CN113433539A - Underwater current field detection system and method based on chaos detection - Google Patents
Underwater current field detection system and method based on chaos detection Download PDFInfo
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- CN113433539A CN113433539A CN202110690060.0A CN202110690060A CN113433539A CN 113433539 A CN113433539 A CN 113433539A CN 202110690060 A CN202110690060 A CN 202110690060A CN 113433539 A CN113433539 A CN 113433539A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/02—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with propagation of electric current
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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
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention belongs to the technical field of underwater wireless detection, and particularly relates to an underwater current field detection system and method based on chaotic detection. The invention detects and verifies underwater metal objects through the two phase diagram state changes of the chaotic detector, thereby greatly improving the sensitivity and reliability of underwater or underwater metal object detection; more useful information of the detection signal is used for judgment, the judgment sensitivity is higher than that of the traditional method which only depends on amplitude judgment, the problem of poor detection effect caused by detection threshold change due to environmental change is solved, and the difficulty of setting the detection threshold is avoided. The invention solves the problems of poor detection effect and high false alarm caused by too small detection voltage change or detection threshold change caused by environment change in the existing underwater current field detection method, and improves the detection effectiveness and reliability through chaotic detection.
Description
Technical Field
The invention belongs to the technical field of underwater wireless detection, and particularly relates to an underwater current field detection system and method based on chaotic detection.
Background
Modern underwater detection has increasingly high requirements for effectiveness and reliability. The traditional underwater detection technology mainly comprises sonar, underwater optical detection technology and traditional underwater current field detection technology. Because the underwater acoustic signals have good propagation characteristics under water, the sonar becomes the most widely applied technology in the underwater detection technology, and is commonly used for detecting submarine topography drawing, ship debris searching and other purposes. However, the sound waves are easy to refract, reflect and scatter in the process of underwater propagation, and the underwater noise environment is complex and changeable, which can interfere the detection effect of the sonar. And the active sonar needs to emit sound waves for detection, so that the position of the active sonar is easy to expose, and the position of the active sonar is exposed when the echo is received due to the low transmission speed of the sound waves, so that the active sonar is almost abandoned in many occasions. The underwater optical detection technology mainly comprises an underwater laser detection technology and an underwater television technology. The underwater laser technology is mainly used on an aerial anti-submarine aircraft, the principle of the underwater laser technology is similar to that of echo positioning, blue-green laser is transmitted and received by a laser radar, and the whole transmission link comprises air and seawater, so that the detection precision is seriously influenced by various interferences such as atmospheric attenuation, sea surface reflection, seawater attenuation and scattering, the influence of a seawater environment and the like, and the underwater laser technology is only suitable for a shallow sea area with a clear water body; the underwater television technology adopts a mode that a camera shoots underwater targets to realize detection. Because the light is in the process of propagating under water, the absorption effect of water and particles to light is very obvious, even if a blue-green light source which is influenced the least is used, the effective detection distance is only 30 meters at most, and under a turbid water body environment, the light generates a scattering effect on an underwater propagation path, cannot reach a detection target completely, and part of the light can be scattered back to the light source, so that the visibility is reduced, and the detection effect is greatly influenced.
The sonar technology and the underwater optical detection technology have defects and shortcomings in underwater detection, and cannot be well applied to various complicated and changeable underwater environments, particularly detection in underwater turbid and underwater reef cluster environments. For better detection of the marine environment, more diverse means are needed for underwater detection. The traditional underwater current field detection technology uses a hard decision threshold to judge, and if the electric field of the surrounding background environment changes, the hard decision threshold needs to be adjusted in a self-adaptive mode so as to adapt to the change of the electric field of the surrounding background environment. The underwater current field detection method based on chaotic detection provided by the invention can overcome the problems of poor detection effect and high false alarm caused by detection threshold change caused by environmental change in the traditional underwater current field detection method, improves the detection effectiveness and reliability, and makes up the defects of the traditional underwater detection technology to a certain extent. The surrounding environment dependence of the underwater current field detection method based on chaos detection is greatly reduced, the detection system is simple in structure, the method is very suitable for being used in dark and turbid coastal water areas, the detection precision is greatly improved, the problem of low reliability and poor effectiveness caused by detection only depending on a hard threshold is solved, and the method can be applied to the fields of large underwater robots, AUV underwater detection and the like.
Disclosure of Invention
The invention aims to provide an underwater current field detection system based on chaos detection.
