hydrophone array 2, and determines the geodetic coordinates of each element in the hydrophone array 2 according to the calibration signals and the sensing signals.
In step S3, the determining, by the cell position calculating module 3, the geodetic coordinates of each cell in the hydrophone array 2 based on the calibration signal and the sensing signal includes:
firstly, sampling a sensing signal by an element position calculation module to obtain a digital signal, dividing the digital signal into a plurality of frame signal files by a preset time length, and giving a signal timestamp to each frame signal file according to the time corresponding to initial sampling in each frame signal file;
then, the element position calculation module obtains the measurement value of the underwater sound propagation time of the sounding sound signal from the sounding sound source output module to the h element when the sounding sound source output module emits the sounding sound signal s times by using the signal time stamp and the calibration data on each frame of signal file
s＝1,2,3...NS，h＝1,2,3...Nh。
Finally, a space coordinate system is constructed, the position of the sound source ship when the sound source ship firstly emits the detection sound signal is taken as the origin of coordinates, the latitude direction is taken as the X-axis direction, the longitude direction is taken as the Y-axis direction, and the depth direction is taken as the Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Constructing a primitive space position equation set:
wherein v is the equivalent average sound velocity of the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement errors, τhDelay for receive response of primitive No. h;
and (3) obtaining the space coordinate of the No. h element according to five or more (namely, the number of the values of s is more than or equal to 5) element space position equation sets, and converting the space coordinate of the No. h element into the geodetic coordinate.
It should be understood that the above description of specific embodiments of the present invention is only for the purpose of illustrating the technical lines and features of the present invention, and is intended to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, but the present invention is not limited to the above specific embodiments. It is intended that all such changes and modifications as fall within the scope of the appended claims be embraced therein.
Claims (10)
1. An active measurement system of the element spatial position of a hydrophone array, comprising: the system comprises a hydrophone array distributed in a preset sea area, a sound source ship performing circumambulation on the sea surface of the preset sea area, and a receiving station matched with the sound source ship to acquire the position of an element in the hydrophone array;
a detection sound source output module used for emitting detection sound signals is arranged in the sound source ship, and the detection sound source output module emits the detection sound signals to the hydrophone array according to a preset time period;
when the detection sound source output module outputs the detection sound signal, a calibration signal is sent to a receiving station in a microwave communication mode, wherein the calibration signal comprises first time information and position information corresponding to the detection sound source output module when the detection sound signal is output and a waveform parameter of the detection sound signal;
the receiving station is provided with a primitive position calculating module used for determining primitive positions of the hydrophone array, and the primitive position calculating module receives the calibration signals and sensing signals generated when the detection acoustic signals received by each primitive in the hydrophone array;
the element position calculation module is used for sampling the sensing signal to obtain a digital signal, dividing the digital signal into a plurality of frame signal files according to a preset time length, and giving a signal timestamp to each frame signal file according to a moment corresponding to initial sampling in each frame signal file; and calculating the geodetic coordinates of the corresponding elements in the hydrophone array according to the signal time stamps and the calibration signals in the frame signal files, namely obtaining the corresponding measurement values of the underwater sound propagation time of the sounding sound signals from the sounding sound source output module to the corresponding elements through the signal time stamps in the frame signal files, the corresponding first time information of the sounding sound source output module when outputting the sounding sound signals and the waveform parameters of the sounding sound signals, selecting 5 groups or more of the measurement values of the underwater sound propagation time of the sounding sound source output module to the corresponding elements in the array and the position information of the sounding sound source output module when outputting the sounding sound signals, and calculating the geodetic coordinates of the elements in the hydrophone array.
2. The system of claim 1, wherein the determination of geodetic coordinates of the corresponding elements in the hydrophone array from the signal time stamps and the calibration signals on the respective frame signal files is specifically:
obtaining the measurement value of the underwater sound propagation time of the sound detection signal from the sound detection source output module to the h element when the sound detection source output module emits the sound detection signal s times according to the signal timestamp, the first time information and the waveform parameter of the sound detection signal
Constructing a space coordinate system, wherein the position of the sound source ship when the sound source ship firstly emits the detection sound signal is taken as a coordinate origin, the latitude direction is taken as an X-axis direction, the longitude direction is taken as a Y-axis direction, and the depth direction is taken as a Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Constructing a primitive space position equation set:
wherein v is the equivalent average sound velocity of the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement errors, τhDelay for receive response of primitive No. h;
and (3) according to the five groups or more (namely the number of the values of s is more than or equal to 5) of the element space position equation set, further solving the space coordinate of the No. h element, and converting the space coordinate of the No. h element into the geodetic coordinate.
3. The cellular spatial position active measurement system of a hydrophone array as recited in claim 1, wherein the sounding source output module comprises:
the system comprises a first GPS signal receiver (A1), a digital waveform generating unit, a signal triggering unit, a digital-to-analog conversion unit, a data transmission unit, a first microwave communication unit (A2) and a measurement sound source;
-said first GPS signal receiver (a1) for generating said first time information and said location information;
the digital waveform generating unit is used for generating digital signal waveform data according to the set waveform parameters;
the signal trigger unit is used for generating a trigger signal according to the first time information and transmitting the trigger signal to the digital-to-analog conversion unit;
the digital-to-analog conversion unit is used for caching the digital signal waveform data and converting the digital signal waveform data into an analog driving waveform signal when the trigger signal is detected;
the digital-to-analog conversion unit is connected with the measurement sound source, and the measurement sound source generates a detection sound signal according to the analog driving waveform signal;
the data transmission unit is used for receiving the first time information and the position information generated by the first GPS signal receiver (A1) and receiving the waveform parameters, and the first time information, the position information and the waveform parameters are transmitted to a first microwave communication unit (A2) through a TCP/IP network protocol;
the first microwave communication unit (a2) is configured to transmit the first time information, the position information, and the waveform parameter of the detection acoustic signal, which correspond to the measurement acoustic source when outputting the detection acoustic signal, as the calibration signal.
