CN113406649A - Portable imaging sonar system for diver - Google Patents
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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
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Abstract
The invention provides a portable imaging sonar system used by a diver, which comprises a diver helmet and a waist processing box, wherein the diver helmet comprises a multi-beam imaging sonar, an underwater camera, OLED glasses and a lighting lamp, and subsystem embedded software is arranged in the diver helmet; the multi-beam imaging sonar comprises a receiving transducer, an FPGA, an electric signal and analog signal conversion processing module and an FPGA digital signal processing control module transmitting transducer; the waist processing box calculates the position of a target tracked by a diver by adopting a passive target positioning algorithm of comprehensive information processing and wire control software on data acquired by the helmet. The system provided by the invention can adopt the maximum likelihood estimation method to obtain the optimal solution by constructing the passive positioning target model, can adopt the helmet which is intensively displayed by HUD two-dimensional glasses to display the images of all monitored targets in the monitored area in real time, and has the advantages of long action distance, good concealment, strong anti-interference capability and the like.
Description
Technical Field
The invention belongs to the technical field of seabed monitoring, and particularly relates to a portable imaging sonar system for divers.
Background
The underwater environment is different from the overwater environment greatly, the underwater visibility is poor, the diver direction sense is poor directly, and the autonomous positioning is difficult, so that the diver who operates underwater faces many risks and inconveniences, especially when the diver operates underwater in a muddy water area with poor visibility, the diver cannot timely explore and find a target and accurately reach a preset position, the efficiency and the effect of the underwater operation are seriously influenced, and even the life safety of the diver is endangered.
Therefore, the portable imaging sonar used by the diver can be used for detecting objects suspended in water and objects protruding from the bottom surface of the sea bottom when the diver works underwater, guides the diver to complete underwater positioning and operation, and is a powerful assistant for underwater construction and target detection. The system can also be used as an important component of a frogman information system and is responsible for detecting, finding, early warning and the like of targets needing to be tracked in task water areas, and particularly in turbid water areas with poor visibility, the equipment is indispensable.
Disclosure of Invention
Aiming at the defects, the invention provides the portable imaging sonar system used by the diver, which is characterized in that a passive positioning target model is constructed, the optimal solution is obtained by adopting a maximum likelihood estimation method, the images of all monitored targets in a monitored area can be presented in real time by adopting a helmet which is displayed by HUD two-dimensional glasses in a centralized manner, and the portable imaging sonar system has the advantages of long acting distance, good concealment, strong anti-interference capability and the like.
The invention provides the following technical scheme: a portable imaging sonar system for divers comprises diver helmets and a waist processing box, wherein the waist processing box carries out passive target positioning algorithm on data collected by the helmets by adopting comprehensive information processing and line control software to calculate the position of a target tracked by the diver, and the passive target positioning algorithm comprises the following steps:
s1: constructing a passive target positioning sound image sonar data acquisition space model, and acquiring the coordinate L of a monitored target by a multi-beam imaging sonar in a diver helmet [ x y%]T，
The multi-beam imaging sonar is used as a transmitting signalNumber end TxSaid transmitting signal terminal TxIs represented by LT＝[0 0]TN receiving ends for receiving sonar signals are arranged in the monitored area, and the coordinate of the ith receiving end is
N receiving ends form a receiving end set
S2: constructing the time t for the data of the monitored target to reach the ith receiving end by using the space constructed in the step S1 and the collected dataiMeasurement calculation model:
wherein |2Representing the calculated euclidean distance, c is the speed of light,
to have a variance of
Zero mean gaussian measurement noise;
s3: calculating the T from the transmitting signal terminalxDistance measurement value r from the monitored target to the ith receiving terminaliThe distance measurement values of the N receiving ends form a distance measurement value set
The distance measurement value riThe calculation formula of (a) is as follows:
wherein,
it is a true distance measurement that is,
is the measurement of noise, niFollowing a Gaussian distribution
Gaussian distribution is zero mean and variance is zero
S4: constructing the N number of said real distance measurements d without measurement noiseiAn ellipse E is definediModel:
wherein the true measured target position L ═ x y]TAt the intersection of at least three solid ellipses
Determining;
s5: the time t of the data of the monitored target arriving at the ith receiving terminal, which is calculated corresponding to the step of S1iA measurement value of the distance r constructed in the step of S3 in the presence of measurement noiseiThe vector calculation model of (2):
r＝d(L)+n；
where d (l) is the true distance measurement vector, calculated by the following formula:
wherein n ═ n1 … nN]TIs a corresponding measurementMeasuring a noise vector, and estimating an unknown position of a passive target based on time measurement of an imaging sonar reaching an ith receiving end;
s6: and solving the unknown position coordinate L of the monitored target in the true distance measurement vector d (L) by adopting a maximum likelihood estimation method, thereby realizing accurate positioning of the position of the monitored target.
