CN113671475A - High-precision speed measurement method for underwater mobile platform based on time delay information - Google Patents
High-precision speed measurement method for underwater mobile platform based on time delay information Download PDFInfo
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- CN113671475A CN113671475A CN202110724026.0A CN202110724026A CN113671475A CN 113671475 A CN113671475 A CN 113671475A CN 202110724026 A CN202110724026 A CN 202110724026A CN 113671475 A CN113671475 A CN 113671475A
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- 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
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- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
The invention discloses a high-precision speed measuring method for an underwater mobile platform based on time delay information. Step 1: establishing an underwater maneuvering platform speed measurement model based on double-primitive time delay; step 2: performing element combination based on the speed measurement model and the measurement information in the step 1, and screening different element combinations according to the principle that the two elements and the platform cannot be collinear; and step 3: solving corresponding platform speeds aiming at different primitive combinations in the step 2; and 4, step 4: and (4) performing density clustering on different platform speed solutions in the step (3), and calculating to obtain a final platform speed value. The invention is used for solving the problem that the existing method is seriously influenced by the position measurement precision.
Description
Technical Field
The invention belongs to the field of underwater acoustic measurement, and particularly relates to a high-precision speed measurement method for an underwater mobile platform based on time delay information.
Background
The acoustic measurement technology is a technology or a method for realizing information interaction between a measurement system and underwater sensor nodes (elements) by utilizing sound waves so as to further determine data such as the position, the attitude, the speed and the like of an underwater maneuvering platform. Due to the good transmission capability of sound waves underwater, the acoustic measurement technology is gradually and widely applied to various fields such as marine environment monitoring, marine investigation, submarine topography and landform survey, underwater investigation and warning, submarine engineering construction and maintenance and the like.
Underwater acoustic velocimetry is an important part of underwater acoustic measurement technology. The traditional underwater acoustic velocity measurement method generally determines the position of a platform by using a multi-element geometric intersection positioning method, and then determines the velocity of the platform according to the change information of the platform position measured in a period of time, namely a position differential velocity measurement method.
Disclosure of Invention
The invention provides a high-precision speed measuring method of an underwater mobile platform based on time delay information, which is used for solving the problem that the existing method is seriously influenced by position measuring precision.
The invention is realized by the following technical scheme:
a high-precision speed measurement method of an underwater mobile platform based on time delay information comprises the following steps:
step 1: establishing an underwater maneuvering platform speed measurement model based on double-primitive time delay;
step 2: performing element combination based on the speed measurement model and the measurement information in the step 1, and screening different element combinations according to the principle that the two elements and the platform cannot be collinear;
and step 3: solving corresponding platform speeds aiming at different primitive combinations in the step 2;
and 4, step 4: and (4) performing density clustering on different platform speed solutions in the step (3), and calculating to obtain a final platform speed value.
Further, step 1 specifically includes that the underwater maneuvering platform high-precision speed measurement model constructed by the geometric relationship between the double primitives and the underwater maneuvering platform is as follows:
a1＝(ct'1)2-(ct1)2-(vT)2
a2＝(ct'2)2-(ct2)2-(vT)2
b＝4c2v2T2
wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals measured for the elements A and B, respectively, and l represents the distance between the element A and the element B.
Further, the step 2 is specifically that if the underwater mobile platform receives observation information of N primitives, where N is greater than 2, and every two of the N primitives are combined, the underwater mobile platform should theoretically have
The combination method is adopted, and n primitive combination methods which meet the conditions are screened out according to the principle that the two primitives and the platform cannot be collinear, namely
Further, the step 3 is specifically to solve each model equation based on the selected primitive combination mode to obtain n solutions, and respectively solve the n primitive combination modes;
the underwater maneuvering platform high-precision speed measurement model sets the following objective function according to the criterion of minimizing the mean square error:
wherein:
a1＝(ct'1)2-(ct1)2-(vT)2
a2＝(ct'2)2-(ct2)2-(vT)2
b＝4c2v2T2
obtaining speed solutions of different combinations by solving the objective function; wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals respectively measured by the elements A and B, wherein l represents the distance between the elements A and B, B is an intermediate variable, a1Is an intermediate variable, a2Is an intermediate variable.
Further, the step 4 specifically includes performing minimum distance density clustering on the n obtained velocity solutions, waiting until the effective velocity sample set is reached, and averaging all velocity values in the effective velocity sample set to obtain a final value of the platform velocity.
