CN113608199A - Method for improving sonar detection range - Google Patents

Method for improving sonar detection range Download PDF

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Publication number
CN113608199A
CN113608199A CN202110749553.7A CN202110749553A CN113608199A CN 113608199 A CN113608199 A CN 113608199A CN 202110749553 A CN202110749553 A CN 202110749553A CN 113608199 A CN113608199 A CN 113608199A
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sonar system
detection range
sonar
inclination angle
acceleration sensor
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戴阳
韦波
郑汉丰
张忭忭
姚宇青
杨胜龙
吴祖立
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East China Sea Fishery Research Institute Chinese Academy of Fishery Sciences
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East China Sea Fishery Research Institute Chinese Academy of Fishery Sciences
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

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  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

The invention relates to a method for improving sonar detection range, which comprises the following steps: adding a triaxial acceleration sensor in a sonar system, wherein the triaxial acceleration sensor is used for measuring the inclination angle of the sonar system; the sonar system and the three-axis acceleration sensor are started to work simultaneously, and when the sonar system emits signals, the three-axis acceleration sensor records three-dimensional vector data at the moment; calculating the inclination angle of the sonar system through the three-dimensional vector data; and calculating the actual detection range of the sonar system and the detection range increased in the relative horizontal state according to the inclination angle of the sonar system. The invention can more accurately detect the range of the target object.