Further, the step S6 of solving the unknown position coordinate L of the monitored object by using a maximum likelihood estimation method includes the following steps:
s61: constructing a maximum likelihood function M (L) of unknown position coordinates L of the monitored target:
wherein f (r | L) is a probability density function,
is a diagonal covariance matrix;
s62: constructing a logarithm calculation model of the true distance measurement vector d (L):
wherein, A is lnl (1/(2 pi)N/2det(C)1/2) Is a constant independent of L;
s63: constructing a negative log minimization model of a maximum likelihood objective function of unknown position coordinates L of the monitored object
And then indirectly solving the maximum likelihood objective function J of the unknown position coordinate L of the monitored targetML(L)：
S64: solving forThe optimal solution of the unknown position coordinate L of the monitored target in the minimization model constructed by the S63
Further, the diver's helmet includes multi-beam imaging sonar, underwater camera, OLED glasses and light, and is provided with subsystem embedded software.
Furthermore, the multi-beam imaging sonar adopts a double-frequency scheme and comprises a receiving transducer, an analog front-end signal conditioning module, an FPGA, an electric signal and analog signal conversion processing module, an FPGA digital signal processing control module, a power amplification module and a transmitting transducer.
Furthermore, the waist processing box comprises a control key module, an embedded computer, a power supply battery control circuit module, a solid state disk, an electric quantity detection module, a water leakage detection module, an electronic compass module, a temperature sensor and a depth sensor.
Furthermore, waist processing box passes through the watertight cable and is connected with the multi-beam imaging sonar in the diver's helmet, control the transmission of multi-beam imaging sonar signal, receive in addition, still with the collection, processing, conversion, the storage of the data that multi-beam imaging sonar gathered.
Furthermore, the integrated information processing and line control software comprises HUD display interface software, system running state monitoring control software, underwater target automatic detection and identification software and terrain matching navigation software.
Furthermore, the subsystem embedded software comprises multi-beam sonar head imaging processing software, case disk monitoring processing and power supply control software, underwater acoustic communication equipment internal processing software and navigation equipment internal processing software.
Further, data transmission between the diver helmet and the processing box to be protected adopts a data driving mode, comprehensive information processing and line control software in the waist processing box performs data processing after receiving sonar images acquired by sonar head multi-beam imaging embedded software, video images processed by camera preprocessing software in an underwater camera and state information acquired by an auxiliary sensor comprising an electronic compass module, a temperature sensor and a depth sensor, and the processed data are transmitted to a HUD head-up display system in the diver helmet for display on a front panel on one hand and are transmitted to the solid state disk for data storage on the other hand so as to extract data for depth mining processing after landing;
furthermore, the integrated information processing and wire control software controls the earphone to monitor the monitored target and play the voice of the microphone after receiving the key action command of the case state monitoring board singlechip software.
The invention has the beneficial effects that:
1. the system provided by the invention adopts the multi-beam sound image sonar to monitor the sonar positioning system of the monitored target, does not emit sound signals, only acquires target information by capturing noise signals of an underwater radiation source, and can realize positioning of a moving target from the underwater sound radiation source or determine information such as the coordinate position of a sound radiation source carrying platform on the basis of not exposing self detection position information by means of a passive sonar positioning technology because of the advantages of long acting distance, good concealment, strong anti-interference capability and the like.
2. The system provided by the invention adopts the maximum likelihood estimation method to solve the optimal solution of the constructed passive positioning target model, avoids the problems that the passive sonar cannot directly acquire target distance information in the positioning process, reduces the observable range of the system, is easily influenced by factors such as instability of seawater physical characteristics, complexity of sound wave propagation in seawater medium, environmental noise, self noise and the like in the detection process, causes inaccurate and unreliable positioning data of the target, even contradicts with each other and the like, and improves the accuracy and precision of the optimal solution.
3. The system provided by the invention adopts an integrated design technology, and achieves a better recognition effect by constructing the system with a transmitting end, a monitored target and small target detection.