4. The cellular spatial position active measurement system of a hydrophone array as recited in claim 3, wherein the sounding source output module further comprises: a power amplifying unit;
the power amplification unit is positioned between the digital-to-analog conversion unit and the measurement sound source and is used for amplifying the analog driving waveform signal.
5. The cellular spatial position active measurement system of a hydrophone array as in any of claims 1-4, wherein the cellular position computation module comprises: the system comprises a second GPS signal receiver (B1), a time synchronization unit, a conditioning acquisition unit, a measurement signal processing unit and a second microwave communication unit (B2);
the second microwave communication unit (B2) for receiving the calibration signal including the first time information, the position information, and the waveform parameter of the probe acoustic signal corresponding to the probe acoustic source output module when outputting the probe acoustic signal;
said second GPS signal receiver (B1) for generating second time information and a time pulse signal;
the time synchronization unit is used for correcting the output real-time according to the time pulse signal generated by the second GPS signal receiver (B1) and the second time information;
the conditioning acquisition unit is used for receiving sensing signals generated when each element in the hydrophone array receives a detection sound signal, processing each sensing signal and converting each sensing signal into a digital signal, dividing the digital signal into a plurality of frames of signal files according to a preset time length, and giving a signal timestamp to each frame of signal file according to the real-time corresponding to initial sampling in each frame of signal file;
and the measurement signal processing unit is used for solving geodetic coordinates of the corresponding primitive in the hydrophone array according to the signal time stamp and the calibration signal on each frame signal file.
6. The system of claim 5, wherein the first time information and the second time information are both information including year, month, day, hour, minute, and second at the current time, and the predetermined time period is 5s \10s apart.
7. The cellular spatial position active measurement system of a hydrophone array as recited in claim 5, characterised in that said first GPS signal receiver (A1) and said second GPS signal receiver (B1) are both devices supporting serial output of GPS data in NMEA-0183 protocol format;
the first GPS signal receiver (a1) is mounted above a lifting device of a measurement sound source, and the measurement sound source is located in the sea below a sound source vessel.
8. An active measurement method for the element space position of a hydrophone array is characterized by comprising the following steps:
s1: a hydrophone array positioned in a preset sea area receives detection sound signals sent by a detection sound source output module on a sound source ship moving in the sea surface of the sea area;
s2: the hydrophone array generates a sensing signal when receiving the detection acoustic signal;
s3: a primitive position calculation module on a receiving station matched with the sound source ship receives a calibration signal sent by the sound source ship when the sound source ship generates the detection sound signal, wherein the calibration signal comprises first time information and position information corresponding to the detection sound signal output by the detection sound source output module and a waveform parameter of the detection sound signal; the element position calculation module also receives the sensing signals generated by the hydrophone array, and determines the geodetic coordinates of each element in the hydrophone array according to the calibration signals and the sensing signals.
9. The method for actively measuring the spatial positions of the elements of the hydrophone array as recited in claim 8, wherein the step S1 is specifically as follows:
and the hydrophone array positioned in the preset sea area receives a plurality of detection sound signals sent by the detection sound source output module at different positions on the sound source ship moving in the sea surface of the sea area.
10. The method of active measurement of the spatial position of elements of a hydrophone array as claimed in claim 8, wherein in step S3, the element position calculation module determining the geodetic coordinates of elements in the hydrophone array from the calibration signals and the sensing signals comprises:
firstly, the element position calculation module samples the sensing signal to obtain a digital signal, divides the digital signal into a plurality of frame signal files according to a preset time length, and gives a signal timestamp to each frame signal file according to the time corresponding to the initial sampling in each frame signal file;
then, the element position calculation module obtains a measurement value of underwater acoustic propagation time of the sounding sound signal from the sounding sound source output module to the h element when the sounding sound source output module transmits the sounding sound signal s times by using the signal time stamp and the calibration data in each frame of signal file
Finally, a space coordinate system is constructed, the position of the sound source ship when the sound source ship firstly emits the detection sound signal is taken as the coordinate origin, the latitude direction is taken as the X-axis direction, the longitude direction is taken as the Y-axis direction, and the depth direction is taken as the Z-axis direction;
set the spatial coordinate of the h-th element to (x)h,yh,zh) According to
Building primitive spatial positionsThe system of equations:
wherein v is the equivalent average sound velocity of the sea area where the elements in the hydrophone array are located, (x)s,ys,zs) Is a space coordinate when the detection sound source output module transmits a detection sound signal s time,
for measurement errors, τhDelay for receive response of primitive No. h;
and (3) according to the five groups or more (namely the number of the values of s is more than or equal to 5) of the element space position equation set, further solving the space coordinate of the No. h element, and converting the space coordinate of the No. h element into the geodetic coordinate.
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