Description

Method for improving sonar detection range
Technical Field
The invention relates to the technical field of sonar detection, in particular to a method for improving sonar detection range.
Background
With the gradual and deep development of human beings to waters such as oceans and lakes, the application of sonar is also increasingly wide, and the sonar becomes one of main equipment particularly in the aspect of detecting underwater target objects. The buoy is used for carrying the sonar, so that long-term unmanned detection of a monitored area can be realized, and the application range of the mode is continuously expanded.
The detection state of the ordinary buoy carrying sonar is shown in fig. 1, however, in the actual detection process, if the target object is a fish school with a large scale, only a part of the fish school may be detected due to the limited sonar opening angle. This results in the fact that in actual sonar detection, the actual fish size cannot be accurately detected.
The floating state of the buoy at rest level is shown in fig. 1, which defines the buoy in rest state. Due to the action of external force such as wind, waves and tides on the water surface, the buoy swings and inclines, so that the final detection result is influenced. The state of the detector relative to the horizontal state of the buoy is shown in fig. 2, the dotted line included angle in fig. 2 is the detection state when the buoy is horizontal, and the solid line included angle is the actual detection direction when the sonar is inclined due to the external force.
Disclosure of Invention
The invention aims to provide a method for improving sonar detection range, which can detect the range of a target object more accurately.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method for improving the sonar detection range comprises the following steps:
(1) adding a triaxial acceleration sensor in a sonar system, wherein the triaxial acceleration sensor is used for measuring the inclination angle of the sonar system;
(2) the sonar system and the three-axis acceleration sensor are started to work simultaneously, and when the sonar system emits signals, the three-axis acceleration sensor records three-dimensional vector data at the moment;
(3) calculating the inclination angle of the sonar system through the three-dimensional vector data;
(4) and calculating the actual detection range of the sonar system and the detection range increased in the relative horizontal state according to the inclination angle of the sonar system.
In the step (3), through thetaTilting device＝arccos(RZ/R) calculating the inclination angle of the sonar system due to the external force action, wherein thetaTilting deviceThe inclination angle of the sonar system is set,
Figure BDA0003144042820000021
RX、RYand RZRespectively are scalar numerical values of an X axis, a Y axis and a Z axis in three-dimensional vector data recorded by the three-axis acceleration sensor.
And (4) specifically comparing the inclination angle of the sonar system with a half of the opening angle of the sonar system, and calculating the actual detection range of the sonar system and the detection range increased in a relative horizontal state according to the comparison result.
When in use
Figure BDA0003144042820000022
In time, the actual detection range of the sonar system is
Figure BDA0003144042820000023
The increased detection range relative to the horizontal detection is
Figure BDA0003144042820000024
When in use
Figure BDA0003144042820000025
In time, the actual detection range of the sonar system is
Figure BDA0003144042820000026
The increased detection range relative to the horizontal detection is
Figure BDA0003144042820000027
Wherein a is the vertical distance from the sonar system to the target object, theta is the opening angle of the sonar system, and thetaTilting deviceThe inclination angle of the sonar system is shown.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: according to the invention, the three-axis acceleration sensor is added in the sonar system, so that the negative influence of swinging of the sonar system caused by external factors is converted into advantages, the inclination angle of the sonar system caused by the external factors is calculated by means of data transmitted by the three-axis acceleration sensor, the actual detection range of the sonar and the detection range increased relative to the horizontal state are obtained, and the effect of more accurately detecting the target range is achieved.
Drawings
FIG. 1 is a detection schematic diagram of a sonar system in a horizontal state;
FIG. 2 is a schematic diagram of the sonar system in a state of inclination due to an external force;
FIG. 3 is a schematic diagram of the detection range of the sonar system of the present invention;
FIG. 4 is a schematic diagram of the detection range of the sonar system in the horizontal state;
FIG. 5 is a schematic diagram of the actual detection range when the tangent angle of the sonar system is less than or equal to half of the open angle of the sonar system;
FIG. 6 is a schematic diagram of the actual detection range when the tangent angle of the sonar system is greater than or equal to the open angle of the sonar system;
FIG. 7 is a schematic diagram of the actual detection range when the tangent angle of the sonar system is half larger than the open angle of the sonar system and smaller than the open angle of the sonar system.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a method for improving sonar detection range, which comprises the following steps: adding a triaxial acceleration sensor in a sonar system, wherein the triaxial acceleration sensor is used for measuring the inclination angle of the sonar system; the sonar system and the three-axis acceleration sensor are started to work simultaneously, and when the sonar system emits signals, the three-axis acceleration sensor records three-dimensional vector data at the moment; calculating the inclination angle of the sonar system through the three-dimensional vector data; and calculating the actual detection range of the sonar system and the detection range increased in the relative horizontal state according to the inclination angle of the sonar system.