4. The underwater communication link can be established between the underwater acoustic communication and navigation equipment interface and teammates at multiple receiving ends, and the underwater acoustic communication and navigation system can send commands and also can send mutual position information by using a data link, so that the distribution situation of the teammates is displayed.
5. The system provided by the invention has the advantages of miniaturization, low power consumption design, small size, flexibility, single machine portability and prolonged working time.
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The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a general schematic view of a portable imaging sonar system for use by divers according to the present invention;
fig. 2 is a schematic structural diagram of a module of a multi-beam imaging sonar inside a diver's helmet provided by the present invention;
FIG. 3 is a block diagram of the data driven interconnection software modules of the diver's helmet and waist box according to the present invention;
fig. 4 is a data interaction schematic diagram of a portable imaging sonar system used by a diver according to the invention.
Detailed description of the preferred embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a portable imaging sonar system used by a diver, which comprises a diver helmet and a waist processing box, wherein the waist processing box adopts comprehensive information processing and line control software to carry out a passive target positioning algorithm on data acquired by the helmet to calculate the position of a target tracked by the diver, and the passive target positioning algorithm comprises the following steps:
s1: constructing a passive target positioning sound image sonar data acquisition space model, and acquiring the coordinate L of a monitored target by a multi-beam imaging sonar in a diver helmet [ x y%]T，
The multi-beam imaging sonar is used as a signal emission end TxSaid transmitting signal terminal TxIs represented by LT＝[0 0]TN receiving ends for receiving sonar signals are arranged in the monitored area, and the coordinate of the ith receiving end is
N receiving ends form a receiving end set
S2: transmitting sonar signals from a transmitting end to reach a monitored target and then reach an ith receiving end, and constructing time t when data of the monitored target reach the ith receiving end by using the space constructed in the step S1 and the collected dataiMeasurement calculation model:
wherein |2Representing the calculated euclidean distance, c is the speed of light,
to have a variance of
Zero mean gaussian measurement noise;
s3: the ith receiving end time tiMultiplying by the speed of light c, calculating the T from the emission signal endxDistance measurement value r from the monitored target to the ith receiving terminaliThe distance measurement values of the N receiving ends form a distance measurement value set
The distance measurement value riThe calculation formula of (a) is as follows:
wherein,
it is a true distance measurement that is,
is the measurement of noise, niFollowing a Gaussian distribution
Gaussian distribution is zero mean and variance is zero
S4: constructing the N number of said real distance measurements d without measurement noiseiAn ellipse E is definediModel: (in the absence of measurement noise, N of said real distance measurements diDefines an ellipse EiModel, focus is located monitored target coordinate L and emission signal end coordinate L respectivelyTAnd the coordinates L of the target to be measured and the coordinates of the ith receiving end
At the intersection, construct pairsCorresponding ellipse EiModel)
Wherein the true measured target position L ═ x y]TAt the intersection of at least three solid ellipses
Determining;
s5: the time t of the data of the monitored target arriving at the ith receiving terminal, which is calculated corresponding to the step of S1iA measurement value of the distance r constructed in the step of S3 in the presence of measurement noiseiThe vector calculation model of (2):
r＝d(L)+n；
where d (l) is the true distance measurement vector, calculated by the following formula:
wherein n ═ n1 … nN]TIs the corresponding measurement noise vector, in which case the three or more ellipses derived from the measurement do not have unique intersection points. Therefore, the estimated position of the passive target can be found in a bounded region, and the unknown position of the passive target is estimated based on the time measurement of the imaging sonar reaching the ith receiving end;
s6: and solving the unknown position coordinate L of the monitored target in the true distance measurement vector d (L) by adopting a maximum likelihood estimation method, thereby realizing accurate positioning of the position of the monitored target.
