CN113608168A - System and method for real-time self-calibration of underwater acoustic receiver position for water surface movable platform - Google Patents
System and method for real-time self-calibration of underwater acoustic receiver position for water surface movable platform Download PDFInfo
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- CN113608168A CN113608168A CN202110653174.8A CN202110653174A CN113608168A CN 113608168 A CN113608168 A CN 113608168A CN 202110653174 A CN202110653174 A CN 202110653174A CN 113608168 A CN113608168 A CN 113608168A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a real-time self-calibration system and a real-time self-calibration method for the position of an underwater acoustic receiver for a water surface movable platform, which can directly carry out high-precision positioning on the underwater acoustic receiver in a close range and an effective opening angle range, provide a feasible and effective technical means for high-precision underwater acoustic positioning, tracking and measuring array site and real-time calibration based on the water surface movable platform, and solve the problem that the positioning precision of the system is reduced due to the disturbance of the underwater acoustic receiver of a flexible long cable suspension, suspension or towing array along with flow under the conditions of high sea/lake condition and large flow speed; meanwhile, the design scheme of the high-frequency and low-sound-source-level self-calibration beacon is adopted, so that the problem of sound interference between the calibration device and other underwater sonars can be effectively avoided, and the practicability is greatly improved.
Description
Technical Field
The invention relates to the technical field of underwater tests and tests, which is mainly used for a water surface movable platform based on a buoy, a water surface unmanned mobile platform or a ship and the like in a flexible connection arrangement (such as suspension, suspension or dragging) mode, mainly aims to solve the error problem in actual use, and particularly relates to a system and a method for the real-time self-calibration of the position of an underwater sound receiver for the water surface movable platform.
Background
When the underwater acoustic tracking and positioning system based on the mounting mode carried by the water surface movable platforms such as buoys, water surface unmanned mobile platforms or ships and the like is used on the sea/lake, in order to avoid or reduce the influence of adverse factors such as severe hydrological conditions, complex water surface working conditions, large near water surface background interference noise and the like, an underwater acoustic receiver (a single hydrophone or a matrix) connected with the water surface movable platform needs to be arranged to a certain depth through a flexible cable. But at the same time brings about another problem: influenced by stormy waves and water flow, the relative position of the underwater acoustic receiver and the water surface platform swings or drifts seriously, as shown in the attached drawing 1, so that the underwater actual position parameters of the receiver cannot be directly replaced by high-precision satellite positioning data of the water surface platform, and if the problem is not solved, the underwater acoustic measurement precision is inevitably reduced greatly. If the system is a long baseline system formed by a plurality of underwater acoustic measurement nodes, the underwater array type is always in a state of swinging along with the flow, and the problem is more prominent particularly under the conditions of severe hydrology or high sea/lake conditions, so that the positioning error caused by the swinging is likely to cause the system to be incapable of being effectively used.
In contrast, in the past, data such as the laying cable length, the laying depth, the water flow direction and the like of the underwater sound receiver are generally used for rough compensation and correction, and a certain improvement effect is obtained. However, the development of the underwater vehicle technology puts higher and higher requirements on the measurement accuracy, the action range and other capabilities and levels of an underwater acoustic tracking and positioning measurement system, and the traditional compensation and correction mode still cannot effectively solve the problem of current-following swinging of the position of an underwater acoustic receiver when long cables are laid and used under high sea/lake conditions and large flow speed conditions due to the fact that a plurality of parameters participating in calculation have larger uncertainties (for example, flow direction data are difficult to realize in-situ real-time fine measurement).