The purpose of the invention is realized by the following technical scheme: the device comprises an antenna unit, a transmitting unit 4, a receiving unit 5, a digital control unit 6 and an upper computer chaotic detector judgment unit 7; the antenna unit comprises a transmitting antenna unit 1, an A-end receiving antenna unit 2 and a B-end receiving antenna unit 3; the digital control unit 6 comprises a controller 601, a DA module 602, a first AD module 603, and a second AD module 604; the transmitting unit 4 comprises a power amplifier 401 and an impedance matching network 402; the receiving unit comprises a first balun frequency-selecting loop 501 and a second balun frequency-selecting loop 502; the upper computer brain chaotic detector decision unit 7 comprises a first chaotic detector 703 and a second chaotic detector 704;
the controller 601 generates a sine wave digital signal, and the sine wave digital signal is generated by the DA module 602 and transmitted to the power amplifier 401 of the transmitting unit 4; the power amplifier 401 amplifies the power of the sine wave signal and transmits the amplified sine wave signal to the transmitting antenna unit 1 through the impedance matching network 402; the transmitting antenna unit 1 radiates the received power signal into water and transmits the weak reflected signal received by induction to the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3; the terminal a receiving antenna unit 2 transmits the received and sensed signal of the underwater weak reflection electric field to a first balun frequency-selective loop 501 of the receiving unit 5, and the terminal B receiving antenna unit 3 transmits the received and sensed signal of the underwater weak reflection electric field to a second balun frequency-selective loop 502 of the receiving unit 5; the first balun frequency-selecting loop 501 converts the received differential electrical signal into a single-ended voltage signal, and transmits the single-ended voltage signal to the first AD module 603 of the digital control unit 6 after being processed by a low-noise amplifier, a band-pass filter and a secondary amplifier in sequence; the second balun frequency-selecting loop 502 converts the received differential electrical signal into a single-ended voltage signal, and transmits the single-ended voltage signal to the second AD module 604 of the digital control unit 6 after being processed by the low-noise amplifier, the band-pass filter and the secondary amplifier in sequence; the first AD module 603 and the second AD module 604 respectively perform AD conversion on the received signals and transmit the signals to the decision unit 7 of the upper computer chaotic detector through the man-machine interaction interface 605;
after receiving the signal transmitted by the first AD module 603, the upper computer chaotic detector determining unit 7 multiplies the signal by a first amplitude adjustment coefficient 701, so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the first chaotic detector 703; after receiving the signal transmitted by the second AD module 604, the upper computer chaotic detector determining unit 7 multiplies the signal by a second amplitude adjustment coefficient 702, so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the second chaotic detector 704;
if there is no metal object underwater or underwater in the detection range of the a-end receiving antenna unit 2 and the B-end receiving antenna unit 3, the first chaotic detector 703 and the second chaotic detector 704 both output periodic phase diagrams; if there is a metal object underwater or underwater in the detection range of the receiving antenna unit 2 at the a end, the phase diagram state output by the first chaotic detector 703 changes from the periodic state to the chaotic state; if there is a metal object underwater or underwater in the detection range of the B-terminal receiving antenna unit 2, the phase diagram state output from the second chaotic detector 704 changes from the periodic state to the chaotic state.
The present invention may further comprise:
the antenna unit is arranged on the antenna bracket 105; the antenna bracket 105 comprises a vertical rod and a horizontal cross-shaped bracket; the horizontal cross-shaped bracket consists of a first horizontal rod piece and a second horizontal rod piece which are vertically crossed with the point O; the lower end of the vertical rod piece is connected to a point O of the cross-shaped support; the transmitting antenna unit 1, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 are all electric dipole antennas, two conductors of the transmitting antenna unit 1 are respectively arranged on two sides of a point O on a first horizontal rod, two conductors of the A-end receiving antenna unit 2 are arranged on one side of the point O on a second horizontal rod, two conductors of the B-end receiving antenna unit 3 are arranged on the other side of the point O on the second horizontal rod, and all the conductors are arranged around the point O in a central symmetry mode.
The conductors of the transmitting antenna unit 1, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 adopt carbon rods or silver chloride metal rods, the surfaces of the conductors are smooth and have no burrs, the upper ends of the conductors are tightly wrapped by copper foils connected with wires to be used as antenna feeders, the connection points of the wires are insulated and sealed by polyester materials, and the upper ends of the conductors are sealed by adhesive tapes.
The invention also aims to provide an underwater current field detection method based on chaos detection.