As shown in FIG. 3, the invention adds a triaxial acceleration sensor in the sonar system, so that the negative influence of the swinging of the sonar caused by external factors such as wind power is converted into advantages, the sonar is inclined by the external factors, and the angle of the sonar inclination is calculated by data returned by the triaxial acceleration sensor, so that the actual detection range of the sonar can be obtained.
During the use, open work with sonar system and triaxial acceleration sensor simultaneously, when sonar system transmission sound wave signal, triaxial acceleration sensor records the triaxial numerical value this moment at once. For convenience of understanding, scalar numerical values of an X axis, a Y axis and a Z axis of the three-axis acceleration sensor are respectively R when the sonar transmits signalsX、RYAnd RZ。
Let R be RX、RYAnd RZThe scalar value of the vector sum of (a) can be obtained by the three-dimensional space pythagorean theorem to obtain the numerical value of R:
Figure BDA0003144042820000031
according to the above formula, the inclination angle between the sonar and the horizontal state due to the external force is:
θtilting device＝arccos(RZ/R)
Let the opening angle of the sonar system be θ, the distance from the sonar system to the target detection object be a, and the horizontal state of the sonar system be as shown in fig. 4.
Due to sonarThe system is in a horizontal state, so the vertical distance from the sonar system to the target object is also a, and the perpendicular OB from the sonar system to the target object is bisected in fig. 4. Thus, it is possible to provide
Figure BDA0003144042820000032
Then from the triangular tangent function one can obtain:
Figure BDA0003144042820000033
due to the fact that
Figure BDA0003144042820000034
BO ═ a, and thus can be obtained
Figure BDA0003144042820000035
The same can be obtained
Figure BDA0003144042820000036
If the detection range of the sonar in the horizontal state is L, the size of L is as follows:
Figure BDA0003144042820000041
and then, respectively calculating the actual detection range of the sonar system and the detection range increased by the relative horizontal state according to the size of the inclination angle.
1) When in use
Figure BDA0003144042820000042
The actual detection range of the sonar system is shown in fig. 5.
As can be seen from FIG. 5, OA1C1The method is an actual detection range of a sonar system. Angle AOA in graph1＝∠COC1＝θTilting deviceThus, can obtain
Figure BDA0003144042820000043
Then it can be obtained from the tangent equation of the right triangle:
Figure BDA0003144042820000044
Figure BDA0003144042820000045
since the BO is a, the BO is,
Figure BDA0003144042820000046
bringing into the above formula can obtain:
Figure BDA0003144042820000047
Figure BDA0003144042820000048
let L be the actual detection range of sonar1Obtaining L1＝BA1+BC1Namely:
Figure BDA0003144042820000049
let the range of increase relative to the horizontal be δ1Then δ1＝L1-L, i.e.:
Figure BDA00031440428200000410
wherein a represents the vertical distance from the sonar system to the target object, theta is the opening angle of the sonar system, and thetaTilting deviceThe inclination angle of the sonar system relative to the horizontal state is shown.
2) When theta isTilting deviceWhen the detection range is larger than or equal to theta, the actual detection range of the sonar system is shown in FIG. 6.
In FIG. 6, angle AOA1＝∠COC1＝θTilting device。
Figure BDA00031440428200000411
Figure BDA00031440428200000412
From the tangent formula in a right triangle:
Figure BDA0003144042820000051
Figure BDA0003144042820000052
since the BO is a, the BO is,
Figure BDA0003144042820000053
bringing into the above formula can obtain:
Figure BDA0003144042820000054
Figure BDA0003144042820000055
let L be the actual detection range of sonar2Obtaining L2＝BC1-BA1Namely:
Figure BDA0003144042820000056
let the range of increase relative to the horizontal be δ2Then δ2＝L2-L, i.e.:
Figure BDA0003144042820000057
where a denotes the elevation of the sonar to the target objectDistance, theta is sonar opening angle, thetaTilting deviceThe inclination angle of the sonar relative to the horizontal state is shown.
3) When in use
Figure BDA0003144042820000058
The actual detection range of the sonar system is shown in fig. 7.
In FIG. 7, angle AOA1＝∠COC1＝θTilting device。
Figure BDA0003144042820000059
Figure BDA00031440428200000510
From the tangent formula in a right triangle:
Figure BDA00031440428200000511
Figure BDA00031440428200000512
since the BO is a, the BO is,
Figure BDA00031440428200000513
bringing into the above formula can obtain:
Figure BDA0003144042820000061
Figure BDA0003144042820000062
let L be the actual detection range of sonar3Obtaining L3＝BC1-BA1Namely:
Figure BDA0003144042820000063
let the range of increase relative to the horizontal be δ3Then δ3＝L3-L, i.e.:
Figure BDA0003144042820000064
wherein a represents the vertical distance from sonar to the target object, theta is the sonar opening angle, thetaTilting deviceThe inclination angle of the sonar relative to the horizontal state is shown.
Combining the above three cases, the calculation results of case 2) and case 3) are the same, and thus can be classified into one category. Therefore, it can be seen that:
when in use
Figure BDA0003144042820000065
In time, the actual detection range of the sonar system is
Figure BDA0003144042820000066
The increased detection range relative to the horizontal detection is
Figure BDA0003144042820000067
When in use
Figure BDA0003144042820000068
In time, the actual detection range of the sonar system is
Figure BDA0003144042820000069
The increased detection range relative to the horizontal detection is
Figure BDA00031440428200000610
According to the invention, the three-axis acceleration sensor is added into the sonar system, so that the negative influence of the swinging of the sonar system caused by external factors is converted into advantages, the inclination angle of the sonar system caused by the external factors is calculated through the three-axis acceleration sensor, the actual detection range of the sonar can be obtained, and the target object range can be detected more accurately.

