CN113721195B - Four-channel hydrophone array based on deepwater underwater glider and operation method - Google Patents
Four-channel hydrophone array based on deepwater underwater glider and operation method Download PDFInfo
- Publication number
- CN113721195B CN113721195B CN202010455211.XA CN202010455211A CN113721195B CN 113721195 B CN113721195 B CN 113721195B CN 202010455211 A CN202010455211 A CN 202010455211A CN 113721195 B CN113721195 B CN 113721195B
- Authority
- CN
- China
- Prior art keywords
- module
- signal
- digital
- signal processing
- signals
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 42
- 238000012545 processing Methods 0.000 claims abstract description 99
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 238000004806 packaging method and process Methods 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims abstract description 4
- 230000002093 peripheral effect Effects 0.000 claims description 53
- 238000001228 spectrum Methods 0.000 claims description 47
- 238000012544 monitoring process Methods 0.000 claims description 45
- 238000004891 communication Methods 0.000 claims description 40
- 238000003860 storage Methods 0.000 claims description 34
- 238000006243 chemical reaction Methods 0.000 claims description 29
- 239000011149 active material Substances 0.000 claims description 22
- 239000000919 ceramic Substances 0.000 claims description 20
- 238000001914 filtration Methods 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 8
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 238000010183 spectrum analysis Methods 0.000 claims description 4
- 238000013139 quantization Methods 0.000 claims description 3
- 238000003491 array Methods 0.000 claims 1
- 238000011160 research Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000006872 improvement Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 229920003225 polyurethane elastomer Polymers 0.000 description 3
- 238000005538 encapsulation Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 101000934888 Homo sapiens Succinate dehydrogenase cytochrome b560 subunit, mitochondrial Proteins 0.000 description 1
- 102100025393 Succinate dehydrogenase cytochrome b560 subunit, mitochondrial Human genes 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
- G01H11/08—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means using piezoelectric devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H3/00—Measuring characteristics of vibrations by using a detector in a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
-
- 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 deep sea marine instruments, and particularly relates to a four-channel hydrophone array based on a deep water underwater glider, wherein the four-channel hydrophone array (10) is fixed on the deep water underwater glider (1), and the four-channel hydrophone array (10) comprises: the system comprises a packaging structure (11), four deepwater sensors (4) and a signal processing and control subsystem; the four deepwater sensors (4) are packaged in the packaging structure (11) at equal intervals, and the middle part of the packaging structure (11) extends outwards to form the watertight joint (3); the watertight joint (3) is in sealing connection with a glider electronic cabin (12) arranged below the wing of the deepwater underwater glider (1) through a cable, and the four-way hydrophone array (10) is connected with a signal processing and control subsystem arranged in the glider electronic cabin (12).
Description
Technical Field
The invention belongs to the technical field of deep sea marine instruments, and particularly relates to a four-channel hydrophone array based on a deep water underwater glider and an operation method thereof.
Background
At present, the method for acquiring acoustic signals of the ocean and the ocean background field under the deep sea condition and carrying out characteristic researches such as relevant acoustic propagation, communication, detection and the like is an important content for carrying out ocean acoustic researches. With the continuous development of deep sea underwater carrier technology, marine acoustic research works have basic conditions of gradually moving from shallow to deep and from static to dynamic, so that the development can be applied to deep sea, and the requirements of intelligent acoustic receiving devices based on underwater glider platform energy supply and information transmission are very urgent.
In recent years, internationally, research works such as hydrodynamic processes, ocean currents, atmospheric circulation and the like are carried out by utilizing underwater gliders, and a plurality of research institutions and scholars in China are actively involved in the research works. The development of acoustic research work by using an underwater glider platform is almost blank in the related research at home and abroad at present, and the main reason for the lack of acoustic sensors suitable for the deep water underwater glider platform is the lack of acoustic sensors. The marine acoustic characteristic research has high requirements on the environment, and generally requires that an acoustic sensing device (namely, a hydrophone) is placed in an environment with low noise background, so that the placement of the hydrophone can not change the free field particle motion law in a certain frequency range, the problem of field distortion is not needed to be considered, and the recording result is only needed to be corrected by using the response characteristic of the hydrophone. However, such an environment is usually only in deep sea, which requires that the hydrophone has a wider working frequency band, and signals of different frequency bands are collected, so that the research on the relation between the acoustic characteristics and the coupling characteristics can be realized. At present, the existing underwater acoustic recording device at home and abroad still belongs to single simple equipment based on data acquisition or data transmission, can not realize functions of intelligent control, data conversion transmission, connection equipment monitoring and the like, and can not be installed in a deep water underwater glider.
However, the current traditional underwater acoustic equipment is large or high in size, weight, power consumption and the like, and the existing hydrophone is mainly a hydrophone which is installed on a fixed large platform (an underwater carrier with the diameter of more than 1m and the length of more than 10m, such as a ship, an underwater platform and the like) based on shallow sea and single nodes, and cannot meet the actual requirements of acoustic observation based on a movable small platform (with the diameter of 50-60cm and the length of 2-3 m) of a deepwater underwater glider at present.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a four-channel hydrophone array based on a deepwater underwater glider and an operation method thereof, and solves the problems that the existing deepwater underwater glider platform is small in size and cannot be used for installing a deepwater multichannel hydrophone. Through the mutual integration design method of the deepwater acoustic sensing device and the intelligent control acquisition system, the deepwater acoustic hydrophone with the autonomous working capacity, which is applicable to the deepwater underwater glider, is provided.