The invention has the beneficial effects that:
the method does not need to solve the position of the platform, is simple to calculate, and can solve the speed only by two primitives; when a plurality of elements exist, different element combinations can provide more redundant information, and the speed measurement precision can be further improved through element combination screening and multi-group speed decryption degree clustering processing.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic view of the geometric principle of the method of the present invention.
FIG. 3 is a spatial distribution diagram of velocity measurement errors according to the method of the present invention.
Fig. 4 is a spatial distribution diagram of errors in the position difference velocimetry.
FIG. 5 is a comparison graph of the present invention and the speed measurement accuracy of the position differential speed measurement method.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A high-precision speed measurement method of an underwater mobile platform based on time delay information comprises the following steps:
step 1: establishing an underwater maneuvering platform speed measurement model based on double-primitive time delay;
step 2: performing element combination based on the speed measurement model and the measurement information in the step 1, and screening different element combinations according to the principle that the two elements and the platform cannot be collinear;
and step 3: solving corresponding platform speeds aiming at different primitive combinations in the step 2;
and 4, step 4: and (4) performing density clustering on different platform speed solutions in the step (3), and calculating to obtain a final platform speed value.
In step 1, specifically, a high-precision underwater acoustic velocity measurement model based on time delay information is constructed according to the geometric principle shown in fig. 2. Assuming four primitives are laid underwater, the coordinate settings are shown in table 1. The platform speed was set at 5m/s and the heading angle was 30 °. The signal transmission period is 1 s. The speed of sound is 1500 m/s. t is t1，t'1，t2，t'2And respectively measuring the propagation delay of the adjacent two-period signals for the two primitives. And completing the construction of a speed measurement model according to the observed quantity.
TABLE 1 four-element coordinate settings
In this embodiment, in step 2, specifically, in the platform maneuvering process, it is assumed that observation information of all primitives is received at each moving position, and two of the four primitives are combined in pairs, so that theoretically there should be 6 primitive combination manners, and the primitive combination manners that cannot form a triangle are excluded according to the principle that the two primitives and the platform cannot be collinear, and the combination number is recorded as n (n is less than or equal to 6). Taking the platform located at K (1603,1000) m as an example, there are 6 primitive combinations that satisfy the condition at this time, which are: S1S2, S1S3, S1S4, S2S3, S2S4, S3S 4.
Further, step 1 specifically includes that the underwater maneuvering platform high-precision speed measurement model constructed by the geometric relationship between the double primitives and the underwater maneuvering platform is as follows:
a1＝(ct'1)2-(ct1)2-(vT)2
a2＝(ct'2)2-(ct2)2-(vT)2
b＝4c2v2T2
wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals measured for the elements A and B, respectively, and l represents the distance between the element A and the element B.
Further, the step 2 is specifically that if the underwater mobile platform receives observation information of N primitives, where N is greater than 2, and every two of the N primitives are combined, the underwater mobile platform should theoretically have
The combination method is adopted, and n primitive combination methods which meet the conditions are screened out according to the principle that the two primitives and the platform cannot be collinear, namely
Further, the step 3 is specifically to solve each model equation based on the selected primitive combination mode to obtain n solutions, and respectively solve the n primitive combination modes;
the underwater maneuvering platform high-precision speed measurement model sets the following objective function according to the criterion of minimizing the mean square error:
wherein:
a1＝(ct'1)2-(ct1)2-(vT)2
a2＝(ct'2)2-(ct2)2-(vT)2
b＝4c2v2T2
obtaining speed solutions of different combinations by solving the objective function; wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals respectively measured by the elements A and B, wherein l represents the distance between the elements A and B, B is an intermediate variable, a1Is an intermediate variable, a2Is an intermediate variable. When the platform is located at K, the speeds of different primitive combinations are respectively 5.48m/s, 4.81m/s, 4.93m/s, 5.50m/s, 7.79m/s and 6.21 m/s.
Further, the step 4 specifically includes performing minimum distance density clustering on the n obtained velocity solutions, waiting until the effective velocity sample set is reached, and averaging all velocity values in the effective velocity sample set to obtain a final value of the platform velocity. The resulting sample set includes: 5.48m/s, 4.81m/s, 4.93m/s, 5.50 m/s. The average of all velocity values in the set was taken to obtain a final platform velocity value of 5.18 m/s.