The purpose of the invention is realized by the following technical scheme: the method comprises the following steps:
step 1: mounting the antenna unit on the antenna mount 105; the antenna bracket 105 comprises a vertical rod and a horizontal cross-shaped bracket; the horizontal cross-shaped bracket consists of a first horizontal rod piece and a second horizontal rod piece which are vertically crossed with the point O; the lower end of the vertical rod piece is connected to a point O of the cross-shaped support; the transmitting antenna unit 1, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 are all electric dipole antennas, two conductors of the transmitting antenna unit 1 are respectively arranged on two sides of a point O on a first horizontal rod, two conductors of the A-end receiving antenna unit 2 are arranged on one side of the point O on a second horizontal rod, two conductors of the B-end receiving antenna unit 3 are arranged on the other side of the point O on the second horizontal rod, and all the conductors are arranged around the point O in a central symmetry manner;
step 2: putting the antenna bracket 105 provided with the antenna unit under water, wherein the horizontal cross-shaped bracket part is parallel to the detection water bottom; the antenna bracket 105 is moved in parallel to detect, and the detection direction is the advancing direction of the A-end receiving antenna unit 2;
and step 3: when the phase diagram state output by the first chaotic detector 703 changes from the periodic state to the chaotic state and the phase diagram state output by the second chaotic detector 704 remains unchanged to the periodic state, it is determined that there is a metal object underwater or underwater within the detection range of the a-terminal receiving antenna unit 2;
and 4, step 4: as the antenna mount 105 with the antenna unit continues to move forward, the phase diagram state output by the second chaotic detector 704 changes from the periodic state to the chaotic state, and the phase diagram state output by the first chaotic detector 703 changes from the chaotic state to the periodic state, thereby verifying the metal object detected in step 3.
The invention has the beneficial effects that:
according to the invention, the detection and verification of underwater metal objects are carried out through 2 times of phase diagram state changes of the chaotic detector, so that the sensitivity and reliability of underwater or underwater metal object detection are greatly improved; more useful information of the detection signal is used for judgment, the judgment sensitivity is higher than that of the traditional method which only depends on amplitude judgment, the problem of poor detection effect caused by detection threshold change due to environmental change is solved, and the difficulty of setting the detection threshold is avoided. The invention solves the problems of poor detection effect and high false alarm caused by too small detection voltage change or detection threshold change caused by environment change in the existing underwater current field detection method, and improves the detection effectiveness and reliability through chaotic detection.
Drawings
Fig. 1 is a structural diagram of an underwater current field detection system based on chaos detection in the present invention.
Fig. 2 is a schematic diagram of the chaotic detector outputting a chaotic state (in the presence of metal).
FIG. 3 is a schematic diagram of the chaotic detector outputting a periodic state (without metal).
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention provides an underwater current field detection system and method based on chaos detection, which can detect and verify underwater metal objects through 2 times of phase diagram state changes of a chaos detector, greatly improve the sensitivity and reliability of underwater or underwater metal object detection, judge by using more useful information of detection signals, have higher sensitivity than the traditional judgment method only depending on amplitude, overcome the problem of poor detection effect caused by detection threshold change due to environmental change, avoid the difficulty of setting a detection threshold, and be an underwater current field detection method with wide application prospect; the underwater detection system overcomes the defects of the traditional underwater detection technology to a certain extent, reduces the dependence on the surrounding environment, has a simple structure, and is very suitable for being used in dark and turbid water areas on the coastal areas. The invention relates to an underwater current field detection method applied to detecting underwater metal objects, which solves the problems of poor detection effect and high false alarm caused by too small detection voltage change or detection threshold change caused by environmental change in the existing underwater current field detection method, and improves the detection effectiveness and reliability through chaotic detection.
An underwater current field detection system based on chaos detection comprises an antenna unit, a transmitting unit 4, a receiving unit 5, a digital control unit 6 and an upper computer chaos detector judgment unit 7; the antenna unit comprises a transmitting antenna unit 1, an A-end receiving antenna unit 2 and a B-end receiving antenna unit 3; the digital control unit 6 comprises a controller 601, a DA module 602, a first AD module 603, and a second AD module 604; the transmitting unit 4 comprises a power amplifier 401 and an impedance matching network 402; the receiving unit comprises a first balun frequency-selecting loop 501 and a second balun frequency-selecting loop 502; the upper computer brain chaotic detector decision unit 7 comprises a first chaotic detector 703 and a second chaotic detector 704;
the antenna unit is arranged on the antenna bracket 105; the antenna bracket 105 comprises a vertical rod and a horizontal cross-shaped bracket; the horizontal cross-shaped bracket consists of a first horizontal rod piece and a second horizontal rod piece which are vertically crossed with the point O; the lower end of the vertical rod piece is connected to a point O of the cross-shaped support; the transmitting antenna unit 1, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 are all electric dipole antennas, two conductors of the transmitting antenna unit 1 are respectively arranged on two sides of a point O on a first horizontal rod, two conductors of the A-end receiving antenna unit 2 are arranged on one side of the point O on a second horizontal rod, two conductors of the B-end receiving antenna unit 3 are arranged on the other side of the point O on the second horizontal rod, and all the conductors are arranged around the point O in a central symmetry mode.