The invention provides a four-channel hydrophone array based on a deepwater underwater glider, which is fixed on the deepwater underwater glider and comprises the following components: the system comprises a packaging structure, four deepwater sensors and a signal processing and control subsystem;
The four deepwater sensors are packaged in the packaging structure at equal intervals, and watertight joints extend outwards from the middle part of the packaging structure; the watertight joint is in sealing connection with a glider electronic cabin arranged below a wing of the deepwater underwater glider through a cable, and the four-way hydrophone array is connected with a signal processing and control subsystem arranged in the glider electronic cabin.
As an improvement of the foregoing solution, the signal processing and control subsystem includes: the system comprises a signal acquisition module, a signal processing module, a control and status monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power module;
the signal acquisition module, the signal processing module, the control and status monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power module are all arranged in the glider electronic cabin; the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces are arranged on the peripheral interface module and are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the state monitoring module through a serial communication interface and control arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;
The four-channel hydrophone array is used for simultaneously acquiring four acoustic signals for a deep sea target, performing acousto-electric conversion on the acoustic signals acquired each time to obtain converted electric signals, amplifying the converted electric signals to obtain amplified electric signals, and further obtaining four amplified electric signals;
the signal acquisition module is used for acquiring four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;
the peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;
the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, and the energy and frequency spectrum of each digital signal;
the system is also used for storing the four digital signals, the position information of the deep sea targets and the energy and frequency spectrum of each digital signal;
the method is also used for integrally binding the position information of the deep sea target, the energy and the frequency spectrum of each digital signal into frames according to the instruction of the upper computer and then transmitting the frames to the upper computer;
The signal processing module is used for carrying out signal processing on each obtained digital signal to obtain the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal;
the control and state monitoring module is connected with the upper computer through the Ethernet communication module in a network manner and is used for monitoring the running states of all the modules according to the control instructions sent by the upper computer and exchanging data with the peripheral interface module;
the Ethernet communication module utilizes a TCP/IP communication protocol to communicate the peripheral interface module with the upper computer, and the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or digital signals acquired by the signal acquisition module to the upper computer according to the instruction;
the storage module is used for storing the energy and the frequency spectrum of each digital signal or each digital signal acquired by the signal acquisition module;
the power supply module is used for converting the voltage accessed by the deepwater underwater glider into the input voltage required by the four-way hydrophone array.
As one of the improvements of the above technical scheme, the deepwater sensor comprises a first pressure-resistant material, a first active material, a front-discharge plate, a second active material and a second pressure-resistant material which are sequentially arranged in series;
The front-amplifying board is a front-amplifying circuit board and is positioned between the first active material and the second active material;
the first pressure-resistant material, the first active material, the second active material and the second pressure-resistant material are hollow cylindrical structures and are thin-wall piezoelectric ceramic round tubes.
As one of the improvements of the above technical solutions, the signal acquisition module includes: the acquisition unit, the AD converter and the gain control and filtering circuit;
the acquisition unit is used for acquiring four amplified electric signals;
the gain control and filtering circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;
the AD converter is used for carrying out analog-to-digital conversion on each processed electric signal, realizing signal quantization and obtaining a digital signal.
As one of the improvements of the above technical solutions, the peripheral interface module includes: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;
the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;
the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;
The storage unit is used for storing each digital signal, energy and frequency spectrum of each digital signal;
the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then transmitting the needle to the upper computer.
As one of the improvements of the above technical solutions, the signal processing module includes an energy acquisition unit and a spectrum acquisition unit;
the frequency spectrum acquisition unit is used for carrying out digital filtering on each digital signal, carrying out dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and obtaining the frequency spectrum of the digital signals by utilizing a time-frequency conversion processing algorithm;
the energy acquisition unit is used for carrying out digital filtering on each digital signal, and superposing the filtered digital signals to obtain the energy of each digital signal;
the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the acquired four digital signals.
As one of the improvements of the above technical solution, the obtaining the position information of the deep sea target according to the obtained four digital signals specifically includes:
intercepting a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, and carrying out azimuth estimation operation on the S1, S2, S3 and S4 by adopting a conventional beam forming method to obtain the possible target azimuth of the deep sea target;
And repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
The invention also provides an operation method of the four-channel hydrophone array based on the deepwater underwater glider, which comprises the following steps:
the control and state monitoring module sends out an instruction according to a set working task, and the power module converts the voltage accessed by the deepwater underwater glider into the input voltage required by the four-channel hydrophone array, and the four-channel hydrophone array starts to operate;
the four deep water sensors collect acoustic signals of a deep sea target at the same time to obtain four acoustic signals, each acoustic signal is subjected to acousto-electric conversion to obtain converted electric signals, and each converted electric signal is subjected to amplification treatment to obtain amplified electric signals;
the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and then carries out analog-to-digital conversion to obtain a digital signal so as to obtain four digital signals;
The peripheral interface module receives the four digital signals and sends the four digital signals to the signal processing module;
the signal processing module performs signal processing on each digital signal to obtain position information of a deep sea target, and energy and frequency spectrum of each digital signal as processed data;
the storage module stores the digital signals and the processed data acquired by the signal acquisition module and sends the digital signals and the processed data to the peripheral interface module;
the peripheral interface module receives the instruction sent by the upper computer through the Ethernet communication module, and uploads the digital signal or the processed data acquired by the signal acquisition module to the upper computer according to the instruction sent by the upper computer.