Disclosure of Invention
In order to solve the defects of the prior art, the inventor provides a real-time self-calibration method aiming at the underwater position of a flexible connection type underwater acoustic receiver through research, development and design, designs a scheme of an ultrashort baseline underwater acoustic spontaneous and self-receiving positioning and calibrating device, can provide a feasible and effective technical approach for on-site and real-time calibration of a high-precision underwater acoustic positioning, tracking and measuring array based on a water surface movable platform, and can solve the problem that the positioning precision of a system is reduced due to the fact that the underwater acoustic receiver of a flexible long cable suspension, suspension or towing array swings along with flow under the conditions of high sea/lake conditions and high flow speed so as to ensure the positioning precision of an underwater acoustic measuring system; meanwhile, the design scheme of the high-frequency and low-sound-source-level self-calibration beacon is adopted, so that the problem of sound interference between the calibration device and other underwater sonars can be effectively avoided, and the practicability of the device can be greatly improved. The invention is realized by the following steps:
the underwater sound receiver position real-time self-calibration system for the water surface movable platform comprises:
the high-frequency transmitting transducer (5) is connected with the underwater sound receiver (4) through a flexible watertight bearing cable and is arranged at a position close to or in contact with the underwater sound receiver, and is used for transmitting a calibration underwater sound signal to the ultra-short baseline positioning array (2);
the ultra-short baseline positioning array (2) is arranged on the water surface movable platform and used for receiving the calibration underwater sound signal from the high-frequency transmitting transducer (5) and transmitting the received calibration underwater sound signal to the calibration signal processing equipment (3);
and the calibration signal processing equipment (3) is used for receiving the calibration underwater sound signals received by the ultra-short baseline positioning array (2), completing signal detection processing and ultra-short baseline positioning calculation, obtaining horizontal displacement information of the underwater sound receiver (4), and sending the horizontal displacement information to the ship-based/shore-based underwater sound positioning and tracking system data calculation processing equipment.
Further, the receiving directivity of the ultra-short baseline positioning array (2) is horizontal omni-directional, and the vertical lower half space is not less than +/-30 degrees; the working frequency band of the underwater sound calibration signal of the self-calibration device is not less than 95kHz, and the transmitting sound source level is not more than 175 dB.
Furthermore, ultrashort baseline location matrix (2), high frequency transmission transducer (5) are different with the operating frequency range of underwater sound receiver (4), the installation that closely distributes is contacted mutually or high frequency transmission transducer (5) to underwater sound receiver (4), and high frequency transmission transducer (5) are connected with the underwater sound signal transmitter of arranging in watertight electronics cabin (8), receive the control of underwater sound signal transmitter to send the underwater sound signal.
Furthermore, the water surface movable platform also comprises a satellite positioning device (6) which is in data connection with the calibration signal processing device (3).
Furthermore, the underwater sound emitter (4) is arranged in the watertight electronic cabin, and the water surface movable platform is one of a measuring ship, a water surface unmanned aerial vehicle, a buoy and the like.
Another aspect of the present invention provides a method for real-time self-calibration of the position of an underwater acoustic receiver for a water surface mobile platform, comprising the steps of:
s1, mounting a high-frequency transmitting transducer (5) close to or in contact with the underwater sound transmitter (4) of the water surface movable platform;
step S2, the high-frequency transmitting transducer (5) receives a calibration instruction of the underwater sound signal transmitter and sends out a calibration underwater sound signal based on the calibration instruction;
step S3, the ultra-short baseline positioning array (2) installed on the water surface movable platform receives the calibration underwater sound signal and sends the calibration underwater sound signal to the calibration signal processing equipment (3),
and S4, the calibration signal processing equipment (3) completes signal detection processing and ultra-short baseline positioning calculation to obtain horizontal displacement information of the underwater sound receiver (4), and sends the horizontal displacement information to the data calculation processing equipment of the ship-based/shore-based underwater sound positioning and tracking system.
And S5, acquiring positioning parameters of the satellite positioning equipment (6) installed on the water surface movable platform, and carrying out real-time calibration and correction on the positioning parameters and the horizontal displacement information of the underwater sound receiver (4) to obtain actual coordinate information of the real underwater sound receiver (4).
Further, the working frequency range of the underwater sound calibration signal of the high-frequency transmitting transducer (5) and the ultra-short baseline positioning array (2) is as follows: not less than 95 kHz; emission sound source level: not greater than 175 dB; receiving directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees; horizontal self-positioning precision: better than R multiplied by 5 per mill (R is the slant distance); repetition period: 1 s-10 s, and 1s is adjustable.
The working principle of the invention is introduced:
a set of miniaturized ultrashort baseline locator is arranged on a water surface movable platform, and mainly comprises an ultrashort baseline locating array and a signal processing device which are arranged on the water surface movable platform, an underwater acoustic signal transmitter (arranged in a watertight electronic cabin) and a transmitting transducer which are connected with the lower end of a flexible cable, and can directly carry out high-precision location on an underwater acoustic receiver in a close range and an effective open angle range, the underwater acoustic signal receiver below each water surface movable platform is used for receiving an underwater acoustic signal sent by underwater acoustic equipment from an underwater deep place and transmitting the underwater acoustic signal to a calibration signal processing device for waiting processing, on the other hand, the underwater acoustic transmitter controls a high-frequency transmitting transducer to send a calibration underwater acoustic signal of a specific frequency band to the baseline locating array, and the ultrashort baseline locating array receives a signal of the high-frequency transmitting transducer and then obtains real position information of the underwater acoustic signal receiver through the calibration signal processing device, therefore, the position of the terminal processing equipment of the shore-based or sea surface movable platform can be calculated according to a plurality of parameters such as satellite positioning equipment, the underwater acoustic measurement precision is improved, and the accurate position of the underwater acoustic equipment in the underwater deep position is obtained.