The controller 601 generates a sine wave digital signal, and the sine wave digital signal is generated by the DA module 602 and transmitted to the power amplifier 401 of the transmitting unit 4; the power amplifier 401 amplifies the power of the sine wave signal and transmits the amplified sine wave signal to the transmitting antenna unit 1 through the impedance matching network 402; the transmitting antenna unit 1 radiates the received power signal into water and transmits the weak reflected signal received by induction to the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3; the terminal a receiving antenna unit 2 transmits the received and sensed signal of the underwater weak reflection electric field to a first balun frequency-selective loop 501 of the receiving unit 5, and the terminal B receiving antenna unit 3 transmits the received and sensed signal of the underwater weak reflection electric field to a second balun frequency-selective loop 502 of the receiving unit 5; the first balun frequency-selecting loop 501 converts the received differential electrical signal into a single-ended voltage signal, and transmits the single-ended voltage signal to the first AD module 603 of the digital control unit 6 after being processed by a low-noise amplifier, a band-pass filter and a secondary amplifier in sequence; the second balun frequency-selecting loop 502 converts the received differential electrical signal into a single-ended voltage signal, and transmits the single-ended voltage signal to the second AD module 604 of the digital control unit 6 after being processed by the low-noise amplifier, the band-pass filter and the secondary amplifier in sequence; the first AD module 603 and the second AD module 604 respectively perform AD conversion on the received signals and transmit the signals to the decision unit 7 of the upper computer chaotic detector through the man-machine interaction interface 605;
after receiving the signal transmitted by the first AD module 603, the upper computer chaotic detector determining unit 7 multiplies the signal by a first amplitude adjustment coefficient 701, so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the first chaotic detector 703; after receiving the signal transmitted by the second AD module 604, the upper computer chaotic detector determining unit 7 multiplies the signal by a second amplitude adjustment coefficient 702, so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the second chaotic detector 704;
if there is no metal object underwater or underwater in the detection range of the a-end receiving antenna unit 2 and the B-end receiving antenna unit 3, the first chaotic detector 703 and the second chaotic detector 704 both output periodic phase diagrams; if there is a metal object underwater or underwater in the detection range of the receiving antenna unit 2 at the a end, the phase diagram state output by the first chaotic detector 703 changes from the periodic state to the chaotic state; if there is a metal object underwater or underwater in the detection range of the B-terminal receiving antenna unit 2, the phase diagram state output from the second chaotic detector 704 changes from the periodic state to the chaotic state.
The invention solves the problems that the traditional underwater electric field detection is easily influenced by the surrounding environment and has low sensitivity and poor reliability, and solves the problem that the traditional underwater electric field detection needs self-adaptive adjustment when judging by using a hard judgment threshold. The invention detects and verifies underwater metal objects through 2 times of phase diagram state changes of the chaotic detector, greatly improves the sensitivity and reliability of underwater or underwater metal object detection, judges by using more useful information of detection signals, has higher sensitivity than the traditional judgment method only depending on amplitude, overcomes the problem of poor detection effect caused by detection threshold changes due to environmental changes, and avoids the difficulty of setting detection thresholds. The complexity of the method is the same as that of the conventional underwater electric field detection, but the complexity of the upper computer judgment algorithm is improved, the calculation amount is larger, and the algorithm can be realized by adopting a computer with higher dominant frequency, and the complexity is also acceptable.