As one of the improvements of the above technical scheme, the signal processing module performs signal processing on each digital signal to obtain the position information of the deep sea target; in particular, the method comprises the steps of,
in the signal processing module, a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to carry out azimuth estimation operation on the S1, S2, S3 and S4 so as to obtain the possible target azimuth of the deep sea target;
and repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
Compared with the prior art, the invention has the beneficial effects that:
1. the integration level is high: the system has the advantages that the system is provided with the functions of acoustic signal acquisition, recording, processing and forwarding, and autonomously operates according to set tasks, dynamic spectrum analysis, energy detection and autonomous line spectrum tracking are realized through a signal processing module, and meanwhile, the system can be integrated in a deepwater underwater glider with low power consumption and small volume, and can realize the real-time acquisition of acoustic signals and background field information in a large scale range of 100-3000 km matched with the working scale of the deepwater underwater glider;
2. the signal quality is high: the four deepwater sensors synchronously operate, so that the position of a deepwater target can be positioned, detected and tracked, the near-end digital recording of acoustic signals is realized, and the problems of signal attenuation, interference, voltage drop and the like existing in the internal transmission of the deepwater underwater glider are solved. Meanwhile, the four-channel hydrophone array is arranged on the underwater glider, so that flow noise caused by movement of the deep water underwater glider is effectively avoided.
3. High reliability: the hydrophone adopts a high-integration design, so that the overall structural strength is improved, and the hydrophone is more suitable for a deep sea high static pressure environment; meanwhile, the whole four-channel hydrophone array and the deepwater underwater glider are of an integrated structure, so that a common design is realized, the fluid structure of the deepwater underwater glider is not changed, the deepwater underwater glider and other observation equipment carried on the deepwater underwater glider are mutually independent, fault isolation can be effectively realized, the deepwater underwater glider is not damaged due to a certain fault, and the safety and reliability are greatly improved;
4. Large breadth, large depth: the method can synchronously acquire the marine acoustic signals and the marine background field information distributed at different depths in a large sea area in a short time, and locate the deep sea targets at different depths in real time.
Drawings
FIG. 1 is a schematic diagram of a four channel hydrophone array mounted on a deep water underwater glider in accordance with the present invention;
FIG. 2 is a schematic diagram of a signal processing and control subsystem of a four-channel hydrophone array based on a deep underwater glider in accordance with the present invention;
FIG. 3 is a schematic diagram of a four-way hydrophone array based on a deep underwater glider in accordance with the present invention;
FIG. 4 is a schematic diagram of a specific structure of a deep water sensor of a four-channel hydrophone array based on a deep water underwater glider of the present invention;
fig. 5 is a method flow diagram of one embodiment of a method of operation of a four channel hydrophone array based on a deep water underwater glider of the present invention.
Reference numerals:
1. deepwater underwater glider 2 and watertight connector
3. Watertight joint 4 and deepwater sensor
5. First pressure-resistant material 6, first active material
7. Front plate 8, second active material
9. Second pressure resistant material 10, four-channel hydrophone array
11. Packaging structure 12 and glider electronic cabin
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
The invention provides a four-channel hydrophone array based on a deep water underwater glider and an operation method thereof, wherein the four-channel hydrophone is mainly used in a deep sea environment, can realize autonomous operation, collect acoustic signals, record the collected acoustic signals in an internal storage device, and can transmit original data or processing results to an upper computer (glider processing terminal) in real time after finishing data conversion or processing, and realize positioning, exploration and tracking of a deep sea target.
As shown in fig. 1 and 3, the four-channel hydrophone array 10 is fixed on the deepwater underwater glider 1, and the four-channel hydrophone array 10 includes: the packaging structure 11, the four deep water sensors 4 and the signal processing and control subsystem;
the four deepwater sensors 4 are packaged in the packaging structure 11 at equal intervals, and the middle part of the packaging structure 11 extends outwards to form the watertight joint 3; the watertight joint 3 is hermetically connected with a glider electronic cabin 12 arranged below the wing of the deepwater underwater glider 1 through a cable, and the four-way hydrophone array 10 is connected with a signal processing and control subsystem arranged in the glider electronic cabin 12.
Specifically, the both ends of packaging structure are the cylindric structure of circular arc structure, and the junction of packaging structure and deep water glider 1 also adopts circular arc structure, and its purpose is with four channels hydrophone array 10 and deep water glider 1 laminating completely, encapsulation is fixed under the unchangeable prerequisite of hydrodynamic properties of guaranteeing deep water glider 1, has effectively avoided producing the resonance chamber between four channels hydrophone array 10 and the deep water glider 1 organism.