Claims (4)

1. A method for improving sonar detection range is characterized by comprising the following steps:
(1) adding a triaxial acceleration sensor in a sonar system, wherein the triaxial acceleration sensor is used for measuring the inclination angle of the sonar system;
(2) the sonar system and the three-axis acceleration sensor are started to work simultaneously, and when the sonar system emits signals, the three-axis acceleration sensor records three-dimensional vector data at the moment;
(3) calculating the inclination angle of the sonar system through the three-dimensional vector data;
(4) and calculating the actual detection range of the sonar system and the detection range increased in the relative horizontal state according to the inclination angle of the sonar system.
2. The method for improving sonar detection range according to claim 1, wherein θ is used in step (3)Tilting device＝arccos(RZ/R) calculating the inclination angle of the sonar system due to the external force action, wherein thetaTilting deviceThe inclination angle of the sonar system is set,
Figure FDA0003144042810000011
RX、RYand RZRespectively are scalar numerical values of an X axis, a Y axis and a Z axis in three-dimensional vector data recorded by the three-axis acceleration sensor.
3. The method for improving the sonar detection range according to claim 1, wherein the step (4) is specifically to compare the sonar system inclination angle with a half of the sonar system open angle, and calculate the actual detection range of the sonar system and the detection range increased in a relative horizontal state according to the comparison result.
4. A method for improving sonar detection range according to claim 3, wherein the sonar detection range is selected from the group consisting of
Figure FDA0003144042810000012
In time, the actual detection range of the sonar system is
Figure FDA0003144042810000013
The increased detection range relative to the horizontal detection is
Figure FDA0003144042810000014
When in use
Figure FDA0003144042810000015
In time, the actual detection range of the sonar system is
Figure FDA0003144042810000016
The increased detection range relative to the horizontal detection is
Figure FDA0003144042810000017
Wherein a is the vertical distance from the sonar system to the target object, theta is the opening angle of the sonar system, and thetaTilting deviceThe inclination angle of the sonar system is shown.
CN202110749553.7A 2021-07-01 2021-07-01 Method for improving sonar detection range Pending CN113608199A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104656089A (en) * 2015-02-11 2015-05-27 杜朝亮 Sonar sensor
JP2016031235A (en) * 2014-07-25 2016-03-07 沖電気工業株式会社 Underwater acoustic wave propagation prediction device, underwater acoustic wave propagation prediction method, and underwater acoustic wave propagation prediction program
CN108828604A (en) * 2018-05-31 2018-11-16 深圳臻迪信息技术有限公司 It seeks fish system and seeks the underwater scanning detection method of fish system using this
CN108919274A (en) * 2018-04-11 2018-11-30 华南理工大学 It is a kind of based on the shallow water of simple beam with wave scanning probe system and its working method
CN110319811A (en) * 2019-06-27 2019-10-11 华南理工大学 A kind of underwater simple beam detected with high accuracy system and method for adaptive rough wave effect
CN110412584A (en) * 2019-05-31 2019-11-05 上海大学 A kind of mobile quick splicing system of underwater Forward-Looking Sonar
CN112180379A (en) * 2019-07-03 2021-01-05 中联智科高新技术有限公司 Fish data statistics and analysis system
CN113030981A (en) * 2021-03-08 2021-06-25 云南保利天同水下装备科技有限公司 Self-adaptive adjustment method for parameters of multi-beam sonar system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016031235A (en) * 2014-07-25 2016-03-07 沖電気工業株式会社 Underwater acoustic wave propagation prediction device, underwater acoustic wave propagation prediction method, and underwater acoustic wave propagation prediction program
CN104656089A (en) * 2015-02-11 2015-05-27 杜朝亮 Sonar sensor
CN108919274A (en) * 2018-04-11 2018-11-30 华南理工大学 It is a kind of based on the shallow water of simple beam with wave scanning probe system and its working method
CN108828604A (en) * 2018-05-31 2018-11-16 深圳臻迪信息技术有限公司 It seeks fish system and seeks the underwater scanning detection method of fish system using this
CN110412584A (en) * 2019-05-31 2019-11-05 上海大学 A kind of mobile quick splicing system of underwater Forward-Looking Sonar
CN110319811A (en) * 2019-06-27 2019-10-11 华南理工大学 A kind of underwater simple beam detected with high accuracy system and method for adaptive rough wave effect
CN112180379A (en) * 2019-07-03 2021-01-05 中联智科高新技术有限公司 Fish data statistics and analysis system
CN113030981A (en) * 2021-03-08 2021-06-25 云南保利天同水下装备科技有限公司 Self-adaptive adjustment method for parameters of multi-beam sonar system

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