Example 1:
with reference to fig. 1, an underwater current field detection method based on chaos detection is disclosed, wherein a system comprises a transmitting antenna unit 1, an a-end receiving antenna unit 2, a B-end receiving antenna unit 3, a transmitting unit 4, a receiving unit 5, a digital control unit 6 and an upper computer chaos detector decision algorithm 7;
the transmitting antenna unit 1 is used for modulating the frequency of a sine wave signal generated by the DA module 602 of the digital control unit 6 to be 250Hz through the transmitting unit 4 to be a power signal, radiating the power signal into water, and transmitting a weak reflection signal received by induction to the a-end receiving antenna unit 2 and the B-end receiving antenna unit 3; the transmitting antenna unit 1 is composed of a transmitting wire and an antenna bracket 105, and is an electric dipole antenna; the transmitting antenna of the transmitting antenna unit 1 is an electric dipole antenna consisting of 2 carbon rods or silver chloride metal rods (101 and 102); the size of the transmitting antenna unit is determined according to the size of transmitting current, the transmitting antenna unit is smaller than 1 ampere, generally has the diameter of about 10mm and the length of 50mm, and has smooth and burr-free surface; one end of the transmitting antenna is tightly wrapped by copper foil firmly welded with a wire to be used as an antenna feeder, a welding spot is flatly insulated and sealed by using a polyester material, the end is sealed by using an adhesive tape, the wire is reliably connected to the transmitting unit 4, and the underwater wire connecting point is insulated and sealed by using the polyester material to manufacture one electric dipole transmitting antenna 101; the other electric dipole antenna rod 102 is also manufactured in the same manner; the A-end receiving antenna unit 2 also comprises an electric dipole antenna consisting of 2 carbon rods (201 and 202), the manufacturing method is the same as that of the electric dipole transmitting antenna 101, and the A-end receiving antenna unit is reliably connected to the receiving unit 5 through a lead; the B-end receiving antenna unit 3 also comprises an electric dipole antenna consisting of 2 carbon rods (301 and 302), is manufactured by the same method as the electric dipole transmitting antenna 101, and is reliably connected to the receiving unit 5 through a lead; the transmitting antennas 101 and 102 of the transmitting antenna unit 1 are arranged on a straight line, are symmetrical about a central point and are 150cm away from the central point, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 are respectively placed on the perpendicular bisector of the connecting line of the transmitting antennas and are symmetrically placed on two sides of the central point, the distances from the central point are the same, are 100cm away from the central point, the length of each antenna is 50cm, and the detection advancing direction is the advancing direction of the A-end receiving antenna unit;
the controller 601 in the digital control unit 6 can be composed of a high-speed single chip microcomputer, a sine wave digital signal with the frequency of 250Hz is generated by a table look-up method, the power amplification is carried out on the sine wave signal generated by the DA module 602 through the power amplification circuit 401 of the signal transmitting unit 4, and a high-power electric field signal of about 5 watts is obtained; sending the high-power electric field signal to an impedance matching network 402 to be connected with the transmitting antennas 101 and 102, realizing impedance matching between the power amplifier and the transmitting antennas through the impedance matching network, and meeting the optimal output impedance of the power amplifier through the turn ratio of the impedance matching network;
the signal receiving unit 5 sends 2 paths of weak electric signals in water sensed by the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 to 2 sets of balun frequency-selective loops 501 and 502 respectively to convert differential electric signals into single-end voltage signals, then outputs the single-end voltage signals to 2 sets of low-noise amplifiers 503 and 504 respectively for amplification, filters out-of-band noise through 2 sets of band-pass filters 505 and 506 respectively, inputs the single-end voltage signals into 2 sets of secondary amplifiers 507 and 508 respectively to become analog receiving signals with proper range, and sends the analog receiving signals to the digital control unit 6 for 2-path sampling;
the digital control unit 6 performs 100-time sampling on 2 paths of received signals through the AD modules 603 and 604, and the signals are transmitted to the upper computer chaotic detector decision algorithm 7 for decision at a high speed through the man-machine interaction interface 605 after AD conversion;
the balun frequency selection loops 501 and 502 are used for suppressing a common-mode electrical signal, converting a differential electrical signal sensed by the a-end receiving antenna unit and the B-end receiving antenna unit into a single-end voltage signal, filtering useless noise and interference outside a single-end voltage signal frequency band, and transmitting the signal to the low-noise amplifiers 503 and 504;
the low-noise amplifiers 503 and 504 are configured to receive the weak electrical signals input by the balun frequency selection loops 501 and 502, and perform low-noise appropriate amplification on the received weak electrical signals, so that the intensity of the received electrical signals reaches the range of the processing level of the band-pass filters 505 and 506, and send the amplified electrical signals to the band-pass filters 505 and 506;
the center frequency of the band-pass filters 505 and 506 is a sine wave signal frequency of 250Hz, the received electric signals are subjected to high-Q filtering, the Q value can reach 60-80, and the filtered signals are output to the rear-end secondary amplifiers 507 and 508;