Wherein, as shown in fig. 2, the signal processing and control subsystem comprises: the system comprises a signal acquisition module, a signal processing module, a control and status monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power module;
the system comprises a signal acquisition module, a signal processing module, a control and status monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power module;
the signal acquisition module, the signal processing module, the control and status monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power supply module are all arranged in the glider electronic cabin 12; the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces are arranged on the peripheral interface module and are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the state monitoring module through a serial communication interface and control arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;
The four-channel hydrophone array 10 is configured to collect four acoustic signals for a deep sea target at the same time, perform acousto-electric conversion on the acoustic signals collected each time to obtain converted electrical signals, amplify the converted electrical signals to obtain amplified electrical signals, and further obtain four amplified electrical signals;
wherein, as shown in fig. 4, the deepwater sensor 4 comprises a first pressure-resistant material 5, a first active material 6, a front plate 7, a second active material 8 and a second pressure-resistant material 9 which are sequentially arranged;
wherein the front plate 7 is located between the first active material 6 and the second active material 8.
Wherein the first pressure-resistant material 5, the first active material 6, the second active material 8 and the second pressure-resistant material 9 are all hollow cylindrical structures;
the first pressure-resistant material 5 and the second pressure-resistant material 9 are preferably thin-wall piezoelectric ceramic round tubes; the inner cavity of the thin-wall piezoelectric ceramic circular tube adopts an air liner, polyurethane rubber is packaged outside, the receiving surface of the thin-wall piezoelectric ceramic circular tube is mainly the outer surface and the end parts of the two ends of the outer surface, and the thin-wall piezoelectric ceramic circular tube has the characteristics of simple structure, reliable performance and high sensitivity. Wherein, the thin-wall piezoelectric ceramic round tube is preferably a PZT-4 material piezoelectric ceramic round tube, the inner diameter of the thin-wall piezoelectric ceramic round tube is 10mm, and the outer diameter of the thin-wall piezoelectric ceramic round tube is 12mm; two piezoelectric ceramic round tubes are connected in series, so that the sensitivity of the receiving voltage is improved.
The first active material 6 and the second active material 8 are preferably thin-walled piezoelectric ceramic round tubes; the inner cavity of the thin-wall piezoelectric ceramic circular tube adopts an air liner, polyurethane rubber is packaged outside, the receiving surface of the thin-wall piezoelectric ceramic circular tube is mainly the outer surface and the end parts of the two ends of the outer surface, and the thin-wall piezoelectric ceramic circular tube has the characteristics of simple structure, reliable performance and high sensitivity. Wherein, the thin-wall piezoelectric ceramic round tube is preferably a PZT-4 material piezoelectric ceramic round tube, the inner diameter of the thin-wall piezoelectric ceramic round tube is 10mm, and the outer diameter of the thin-wall piezoelectric ceramic round tube is 12mm; two piezoelectric ceramic round tubes are connected in series, so that the sensitivity of the receiving voltage is improved.
The front amplifying board 7 is preferably a front amplifying circuit board, and is used for amplifying the electrical signal subjected to the acousto-electric conversion to obtain an amplified electrical signal.
Four equally spaced deepwater sensors 4 are encapsulated in an encapsulation structure 11 using polyurethane rubber.
The signal acquisition module is used for acquiring four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;
specifically, the signal acquisition module includes: the acquisition unit, the AD converter and the gain control and filtering circuit;
The acquisition unit is used for acquiring four amplified electric signals;
the gain control and filtering circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;
the AD converter is used for carrying out analog-to-digital conversion on each processed electric signal, realizing signal quantization and obtaining a digital signal. In this embodiment, the AD converter is of the type ADs1247, and is used to perform "analog-to-digital" conversion to quantize the data.
The peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;
the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, and the energy and frequency spectrum of each digital signal;
the system is also used for storing the four digital signals, the position information of the deep sea targets and the energy and frequency spectrum of each digital signal;
the method is also used for integrally binding the position information of the deep sea target, the energy and the frequency spectrum of each digital signal into frames according to the instruction of the upper computer and then transmitting the frames to the upper computer;
Specifically, the peripheral interface module includes: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;
the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;
the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;
the storage unit is used for storing each digital signal, energy and frequency spectrum of each digital signal;
the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then transmitting the needle to the upper computer.
The peripheral interface module is a low power Field programmable gate array (Field-ProgrammableGateArray, FPGA), specifically model MAXIIEPM570z, which provides a plurality of high speed data interfaces and serial interfaces.
The peripheral interface module is responsible for completing the receiving, distributing, storing and transmitting of the electric signals after AD conversion and the digital signals after the processing of the signal processing module, coordinating the safe and reliable operation of each module and avoiding the conflict of data streams. In the embodiment, the model of the FPGA is 10M50SAE144, 4 high-speed data exchange interfaces can be accessed, the data throughput capacity is very high, and the redundancy of data backup is improved;
The signal processing module is used for carrying out signal processing on each obtained digital signal to obtain the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal;
the signal processing module comprises an energy acquisition unit and a frequency spectrum acquisition unit;
the frequency spectrum acquisition unit is used for carrying out digital filtering on each digital signal, carrying out dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and obtaining the frequency spectrum of the digital signals by utilizing a time-frequency conversion processing algorithm;
the energy acquisition unit is used for carrying out digital filtering on each digital signal, and superposing the filtered digital signals to obtain the energy of each digital signal;
the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the acquired four digital signals;
specifically, a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, is intercepted respectively, and a conventional beam forming method is adopted to carry out position estimation operation on the S1, the S2, the S3 and the S4, so as to obtain the possible target position of the deep sea target;
and repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
In other embodiments, an MVDR beam forming method may also be used to perform the position estimation operation on S1, S2, S3, S4, so as to obtain the possible target position of the deep sea target.