The step of S6, solving the unknown position coordinate L of the monitored target by adopting a maximum likelihood estimation method, comprises the following steps:
s61: constructing a maximum likelihood function M (L) of unknown position coordinates L of the monitored target:
wherein f (r | L) is a probability density function,
is a diagonal covariance matrix;
s62: constructing a logarithm calculation model of the true distance measurement vector d (L):
wherein, A is lnl (1/(2 pi)N/2det(C)1/2) Is a constant independent of L, and the maximum likelihood estimation requires the maximization of the log-likelihood function, which is equivalent to minimizing the negative logarithm of the likelihood function;
s63: constructing a negative log minimization model of a maximum likelihood objective function of unknown position coordinates L of the monitored object
And then indirectly solving the maximum likelihood objective function J of the unknown position coordinate L of the monitored targetML(L)：
S64: solving the optimal solution of the unknown position coordinates L of the monitored target in the minimization model constructed by the S63
As shown in figure 1, diver's helmet includes multi-beam imaging sonar, camera under water, OLED glasses and light, and the waist is handled the box and is included control button module, embedded computer, power supply battery control circuit module, solid state hard disk, electric quantity detection module, the detection module that leaks, electron compass module, temperature sensor and depth sensor. The electric quantity detection sensor performs a battery remaining quantity monitoring function. And two temperature sensors are used for respectively monitoring the external water temperature and the internal temperature of the box body, and an alarm is given if the internal temperature is too high. The water leakage sensor is used for monitoring the water leakage condition of the box body and giving an emergency alarm, the electronic compass is used for indicating the advancing direction, and the sensors are read by the single chip microcomputer on the control panel and then are sent to the computer for processing in a unified mode.
As shown in fig. 2, the multi-beam imaging sonar adopts a dual-frequency scheme, and includes a receiving transducer, an analog front-end signal conditioning module, an FPGA, an electric signal and analog signal conversion processing module, an FPGA digital signal processing control module, a power amplification module, and a transmitting transducer. The waist processing box is connected with the multi-beam imaging sonar in the diver helmet through a watertight cable, controls the emission and the reception of signals of the multi-beam imaging sonar, and collects, processes, converts and stores data collected by the multi-beam imaging sonar. The waist processing control box is hung between the waist of the diver, and the diver does not need to hold the waist processing control box by hands, so that the two hands of the diver are liberated. The helmet is mainly a centralized helmet display system which is fixedly installed and based on OLED glasses, a diver can directly observe the detection condition through a virtual HUD head-up display interface in front of a water retaining panel in front of eyes, and the working state of the system is monitored in real time.
As shown in fig. 3, subsystem embedded software is provided in the diver's helmet, and includes multi-beam sonar head imaging processing software, case monitoring processing and power control software, underwater acoustic communication device internal processing software, and navigation device internal processing software.
The integrated information processing and line control software comprises HUD display interface software, system running state monitoring control software, underwater target automatic detection and identification software and terrain matching navigation software.
As shown in fig. 4, the data transmission between the diver's helmet and the processing box to be protected is in a data driving mode, the comprehensive information processing and line control software in the waist processing box performs data processing after receiving sonar images acquired by sonar head multi-beam imaging embedded software, video images processed by camera preprocessing software in an underwater camera, and status information acquired by auxiliary sensors including the electronic compass module, the temperature sensor and the depth sensor, and transmits the processed data to the HUD head-up display system in the diver's helmet for display on the front panel on one hand, and transmits the processed data to the solid state disk for data storage on the other hand, so that the data can be extracted after landing for depth mining, and other sensor information can be stored synchronously, and can serve as a black box function to some extent.
The integrated information processing and wire control software also controls the earphone to monitor the monitored target and play the voice of the microphone after receiving the key action command of the case state monitoring board singlechip software.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a portable imaging sonar system that diver used which characterized in that, includes diver's helmet and waist processing box, the waist processing box adopts integrated information processing and drive-by-wire software to carry out passive target positioning algorithm to the data that the helmet gathered and calculates the position of diver's tracked target, passive target positioning algorithm includes following step:
s1: constructing a passive target positioning sound image sonar data acquisition space model, and acquiring the coordinate L of a monitored target by a multi-beam imaging sonar in a diver helmet [ x y%]T，
The multi-beam imaging sonar is used as a signal emission end TxSaid transmitting signal terminal TxIs represented by LT＝[0 0]TN receiving ends for receiving sonar signals are arranged in the monitored area, and the coordinate of the ith receiving end is
N receiving ends form a receiving end set
S2: constructing the time t for the data of the monitored target to reach the ith receiving end by using the space constructed in the step S1 and the collected dataiMeasurement calculation model:
wherein |2Representing the calculated euclidean distance, c is the speed of light,
to have a variance of
Zero mean gaussian measurement noise;
s3: calculating the T from the transmitting signal terminalxDistance measurement value r from the monitored target to the ith receiving terminaliThe distance measurement values of the N receiving ends form a distance measurement value set
The distance measurement value riIs calculated byThe following were used:
wherein,
it is a true distance measurement that is,
is the measurement of noise, niFollowing a Gaussian distribution
Gaussian distribution is zero mean and variance is zero
S4: constructing the N number of said real distance measurements d without measurement noiseiAn ellipse E is definediModel:
wherein the true measured target position L ═ x y]TAt the intersection of at least three solid ellipses
Determining;
s5: the time t of the data of the monitored target arriving at the ith receiving terminal, which is calculated corresponding to the step of S1iA measurement value of the distance r constructed in the step of S3 in the presence of measurement noiseiThe vector calculation model of (2):
r＝d(L)+n；
where d (l) is the true distance measurement vector, calculated by the following formula:
wherein n ═ n1…nN]TThe method comprises the steps that a corresponding measurement noise vector is obtained, and the unknown position of a passive target is estimated based on the time measurement of the imaging sonar reaching the ith receiving end;
s6: and solving the unknown position coordinate L of the monitored target in the true distance measurement vector d (L) by adopting a maximum likelihood estimation method, thereby realizing accurate positioning of the position of the monitored target.