The invention has the beneficial effects that:
by adopting the self-receiving ultra-short baseline high-frequency underwater sound positioning scheme, the real-time high-precision self-calibration of the underwater position of the underwater sound receiver in short-distance flexible connection (deployment) is realized under the condition of low transmitting sound source level and within a good receiving opening angle range, and the problems of overlong deployment, larger measurement error, inaccurate measurement and the like of the traditional measurement mode under the condition of severe water conditions are also solved. The method provides a feasible and effective technical means for high-precision underwater sound positioning, tracking and measuring array field and real-time calibration based on the water surface movable platform, can solve the problem that the positioning precision of the system is reduced due to the fact that the underwater sound receiver of the flexible long cable suspension, suspension or dragging array is disturbed along with the flow under the conditions of high sea/lake condition and large flow speed, and greatly improves the practicability by adopting an acoustic compatibility design scheme.
Drawings
FIG. 1 is a schematic diagram of the drift of a flexible connection type underwater acoustic measurement array along with the flow;
FIG. 2 is a schematic diagram of the structure of the ultra-short baseline positioner;
FIG. 3: and working principle block diagram.
Wherein: 1. a miniaturized ultra-short baseline positioner; 2. ultra-short baseline positioning array; 3. calibrating the signal processing device; 4. an underwater acoustic signal receiver; 5. a high frequency transmitting transducer; 6. a satellite positioning device; 7. a load-bearing cable; 8 watertight electronic cabin.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
At present, new test requirements in military and civil aspects put forward higher requirements on the performance of an underwater sound tracking and positioning system, and the problems of greatly improved positioning precision and action range indexes, sound compatibility under complex test environments and stable measurement under high sea conditions, complex submarine topography and severe hydrological conditions are solved at the same time. In order to meet the new technical performance requirements or requirements and overcome the new problems, the structure of an underwater acoustic tracking measurement system is more complex, the water surface movable platform or subsurface buoy type measurement equipment is highlighted in that a flexible array laying cable is lengthened, so that the position swing of a tail end underwater acoustic receiver is more prominent, and the problem of underwater high-precision calibration is easily solved when the traditional short cable laying and low-precision measurement are carried out, such as only water surface satellite positioning or rough flow direction-cable length-depth geometric correction, the requirements can be met, and even the high-precision position calibration of the underwater receiver is not needed. The invention increases the complexity of the system, generally speaking, the scheme does not need to be considered, but under a new special application scene, the scheme can simultaneously solve the problems of real-time high-precision calibration and sound compatibility under severe or complex measurement marine environments, thereby meeting higher test requirements.
Example (b):
in the embodiment, a self-receiving type ultra-short baseline high-frequency underwater sound positioning scheme is adopted, and real-time high-precision self-calibration of the underwater position of the underwater sound receiver in short-distance flexible connection (deployment) is realized in a low-emission sound source level condition and a good receiving open angle range.
Self-calibrating device composition, function and principle
Consists of the following components: a set of miniaturized ultrashort baseline locator is installed on a water surface movable platform, and mainly comprises an ultrashort baseline locating array and signal processing equipment which are loaded on the water surface movable platform, an underwater acoustic signal transmitter (installed in a watertight electronic cabin) and a transmitting transducer which are connected to the lower end of a flexible cable, as shown in attached figure 2.
The functions are as follows: underwater transmitting transducer/receiving array underwater sound self-positioning; and uploading self-positioning position information of the underwater array.
Because the transmitting transducer and the underwater sound receiver are designed integrally, the spatial positions are approximately overlapped, and the position of the transmitting transducer represents the position of the receiver, so that the position of the transmitting transducer is measured to be equivalent to the position of the underwater sound receiver.
The device adopts an ultra-short baseline underwater acoustic positioning mode of self-emission and self-reception of underwater acoustic signals to calibrate the position of an underwater array, and the working principle is as shown in an attached figure 3.