The signal processing module also comprises a USB interface, a UART serial interface and an 8-bit high-speed data interface;
the USB interface is used for sending the obtained energy and frequency spectrum of each digital signal to the storage module for storage;
the UART serial interface is used for communication between the signal processing module and the control and state monitoring module;
the 8-bit high-speed data interface is used for communication and data transmission between the signal processing module and the peripheral interface module.
In other specific embodiments, the signal processing module further includes a UART serial expansion interface for expanding the standby. The UART serial interface and the UART serial extension interface are UART serial interfaces.
The signal processing module is a low-power-consumption digital signal processor (DigitalSignalProcessor, DSP), and the specific model is BF707; the DSP processes the digital signals generated by the AD converter, and adopts digital filtering and time-frequency conversion processing algorithms to acquire the energy and frequency spectrum of the digital signals and a frequency spectrum change function drawn through a frequency spectrum change rule.
The signal processing module is additionally provided with a 2GBDDR2 memory and a 32MBFLASH application program memory, and the memory is used for caching the intermediate result of the signal processing module. The communication and data transmission between the signal processing module and the peripheral interface module are completed through 1 USB2.0 interface, 2 UART serial interfaces and 1 8-bit high-speed data interface provided by BF 707. The USB2.0 interface is connected to the storage module and used for reading and writing the minisD card. 1 serial interface in the 2 serial interfaces is used for communication with the control and status monitoring module, and the other serial interface is reserved as an expansion interface; the 8-bit high-speed data interface is connected with the FPGA, so that the AD conversion data can be obtained in real time.
The control and state monitoring module is connected with the upper computer through the Ethernet communication module in a network manner and is used for monitoring the running states of all the modules according to the control instructions sent by the upper computer and exchanging data with the peripheral interface module;
the control and state monitoring module is connected with the upper computer through the Ethernet communication module in a network manner, the singlechip model used by the control and state monitoring module can adopt MSP430F5438 for receiving control instructions sent by the upper computer and monitoring the working state of each module, and meanwhile, the module can control the power-on, reset and watchdog control of the power supply module, so that the singlechip is prevented from being abnormal and can be reset to work again under abnormal conditions.
In this embodiment, the control and status monitoring module is a single-chip microcomputer, the specific model of which is MSP430F5438, and controls the whole hydrophone, transmits data and manages power according to a given working task, and coordinates safe and reliable operation of other modules. The control and state monitoring module is connected with the peripheral interface module through a serial communication interface and adopts a standard RS232 serial interface;
the Ethernet communication module utilizes a TCP/IP communication protocol to communicate the peripheral interface module with the upper computer, and the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or digital signals acquired by the signal acquisition module to the upper computer according to the instruction;
the Ethernet communication module utilizes a TCP/IP communication protocol to communicate the peripheral interface module with the upper computer, and the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or digital signals acquired by the signal acquisition module to the upper computer according to the instruction; the Ethernet communication module is respectively connected with the peripheral interface module and the upper computer, and the communication speed is 1000Mbps; in this embodiment, the ethernet communication module is implemented by using a 10/100/1000 mega adaptive network switch with 5 ports on a chip, where 4 ports are used for connecting to an upper computer, and the other 1 port is used as a backup or for connecting to an optical fiber network device to implement remote transmission.
The signal acquisition module, the signal processing module and the upper computer are communicated through an Ethernet TCP/IP protocol, acoustic signals (namely acoustic original data) or processing results processed by the signal processing module are transmitted to the upper computer through the peripheral interface module and the Ethernet communication module, and control instructions sent by the upper computer are received; wherein the processing result comprises the energy and frequency spectrum of the digital signal.
The storage module is used for storing the energy and the frequency spectrum of each digital signal or each digital signal acquired by the signal acquisition module.
The memory module is a memory array formed by a plurality of high-density (SDXC type or SDHC type) mini-SD cards, and can be controlled by the peripheral interface module to realize seamless switching among the plurality of memory cards. In this embodiment, the storage module employs 4 mini-SD cards with 512GB capacity.
The power module is used for converting the voltage accessed by the deepwater underwater glider into the input voltage required by the four-way hydrophone array 10. Simultaneously, measuring and controlling the converted input voltage and current in real time; if the converted input voltage and current exceed the corresponding voltage normal range value and current normal range value, the disconnection processing is carried out to protect the circuit.
The power module is additionally provided with the functions of resisting surge and inhibiting power harmonic interference.
FIG. 1 is a schematic diagram of a four-way hydrophone based on a deep water underwater glider; the four-channel hydrophone array 10 in fig. 1 is installed on the deep water underwater glider 1, the four-channel hydrophone array 10 is connected with the watertight connector 2 arranged on the glider electronic cabin 12 in a sealing mode through a watertight joint 3 through a cable, and meanwhile, the four-channel hydrophone array 10 is connected with each module arranged in the glider electronic cabin 12 to achieve data format conversion, storage, processing and transmission of collected data.