Example 2
According to the high-precision speed measurement principle of the underwater mobile platform designed by the invention, the speed measurement precision is influenced by the sound propagation delay error, the sound velocity measurement error and the sound element array position error, the simulation is adopted to verify and analyze the high-precision speed measurement principle, and the result is explained. The settings of the parameters are as above. The measurement error parameters are set as in table 2.
TABLE 2 table for setting various measurement error parameters
In order to compare the velocimetry performance of the two methods in the whole space range, the region (5km × 5km) covered by the element is divided into 2601(51 × 51) grid points, and the velocimetry error at each grid point is calculated, and the velocimetry error distribution conditions of the method and the position differential velocimetry in the whole element space are respectively shown in fig. 3 and 4. Comparing fig. 3 and fig. 4, it can be known that the method of the present invention has high speed measurement accuracy, small speed measurement error in the whole space, and the maximum value of the root mean square error of the speed measurement is 0.88 m/s. The speed measurement error of the position differential speed measurement method reaches 1.33m/s, and the integral speed measurement error is larger than that of the method.
Finally, the error probability distributions in fig. 3 and fig. 4 are calculated, resulting in fig. 5. Therefore, the probability that the speed measurement error of the method is within 0.5m/s reaches 0.83. And the probability of the error of the position difference velocity measurement method within 0.5m/s is 0.52. Therefore, the method can obtain a velocity measurement result with higher precision, and has better effect in a space with a large range of arrangement compared with a position difference velocity measurement method.
Claims (5)
1. A high-precision speed measurement method of an underwater mobile platform based on time delay information is characterized by comprising the following steps:
step 1: establishing an underwater maneuvering platform speed measurement model based on double-primitive time delay;
step 2: performing element combination based on the speed measurement model and the measurement information in the step 1, and screening different element combinations according to the principle that the two elements and the platform cannot be collinear;
and step 3: solving corresponding platform speeds aiming at different primitive combinations in the step 2;
and 4, step 4: and (4) performing density clustering on different platform speed solutions in the step (3), and calculating to obtain a final platform speed value.
2. The method for measuring the speed of the underwater mobile platform with high precision based on the time delay information according to claim 1, wherein the step 1 is specifically that a model for measuring the speed of the underwater mobile platform with high precision, which is constructed by a geometric relationship between a double primitive and the underwater mobile platform, is as follows:
a1＝(ct′1)2-(ct1)2-(vT)2
a2＝(ct′2)2-(ct2)2-(vT)2
b＝4c2v2T2
wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals measured for the elements A and B, respectively, and l represents the distance between the element A and the element B.
3. The method for high-precision speed measurement of the underwater mobile platform based on the time delay information as claimed in claim 1, wherein the step 2 is specifically that if the underwater mobile platform receives the observation information of N primitives, where N is greater than 2, and the underwater mobile platform is combined two by two, theoretically, the underwater mobile platform should have
The combination method is adopted, and n primitive combination methods which meet the conditions are screened out according to the principle that the two primitives and the platform cannot be collinear, namely
4. The high-precision speed measuring method for the underwater mobile platform based on the time delay information as claimed in claim 1, wherein the step 3 is specifically to respectively solve the platform speed for the selected n primitive combination modes based on the speed measuring model of the underwater mobile platform to obtain n solutions;
the underwater maneuvering platform high-precision speed measurement model sets the following objective function according to the criterion of minimizing the mean square error:
wherein:
a1＝(ct'1)2-(ct1)2-(vT)2
a2＝(ct'2)2-(ct2)2-(vT)2
b＝4c2v2T2
obtaining speed solutions of different combinations by solving the objective function; wherein c is sound velocity, T is pulse signal emission period, v represents the movement velocity of the maneuvering platform, T1，t'1，t2，t'2The propagation delay of two adjacent periodic signals respectively measured by the elements A and B, wherein l represents the distance between the elements A and B, B is an intermediate variable, a1Is an intermediate variable, a2Is an intermediate variable.
5. The method according to claim 2, wherein the step 4 is specifically to perform minimum distance density clustering on the n obtained velocity solutions, wait for the effective velocity sample set and average all velocity values in the effective velocity sample set to obtain a final value of the platform velocity.
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