The device operation flow is described as follows:
after the underwater sound tracking and positioning system is placed in water, starting the calibration device to be electrified to work;
controlling an underwater acoustic signal transmitter arranged at the end of the flexible cable to periodically (or according to a control instruction) transmit an array calibration underwater acoustic pulse signal through a transmitting transducer;
an ultra-short baseline positioning array loaded on the water surface movable platform receives an array calibration underwater sound pulse signal, and a signal processing device completes signal detection processing and ultra-short baseline positioning resolving to obtain receiver horizontal displacement information and sends the receiver horizontal displacement information to a ship-based/shore-based underwater sound positioning and tracking system data resolving processing device;
the ship-based/shore-based underwater acoustic positioning and tracking system data resolving and processing equipment utilizes the underwater acoustic receiver position information uploaded by the calibration device to correct the array position parameters directly acquired by the satellite positioning equipment of the water surface platform in real time, and the purpose of reducing the drift error of the long cable along with the flow is achieved.
Main performance index of self calibrating device
In order to avoid mutual interference of underwater acoustic signals such as ship/submarine sonar equipment, an underwater target positioning cooperative beacon or torpedo self-guidance and the like which can be used simultaneously in a test and ensure good self-calibration capability, main performance indexes suggested in the development and implementation of calibration equipment are as follows:
the underwater sound calibration signal working frequency band is as follows: not less than 95 kHz;
emission sound source level: not greater than 175 dB;
receiving directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees;
horizontal self-positioning precision: better than R multiplied by 5 per mill (R is the slant distance); repetition period: 1 s-10 s, and 1s is adjustable.
The characteristics that this embodiment possesses:
the underwater position calibration of the underwater acoustic receiver is carried out by adopting an ultra-short baseline underwater acoustic positioning mode of high-frequency underwater acoustic signals, and the calibration device and the underwater acoustic receiver with the main measurement function work in different frequency bands, so that the underwater position self-calibration of the underwater acoustic receiver can be completed on site and in real time;
the transmitting transducer and the underwater sound receiver of the calibrating device are designed integrally, the spatial positions are approximately overlapped, and when the device is used, the positioning of the transmitting transducer for calibration is equivalent to the positioning of the underwater sound receiver with the main measuring function;
the high-precision position calibration of the underwater acoustic receiver is realized in a short distance (if the calibration distance R is not more than 100m) and a certain open angle range (the receiving directivity of the ultra-short baseline array is horizontal omni-directional, and the vertical lower half space is not less than +/-30 ℃), and the horizontal position calibration precision can be better than R multiplied by 5 per thousand m;
by adopting the design scheme of the high-frequency (the working frequency band of the underwater sound calibration signal is not less than 95kHz) and low-sound-source-level (the emission sound source level is not more than 175dB) self-calibration beacon, the problem of sound compatibility of the calibration device with the main-function underwater acoustic system and other underwater sonar systems in a test water area can be effectively solved.
The invention utilizes the advantage of close-range high detection signal-to-noise ratio, adopts a single-frequency narrow pulse signal envelope leading edge detection method to carry out distance measurement delay estimation during signal processing, and through high sampling rate A/D sampling and interpolation processing, the delay test estimation precision can be better than 2 mus; based on the advantage condition obtained by the depth of the receiver and the direct measurement of the pressure sensor, the horizontal position of the underwater sound receiver (4) is positioned and resolved by the horizontal plane projection circle intersection principle, and the spatial three-dimensional positioning calibration is realized by combining the depth information, instead of adopting the traditional ultrashort baseline positioning method based on phase estimation; the method utilizes redundant ranging information (the minimum array element number of the unambiguous positioning calibration is 3, the invention provides a 4-array element redundant structure) of the ultra-short base line array (2) and a least square positioning calculation algorithm based on an overdetermined equation to carry out high-precision positioning calculation.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (9)
1. Real-time self calibration system of underwater acoustic receiver position that surface of water activity platform was used which characterized in that includes:
the high-frequency transmitting transducer (5) is connected with the underwater sound receiver (4) through a flexible watertight bearing cable and is arranged at a position close to or in contact with the underwater sound receiver, and is used for transmitting a calibration underwater sound signal to the ultra-short baseline positioning array (2);
the ultra-short baseline positioning array (2) is arranged on the water surface movable platform and used for receiving the calibration underwater sound signal from the high-frequency transmitting transducer (5) and transmitting the received calibration underwater sound signal to the calibration signal processing equipment (3);
and the calibration signal processing equipment (3) is used for receiving the calibration underwater sound signals received by the ultra-short baseline positioning array (2), completing signal detection processing and ultra-short baseline positioning calculation, obtaining horizontal displacement information of the underwater sound receiver (4), and sending the horizontal displacement information to the ship-based/shore-based underwater sound positioning and tracking system data calculation processing equipment.