FIG. 2 is a schematic diagram of a four-way hydrophone array 10 connected to various modules within the glider electronics compartment 12 via watertight interfaces 10; the four-channel hydrophone array 10 respectively performs acousto-electric conversion and amplification treatment on four acoustic signals acquired simultaneously, and sends each amplified electric signal to a signal acquisition module for analog-to-digital conversion to acquire a digital signal; all or part of each converted digital signal is sent to a signal processing module according to the control instruction of the control and state monitoring module; the control and status monitoring module sends out instructions; the peripheral interface module is used for monitoring the state of other modules and receiving, storing and transmitting data; the control and status monitoring module realizes time keeping, status monitoring of the four-channel hydrophone array 10 and recording of abnormal information according to time service of the upper computer and starts alarming according to the abnormal information; the Ethernet communication module integrally binds the data which is received by the peripheral interface module and is processed by the signal processing module or the digital signal which is acquired by the signal acquisition module into frames, and transmits the frames to the upper computer, and meanwhile, the module also receives various instructions transmitted by the upper computer and transmits the corresponding instructions to the control and state monitoring module; the storage module stores the data which is transmitted by the peripheral interface module and is processed by the signal processing module or the digital signal which is acquired by the signal acquisition module; the power module provides a converted input voltage to the four-way hydrophone array 10 while providing over-voltage and over-current detection.
The four-channel hydrophone array 10 adopts a common design of mutually fusing the deepwater underwater glider 1 and four deepwater sensors, does not destroy the hydrodynamic characteristics of the glider, has the characteristics of small volume, flexible and light and convenient implementation operation, and is very suitable for application occasions such as short-time, large-scale and large-scale acoustic signal observation, background field monitoring and the like.
As shown in fig. 5, the invention further provides an operation method of the four-channel hydrophone array based on the deepwater underwater glider, which comprises the following steps:
the upper computer initializes the four-channel intelligent hydrophone of the deepwater underwater glider platform, provides working time, realizes synchronous operation of the four-channel hydrophone array 10 and the deepwater underwater glider 1, and simultaneously starts the four-channel hydrophone array 10, self-tests and reports detection results; if the detection result is qualified, the four-channel hydrophone array 10 starts to work;
the upper computer presets working parameters of four deepwater sensors 4 in the four-way hydrophone array 10; if the working parameters of the four deepwater sensors in the four-channel hydrophone array 10 are not set or the working parameters of the four deepwater sensors in the four-channel hydrophone array 10 are set to be overtime, the four deepwater sensors in the four-channel hydrophone array 10 automatically select default parameters and turn to an autonomous operation state, namely the four deepwater sensors 4 collect four acoustic signals at the same time and perform acousto-electric conversion on each acoustic signal to obtain converted electric signals, amplify each converted electric signal to obtain amplified electric signals, and directly store each amplified electric signal in a storage module; the four channel hydrophone array 10 operating parameters include: the four-channel hydrophone array 10 is operated in modes, rates, operating time, gain and signal processing modes;
Default parameters include: the default four-channel hydrophone array 10 is in the mode of working mode, rate, working time, gain and signal processing;
the control and state monitoring module sends out an instruction according to a set work task, the power module converts the voltage accessed by the deepwater underwater glider into the input voltage required by the four-channel hydrophone array 10, the four-channel hydrophone array 10 starts to operate, the four deepwater sensors 4 collect acoustic signals of a deepwater target at the same time to obtain four acoustic signals, each acoustic signal is subjected to acousto-electric conversion to obtain converted electric signals, and each converted electric signal is subjected to amplification treatment to obtain amplified electric signals; the working task is a result after the set working parameters are analyzed;
the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and then carries out analog-to-digital conversion to obtain a digital signal so as to obtain four digital signals;
the peripheral interface module receives the four digital signals and sends the four digital signals to the signal processing module;
The signal processing module performs signal processing on each digital signal to obtain the position information of the deep sea target, and the energy and frequency spectrum of each digital signal;
specifically, in the signal processing module, a section of digital signal with proper length of four digital signals, namely S1, S2, S3 and S4, is intercepted respectively, and a conventional beam forming method is adopted to perform position estimation operation on the S1, the S2, the S3 and the S4, so as to obtain the possible target position of the deep sea target;
and repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
The storage module stores the digital signals acquired by the signal acquisition module, the position information of the deep sea target obtained after the processing of the signal processing module, and the energy and frequency spectrum of each digital signal, and sends the digital signals to the peripheral interface module;
the peripheral interface module receives the instruction sent by the upper computer through the Ethernet communication module, and uploads the digital signal collected by the signal collection module or the data processed by the signal processing module to the upper computer according to the instruction sent by the upper computer; wherein, the data processed by the signal processing module comprises: position information of the deep sea target, energy and frequency spectrum of each digital signal;
After the work is completed, after the underwater glider is recovered, the data processed by the signal processing module uploaded by the four-channel hydrophone array 10 is read into a main control computer through a special card reader for storage.
The method further comprises the steps of: the control and status monitoring module is connected with the upper computer through the Ethernet communication module, the upper computer sends an instruction for operating the four-channel hydrophone array 10 to the control and status monitoring module, and the four-channel hydrophone array 10 is operated according to the instruction sent by the upper computer and the operation status of each module in the four-channel hydrophone array 10 is monitored.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (9)
1. Four-channel hydrophone array based on deep water glider, characterized in that, this four-channel hydrophone array (10) is fixed on deep water glider (1), this four-channel hydrophone array (10) includes: the system comprises a packaging structure (11), four deepwater sensors (4) and a signal processing and control subsystem;
The four deepwater sensors (4) are packaged in the packaging structure (11) at equal intervals; the two ends of the packaging structure (11) are cylindrical structures with arc structures, and the joint of the packaging structure and the deepwater underwater glider (1) adopts the arc structures; the middle part of the packaging structure (11) extends outwards to form a watertight joint (3); the watertight joint (3) is in sealing connection with a glider electronic cabin (12) arranged below the wing of the deepwater underwater glider (1) through a cable, and the four-way hydrophone array (10) is connected with a signal processing and control subsystem arranged in the glider electronic cabin (12);
the signal processing and control subsystem includes: the signal acquisition module and the signal processing module;
the signal acquisition module and the signal processing module are both arranged in the glider electronic cabin (12);
the signal acquisition module is used for acquiring four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;
the signal processing module is used for carrying out signal processing on each obtained digital signal to obtain the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal.