the second-stage amplifiers 507 and 508 control the level of the filtered signal within the conversion range of the AD module, the level is controlled to be about 1v, and the signal is input into 2 paths of AD modules 603 and 604 of the digital control unit 6 to carry out sampling frequency of 25kHz of 100 times respectively; the 2 paths of digital signals after AD conversion are transmitted to an upper computer chaos detector decision algorithm 7 for decision at a high speed through a man-machine interaction interface 605, a high-speed serial port can be generally selected as the man-machine interaction interface 605, and the transmission rate is 115200bps as high as possible so as to be capable of processing in time;
after the upper computer chaotic detector decision algorithm 7 receives 2 paths of digital receiving signals, each path is multiplied by an amplitude regulation coefficient (701 and 702), so that the peak-to-peak value of the voltage of the sinusoidal signals received by the 2 paths is adjusted to the critical voltage value of the chaotic detector and becomes 0.82v, and at the moment, the 2 paths of chaotic detectors all output periodic phase diagrams; if no metal object exists in the underwater or water bottom detection range, the chaotic detectors of the 2 paths of received signals all output periodic phase diagrams, and the effect diagram is shown in FIG. 2; if metal objects exist in the underwater or water bottom detection range near the A-end receiving antenna, the A-end antenna receives and senses weak reflected electric field signals in water to generate jumping, the amplitude of the signals received by the A-path antenna is reduced, the weak jumping occurs on the phase position, the phase diagram state of the chaotic detector is changed from a periodic state to a chaotic state, the effect diagram is shown in figure 3, at the moment, the B-end antenna does not jump because of the metal objects in the detection range far away from the A-end, and the phase diagram state output by the B-path chaotic detector is still kept not to be changed into the periodic state; at the moment, different phase diagram states are output by the chaotic detectors of the path A and the path B to judge whether underwater or underwater metal objects are detected; then, as the receiving antenna continues to move forward, the B-end receiving antenna moves to a position near the metal object, and the A-end antenna is far away from the metal object, so that the signal amplitude is restored to the original degree, the phase diagram state of the B-path chaotic detector is changed from a periodic state to a chaotic state, and the phase diagram state of the A-path chaotic detector is changed from the chaotic state to the periodic state, so that the detection of the metal object is verified; therefore, the detection condition is reflected in real time through the phase diagram states of the chaotic detectors of the A path and the B path, and the sensitivity and the reliability of underwater metal object detection are greatly improved.
The method comprises the steps of inputting 2 paths of received signals to a chaotic detector, multiplying each path by an amplitude regulating coefficient (701 and 702), enabling the peak-to-peak value of the voltage of a sinusoidal signal received by the 2 paths to be regulated to the critical voltage value of the chaotic detector, enabling the 2 paths of received signals to be slightly different due to the fact that components such as front-end amplifiers of the 2 paths of A and B cannot be completely consistent, enabling the peak-to-peak value of the critical voltage of the 2 paths of received signals to be basically consistent by regulating the amplitude regulating coefficient, keeping the proportional relation of the amplitude regulating coefficients of the 2 paths of received signals unchanged, enabling the phase diagram of the chaotic detector to be changed from a periodic state to the chaotic state simultaneously if the signals of the 2 paths of received signals are reduced simultaneously along with the change of the surrounding environment, proportionally regulating the amplitude regulating coefficients of the 2 paths of received signals, enabling the phase diagram of the chaotic detector to be changed from the chaotic state simultaneously, recovering the detection capability, and overcoming the problem of poor detection effect caused by the change of the environment, the anti-interference capability is improved.
The controller 601 in the digital control unit 6 may be implemented by an FPGA or a high-speed single chip, wherein the controller may be implemented by an AD module (603 and 604) and a DA module 602 built in the high-speed single chip.
The transmitting antenna unit 1, the A-end receiving antenna unit 2 and the B-end receiving antenna unit 3 are placed in a plane and are parallel to the detection water bottom, and the detection is carried out by moving in parallel, wherein the detection direction is the advancing direction of the A-end receiving antenna unit.
The impedance between the transmitting antennas of the transmitting antenna unit 1 can be measured by an RLC impedance tester, the impedance between the transmitting antennas under fresh water is 820 ohms, and then the turns ratio of the impedance matching network is matched according to the optimal output impedance of the power amplifier, namely 8 ohms, and the turns ratio is 10: 1.
the detection process comprises detection judgment and verification, the phase diagram state of the chaotic detector of the A path is changed into a chaotic state from a periodic state, and the phase diagram state of the chaotic detector of the B path is also the periodic state and is the detection judgment process; the phase diagram state of the chaotic detector of the B route is changed into the chaotic state from the periodic state, and the phase diagram state of the chaotic detector of the A route is restored to the periodic state from the chaotic state, which is a detection and verification process; detection effectiveness and reliability are improved through two processes of detection judgment and verification.