2. A portable imaging sonar system for use by a diver according to claim 1, wherein said S6 step of solving unknown position coordinates L of a monitored object using maximum likelihood estimation comprises the steps of:
s61: constructing a maximum likelihood function M (L) of unknown position coordinates L of the monitored target:
wherein f (r | L) is a probability density function,
is a diagonal covariance matrix;
s62: constructing a logarithm calculation model of the true distance measurement vector d (L):
wherein, A is lnl (1/(2 pi)N/2det(C)1/2) Is a constant independent of L;
s63: constructing a negative log minimization model of a maximum likelihood objective function of unknown position coordinates L of the monitored object
And then indirectly solving the maximum likelihood objective function J of the unknown position coordinate L of the monitored targetML(L)：
S64: solving the optimal solution of the unknown position coordinates L of the monitored target in the minimization model constructed by the S63
3. A portable imaging sonar system for use by a diver according to claim 1, wherein the diver's helmet comprises a multi-beam imaging sonar, an underwater camera, OLED glasses, and lights, with subsystem embedded software in the diver's helmet.
4. The portable imaging sonar system for divers according to claim 3, wherein the multi-beam imaging sonar adopts a dual-frequency scheme, and comprises a receiving transducer, an analog front-end signal conditioning module, an FPGA, an electric signal and analog signal conversion processing module, an FPGA digital signal processing control module, a power amplification module and a transmitting transducer.
5. The portable imaging sonar system for divers according to claim 1, wherein the waist processing box comprises a control key module, an embedded computer, a power supply battery control circuit module, a solid state disk, an electric quantity detection module, a water leakage detection module, an electronic compass module, a temperature sensor and a depth sensor.
6. The portable imaging sonar system for divers according to claim 5, wherein the waist processing box is connected with the multi-beam imaging sonar in the diver's helmet through watertight cables, controls the emission and reception of the multi-beam imaging sonar signals, and collects, processes, converts and stores the data collected by the multi-beam imaging sonar.
7. The portable imaging sonar system for divers according to claim 1, wherein the integrated information processing and line control software comprises HUD display interface software, system running state monitoring control software, underwater target automatic detection and identification software and terrain matching navigation software.
8. The portable imaging sonar system for divers according to claim 3, wherein the subsystem embedded software includes multibeam sonar head imaging processing software, case monitoring processing and power control software, underwater acoustic communication device internal processing software, and navigation device internal processing software.
9. A portable imaging sonar system for use by a diver according to claim 7 or 8, characterized in that the data transmission between the diver's helmet and the process cartridge to be protected is in a data-driven mode, after the comprehensive information processing and line control software in the waist processing box receives sonar images acquired by sonar head multi-beam imaging embedded software, video images processed by camera preprocessing software in an underwater camera and state information acquired by an auxiliary sensor comprising the electronic compass module, the temperature sensor and the depth sensor, and carrying out data processing, transmitting the processed data to a HUD head-up display system in a diver helmet for display on a front panel on one hand, and transmitting the processed data to the solid state disk for data storage on the other hand so as to extract the data after landing for deep mining processing.
10. The portable imaging sonar system for divers according to claim 7 or 8, wherein the integrated information processing and wire control software further controls the earphones to monitor the monitored target and play the voice of the microphone after receiving the key action command of the case state monitoring board single chip microcomputer software.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114216464A (en) * | 2021-11-16 | 2022-03-22 | 湖南国天电子科技有限公司 | Intelligent underwater target positioning method |
| CN114216464B (en) * | 2021-11-16 | 2023-08-25 | 湖南国天电子科技有限公司 | Intelligent underwater target positioning method |
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