2. The four-channel hydrophone array based on a deep water glider of claim 1, wherein the signal processing and control subsystem further comprises: the system comprises a control and status monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power module;
the control and status monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power supply module are all arranged in the glider electronic cabin (12); the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces are arranged on the peripheral interface module and are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the state monitoring module through a serial communication interface and control arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;
the four-channel hydrophone array (10) is used for simultaneously acquiring four acoustic signals for a deep sea target, performing acousto-electric conversion on the acoustic signals acquired each time to obtain converted electric signals, amplifying the converted electric signals to obtain amplified electric signals, and further obtaining four amplified electric signals;
The peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;
the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, and the energy and frequency spectrum of each digital signal;
the system is also used for storing the four digital signals, the position information of the deep sea targets and the energy and frequency spectrum of each digital signal;
the method is also used for integrally binding the position information of the deep sea target, the energy and the frequency spectrum of each digital signal into frames according to the instruction of the upper computer and then transmitting the frames to the upper computer;
the control and state monitoring module is connected with the upper computer through the Ethernet communication module in a network manner and is used for monitoring the running states of all the modules according to the control instructions sent by the upper computer and exchanging data with the peripheral interface module;
the Ethernet communication module utilizes a TCP/IP communication protocol to communicate the peripheral interface module with the upper computer, and the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or digital signals acquired by the signal acquisition module to the upper computer according to the instruction;
The storage module is used for storing the energy and the frequency spectrum of each digital signal or each digital signal acquired by the signal acquisition module;
the power supply module is used for converting the voltage accessed by the deepwater underwater glider into the input voltage required by the four-way hydrophone array (10).
3. The four-channel hydrophone array based on deep water gliders according to claim 2, characterized in that the deep water sensor (4) comprises a first pressure resistant material (5), a first active material (6), a front plate (7), a second active material (8) and a second pressure resistant material (9) arranged in series in sequence;
the front amplifying board (7) is a front amplifying circuit board, and the front amplifying board (7) is positioned between the first active material (6) and the second active material (8);
the first pressure-resistant material (5), the first active material (6), the second active material (8) and the second pressure-resistant material (9) are hollow cylindrical structures and are thin-wall piezoelectric ceramic round tubes.
4. The four-channel hydrophone array based on a deep water glider of claim 2, wherein the signal acquisition module comprises: the acquisition unit, the AD converter and the gain control and filtering circuit;
the acquisition unit is used for acquiring four amplified electric signals;
The gain control and filtering circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;
the AD converter is used for carrying out analog-to-digital conversion on each processed electric signal, realizing signal quantization and obtaining a digital signal.
5. The four-channel hydrophone array based on a deep water glider of claim 2, wherein the peripheral interface module comprises: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;
the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;
the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;
the storage unit is used for storing each digital signal, energy and frequency spectrum of each digital signal;
the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then transmitting the needle to the upper computer.
6. The four-channel hydrophone array based on deep water glider of claim 2, wherein the signal processing module comprises an energy acquisition unit and a spectrum acquisition unit;
The frequency spectrum acquisition unit is used for carrying out digital filtering on each digital signal, carrying out dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and obtaining the frequency spectrum of the digital signals by utilizing a time-frequency conversion processing algorithm;
the energy acquisition unit is used for carrying out digital filtering on each digital signal, and superposing the filtered digital signals to obtain the energy of each digital signal;
the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the acquired four digital signals.
7. The four-channel hydrophone array based on the deep water glider according to claim 6, wherein the obtaining the position information of the deep sea target according to the obtained four digital signals is specifically as follows:
intercepting a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, and carrying out azimuth estimation operation on the S1, S2, S3 and S4 by adopting a conventional beam forming method to obtain the possible target azimuth of the deep sea target;
and repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
8. A method of operating a four channel hydrophone array based on a deep water underwater glider, based on any one of the hydrophone arrays of claims 1-7, the method comprising:
the control and state monitoring module sends out an instruction according to a set working task, the power module converts the voltage accessed by the deepwater underwater glider into the input voltage required by the four-way hydrophone array (10), and the four-way hydrophone array (10) starts to operate;
the four deep water sensors (4) collect acoustic signals of a deep sea target at the same time to obtain four acoustic signals, each acoustic signal is subjected to acousto-electric conversion to obtain converted electric signals, and each converted electric signal is subjected to amplification treatment to obtain amplified electric signals;
the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and then carries out analog-to-digital conversion to obtain a digital signal so as to obtain four digital signals;
the peripheral interface module of the signal processing and control subsystem receives the four digital signals and sends the four digital signals to the signal processing module;
The signal processing module performs signal processing on each digital signal to obtain position information of a deep sea target, and energy and frequency spectrum of each digital signal as processed data;
the storage module of the signal processing and control subsystem stores the digital signals and the processed data acquired by the signal acquisition module and sends the digital signals and the processed data to the peripheral interface module;
the peripheral interface module of the signal processing and control subsystem receives the instruction sent by the upper computer through the Ethernet communication module, and uploads the digital signal or the processed data acquired by the signal acquisition module to the upper computer according to the instruction sent by the upper computer.