The underwater current field detection method based on chaos detection is shown in figure 1, and an electric field power signal output by a transmitting unit is radiated into water and an underwater stratum by a transmitting antenna, so that a detection space is formed by effective radiation of sine wave signals; the 2-path receiving antenna sends the sensed weak reflected electric field signal in water to a low-noise amplifier for amplification, then the out-of-band noise is filtered by a band-pass filter to improve the receiving effect, then a secondary amplifier is used for amplifying to a proper range waveform, then the sampling is carried out by AD (analog-to-digital) with the sampling rate being 100 times of the sine wave frequency, the 2-path sampled digital signal is transmitted to an upper computer at a high speed through a serial port for chaotic detection algorithm judgment, and after the 2-path digital signal is received by the upper computer, each path is multiplied by an amplitude regulation coefficient to enable the voltage peak value of the received sine signal to be the critical voltage value of the chaotic detector, so that the 2-path chaotic detector outputs a periodic phase diagram, as shown in FIG. 2; if no metal object exists in the underwater or water bottom detection range, the chaotic detectors of the 2 paths of received signals all output periodic phase diagrams; if metal objects exist in the underwater or water bottom detection range near the A-end receiving antenna, the A-end antenna receives and senses weak reflected electric field signals in water and jumps, the amplitude of the signals received by the A-path antenna is reduced and weak jumps occur on the phase, so that the phase diagram state of the chaotic detector is changed from a periodic state to a chaotic state, as shown in figure 3, at the moment, the phase diagram state output by the B-path chaotic detector is not changed into the periodic state due to the fact that the B-end antenna is far away from the metal objects in the detection range of the A-end antenna, signals do not jump, and the phase diagram state output by the B-path chaotic detector is still kept to be not changed into the periodic state; at the moment, different phase diagram states are output by the chaotic detectors of the path A and the path B to judge whether underwater or underwater metal objects are detected; then, as the receiving antenna continues to move forward, the B-end receiving antenna moves to the vicinity of the metal object, and the A-end antenna is far away from the metal object, so that the signal amplitude is restored to the original degree, the phase diagram state of the B-path chaotic detector is changed from the periodic state to the chaotic state, and the phase diagram state of the A-path chaotic detector is changed from the chaotic state to the periodic state, thereby verifying the detection of the metal object. The underwater current field detection method based on chaos detection detects and verifies underwater metal objects through 2 phase diagram state changes of a chaos detector, greatly improves the sensitivity and reliability of underwater or underwater metal object detection, judges by using more useful information of detection signals, has higher sensitivity than the traditional judgment method only depending on amplitude, overcomes the problem of poor detection effect caused by detection threshold changes due to environmental changes, avoids the difficulty of setting a detection threshold, and is an underwater current field detection method with wide application prospect.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An underwater current field detection system based on chaos detection is characterized in that: the device comprises an antenna unit, a transmitting unit (4), a receiving unit (5), a digital control unit (6) and an upper computer chaotic detector judgment unit (7); the antenna unit comprises a transmitting antenna unit (1), an A-end receiving antenna unit (2) and a B-end receiving antenna unit (3); the digital control unit (6) comprises a controller (601), a DA module (602), a first AD module (603) and a second AD module (604); the transmitting unit (4) comprises a power amplifier (401) and an impedance matching network (402); the receiving unit comprises a first balun frequency-selecting loop (501) and a second balun frequency-selecting loop (502); the upper computer brain chaotic detector decision unit (7) comprises a first chaotic detector (703) and a second chaotic detector (704);
the controller (601) generates a sine wave digital signal, and the sine wave digital signal is generated by the DA module (602) and transmitted to the power amplifier (401) of the transmitting unit (4); the power amplifier (401) amplifies the power of the sine wave signal and transmits the sine wave signal to the transmitting antenna unit (1) through the impedance matching network (402); the transmitting antenna unit (1) radiates the received power signal into water, and transmits the weak reflected signal received by induction to the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3); the A-end receiving antenna unit (2) transmits the received and induced weak reflected electric field signals in water to a first balun frequency selection loop (501) of the receiving unit (5), and the B-end receiving antenna unit (3) transmits the received and induced weak reflected electric field signals in water to a second balun frequency selection loop (502) of the receiving unit (5); the first balun frequency-selecting loop (501) converts the received differential electric signal into a single-ended voltage signal, and transmits the single-ended voltage signal to a first AD module (603) of the digital control unit (6) after being processed by a low-noise amplifier, a band-pass filter and a secondary amplifier in sequence; the second balun frequency selection loop (502) converts the received differential electric signal into a single-ended voltage signal, and transmits the single-ended voltage signal to a second AD module (604) of the digital control unit (6) after being processed by a low noise amplifier, a band-pass filter and a secondary amplifier in sequence; the first AD module (603) and the second AD module (604) respectively perform AD conversion on the received signals and then transmit the converted signals to the judgment unit (7) of the upper computer chaotic detector through the man-machine interaction interface (605);
after the upper computer chaotic detector judging unit (7) receives the signal transmitted by the first AD module (603), the signal is multiplied by a first amplitude regulating coefficient (701), so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the first chaotic detector (703); after the upper computer chaotic detector judging unit (7) receives the signal transmitted by the second AD module (604), the signal is multiplied by a second amplitude regulating coefficient (702), so that the peak-to-peak value of the received sinusoidal signal voltage is adjusted to the critical voltage value of the second chaotic detector (704);
if no metal object exists underwater or underwater in the detection range of the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3), the first chaotic detector (703) and the second chaotic detector (704) both output periodic phase diagrams; if metal objects are underwater or underwater in the detection range of the A-end receiving antenna unit (2), the phase diagram state output by the first chaotic detector (703) is changed from a periodic state to a chaotic state; if metal objects are underwater or underwater in the detection range of the B-end receiving antenna unit (2), the phase diagram state output by the second chaotic detector (704) is changed from a periodic state to a chaotic state.