2. The underwater acoustic receiver position real-time self-calibration system according to claim 1, wherein the ultra-short baseline positioning array (2) has a receiving directivity of horizontal omni-direction and vertical lower half-space not less than ± 30 °; the working frequency band of the underwater sound calibration signal of the self-calibration device is not less than 95kHz, and the transmitting sound source level is not more than 175 dB.
3. The system for real-time self-calibration of the position of the underwater acoustic receiver according to claim 1, wherein the ultra-short baseline positioning array (2) and the high-frequency transmitting transducer (5) are different from the operating frequency band of the underwater acoustic receiver (4), the underwater acoustic receiver (4) and the high-frequency transmitting transducer (5) are installed in a contact manner or in a close-range distribution manner, and the high-frequency transmitting transducer (5) is connected with an underwater acoustic signal transmitter arranged in the watertight electronic cabin (8) and is controlled by the underwater acoustic signal transmitter to emit an underwater acoustic signal.
4. The system for real-time self-calibration of the position of an underwater acoustic receiver according to claim 1, wherein the water surface mobile platform further comprises a satellite positioning device (6) in data connection with the calibration signal processing device (3).
5. The system for real-time self-calibration of the position of an underwater acoustic receiver according to claim 1, wherein the underwater acoustic transmitter (4) is installed in a watertight electronic cabin, and the water surface movable platform is one of a measuring ship, a water surface unmanned aerial vehicle, a buoy and the like.
6. The method for the real-time self calibration of the position of the underwater acoustic receiver for the water surface movable platform is characterized by comprising the following steps:
s1, mounting a high-frequency transmitting transducer (5) close to or in contact with the underwater sound transmitter (4) of the water surface movable platform;
step S2, the high-frequency transmitting transducer (5) receives a calibration instruction of the underwater sound signal transmitter and sends out a calibration underwater sound signal based on the calibration instruction;
step S3, the ultra-short baseline positioning array (2) installed on the water surface movable platform receives the calibration underwater sound signal and sends the calibration underwater sound signal to the calibration signal processing equipment (3),
and S4, the calibration signal processing equipment (3) completes signal detection processing and ultra-short baseline positioning calculation to obtain horizontal displacement information of the underwater sound receiver (4), and sends the horizontal displacement information to the data calculation processing equipment of the ship-based/shore-based underwater sound positioning and tracking system.
7. The method of real-time self-calibration of the position of an underwater acoustic receiver according to claim 6, further comprising: and S5, acquiring positioning parameters of the satellite positioning equipment (6) installed on the water surface movable platform, and carrying out real-time calibration and correction on the positioning parameters and the horizontal displacement information of the underwater sound receiver (4) to obtain actual coordinate information of the real underwater sound receiver (4).
8. The underwater acoustic receiver position real-time self-calibration method according to claim 6, wherein the underwater acoustic calibration signal working frequency bands of the high-frequency transmitting transducer (5) and the ultra-short baseline positioning array (2) are as follows: not less than 95 kHz; emission sound source level: not greater than 175 dB; receiving directivity: the horizontal omnidirectional and vertical lower half space is not less than +/-30 degrees; horizontal self-positioning precision: better than R multiplied by 5 per mill (R is the slant distance); repetition period: 1 s-10 s, and 1s is adjustable.
9. The underwater sound receiver position real-time self-calibration method according to claim 6, characterized in that during signal processing, a single-frequency narrow pulse signal envelope leading edge detection method is adopted for distance measurement delay estimation, and through high sampling rate A/D sampling and interpolation processing, the delay estimation precision can be better than 2 μ s; based on the advantage condition that the depth of the receiver is directly measured and obtained through a pressure sensor, the horizontal position of the underwater sound receiver (4) is positioned and resolved through the horizontal plane projection circle intersection principle, the space three-dimensional positioning and calibration are realized by combining depth information, redundant ranging information of the ultra-short base line array (2) is utilized, and the high-precision positioning and resolution is carried out through a 4-array-element redundant structure and a least square positioning and resolving algorithm based on an overdetermined equation.
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|---|---|---|---|---|
| CN116840784A (en) * | 2023-05-16 | 2023-10-03 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
| CN116840784B (en) * | 2023-05-16 | 2024-04-30 | 中国人民解放军91550部队 | Multi-platform-based underwater fixed-point target rapid calibration system and method |
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