2. The underwater current field detection system based on chaotic detection according to claim 1, characterized in that: the antenna unit is arranged on an antenna bracket (105); the antenna bracket (105) comprises a vertical rod piece and a horizontal cross-shaped bracket; the horizontal cross-shaped bracket consists of a first horizontal rod piece and a second horizontal rod piece which are vertically crossed with the point O; the lower end of the vertical rod piece is connected to a point O of the cross-shaped support; the transmitting antenna unit (1), the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3) are electric dipole antennas, two conductors of the transmitting antenna unit (1) are respectively arranged on two sides of a point O on the first horizontal rod, two conductors of the A-end receiving antenna unit (2) are arranged on one side of the point O on the second horizontal rod, two conductors of the B-end receiving antenna unit (3) are arranged on the other side of the point O on the second horizontal rod, and all the conductors are arranged around the point O in a central symmetry mode.
3. The underwater current field detection system based on chaotic detection according to claim 2, characterized in that: the conductors of the transmitting antenna unit (1), the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3) adopt carbon rods or silver chloride metal rods, the surfaces of the conductors are smooth and have no burrs, the upper ends of the conductors are tightly wrapped by copper foils connected with wires to be used as antenna feeders, the connection points of the wires are insulated and sealed by polyester materials, and the upper ends of the conductors are sealed by adhesive tapes.
4. The chaos detection-based underwater current field detection method of the chaos detection-based underwater current field detection system according to claim 1, comprising the steps of:
step 1: mounting an antenna unit on an antenna mount (105); the antenna bracket (105) comprises a vertical rod piece and a horizontal cross-shaped bracket; the horizontal cross-shaped bracket consists of a first horizontal rod piece and a second horizontal rod piece which are vertically crossed with the point O; the lower end of the vertical rod piece is connected to a point O of the cross-shaped support; the transmitting antenna unit (1), the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3) are all electric dipole antennas, two conductors of the transmitting antenna unit (1) are respectively arranged on two sides of a point O on the first horizontal rod piece, two conductors of the A-end receiving antenna unit (2) are arranged on one side of the point O on the second horizontal rod piece, two conductors of the B-end receiving antenna unit (3) are arranged on the other side of the point O on the second horizontal rod piece, and all the conductors are arranged around the point O in a central symmetry manner;
step 2: putting an antenna bracket (105) provided with an antenna unit under water, wherein the horizontal cross-shaped bracket part is parallel to the detection water bottom; the antenna bracket (105) is moved in parallel to detect, and the detection direction is the advancing direction of the A-end receiving antenna unit (2);
and step 3: when the phase diagram state output by the first chaotic detector (703) is changed into the chaotic state from the periodic state, and the phase diagram state output by the second chaotic detector (704) is kept not changed into the periodic state, the fact that metal objects are underwater or underwater in the detection range of the A-end receiving antenna unit (2) is judged;
and 4, step 4: as the antenna bracket (105) provided with the antenna unit continues to move forwards, the phase diagram state output by the second chaotic detector (704) is changed from the periodic state to the chaotic state, and the phase diagram state output by the first chaotic detector (703) is changed from the chaotic state to the periodic state, so that the metal object detected in the step 3 is verified.
5. The underwater current field detection method based on the chaotic detection as claimed in claim 4, wherein: the conductors of the transmitting antenna unit (1), the A-end receiving antenna unit (2) and the B-end receiving antenna unit (3) adopt carbon rods or silver chloride metal rods, the surfaces of the conductors are smooth and have no burrs, the upper ends of the conductors are tightly wrapped by copper foils connected with wires to be used as antenna feeders, the connection points of the wires are insulated and sealed by polyester materials, and the upper ends of the conductors are sealed by adhesive tapes.
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