9. The method for operating a four-channel hydrophone array based on a deep water glider according to claim 8, wherein the signal processing module performs signal processing on each digital signal to obtain the position information of a deep sea target; in particular, the method comprises the steps of,
in the signal processing module, a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to carry out azimuth estimation operation on the S1, S2, S3 and S4 so as to obtain the possible target azimuth of the deep sea target;
And repeating the process to obtain a plurality of possible target orientations, further obtaining a determined target orientation from the plurality of possible target orientations by a time correlation and space intersection method, and taking the determined target orientation as the position information of the deep sea target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010455211.XA CN113721195B (en) | 2020-05-26 | 2020-05-26 | Four-channel hydrophone array based on deepwater underwater glider and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010455211.XA CN113721195B (en) | 2020-05-26 | 2020-05-26 | Four-channel hydrophone array based on deepwater underwater glider and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113721195A CN113721195A (en) | 2021-11-30 |
| CN113721195B true CN113721195B (en) | 2024-03-22 |
Family
ID=78671915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010455211.XA Active CN113721195B (en) | 2020-05-26 | 2020-05-26 | Four-channel hydrophone array based on deepwater underwater glider and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113721195B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114777907A (en) * | 2022-04-02 | 2022-07-22 | 中国科学院声学研究所 | Near-zero buoyancy hydrophone for underwater mobile platform and system thereof |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364067A (en) * | 2012-04-01 | 2013-10-23 | 中国科学院声学研究所 | Underwater sound array system without cable connection in deepwater and synchronous acquisition method |
| CN103661895A (en) * | 2013-11-30 | 2014-03-26 | 华中科技大学 | Water-jet-propelled deep-sea glider |
| CN105323685A (en) * | 2015-06-09 | 2016-02-10 | 中国科学院声学研究所 | Full-depth low-frequency broadband highly-sensitive piezoelectric hydrophone |
| US9869752B1 (en) * | 2016-04-25 | 2018-01-16 | Ocean Acoustical Services And Instrumentation Systems, Inc. | System and method for autonomous joint detection-classification and tracking of acoustic signals of interest |
| CN108037534A (en) * | 2017-12-27 | 2018-05-15 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
| CN108107483A (en) * | 2017-12-27 | 2018-06-01 | 国家海洋局第海洋研究所 | A kind of seismic survey system based on underwater movable platform |
| CN108267716A (en) * | 2016-12-31 | 2018-07-10 | 中国船舶重工集团公司第七六○研究所 | A kind of deep-sea acoustic marker directional guiding device |
| CN108791779A (en) * | 2018-07-30 | 2018-11-13 | 武汉交通职业学院 | A kind of bionical underwater spectroradiometer control system and control method |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
| CN109884730A (en) * | 2019-04-12 | 2019-06-14 | 哈尔滨工程大学 | A kind of virtual array passive detection method based on deep-sea underwater gliding machine platform |
| CN111024049A (en) * | 2019-12-20 | 2020-04-17 | 中国科学院声学研究所 | Deep sea acoustic receiving submerged buoy and signal acquisition method |
-
2020
- 2020-05-26 CN CN202010455211.XA patent/CN113721195B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103364067A (en) * | 2012-04-01 | 2013-10-23 | 中国科学院声学研究所 | Underwater sound array system without cable connection in deepwater and synchronous acquisition method |
| CN103661895A (en) * | 2013-11-30 | 2014-03-26 | 华中科技大学 | Water-jet-propelled deep-sea glider |
| CN105323685A (en) * | 2015-06-09 | 2016-02-10 | 中国科学院声学研究所 | Full-depth low-frequency broadband highly-sensitive piezoelectric hydrophone |
| US9869752B1 (en) * | 2016-04-25 | 2018-01-16 | Ocean Acoustical Services And Instrumentation Systems, Inc. | System and method for autonomous joint detection-classification and tracking of acoustic signals of interest |
| CN108267716A (en) * | 2016-12-31 | 2018-07-10 | 中国船舶重工集团公司第七六○研究所 | A kind of deep-sea acoustic marker directional guiding device |
| CN108037534A (en) * | 2017-12-27 | 2018-05-15 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
| CN108107483A (en) * | 2017-12-27 | 2018-06-01 | 国家海洋局第海洋研究所 | A kind of seismic survey system based on underwater movable platform |
| CN108791779A (en) * | 2018-07-30 | 2018-11-13 | 武汉交通职业学院 | A kind of bionical underwater spectroradiometer control system and control method |
| CN109733574A (en) * | 2019-01-25 | 2019-05-10 | 哈尔滨工程大学 | A kind of self-tolerant acoustic information detection system based on underwater glider |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
| CN109884730A (en) * | 2019-04-12 | 2019-06-14 | 哈尔滨工程大学 | A kind of virtual array passive detection method based on deep-sea underwater gliding machine platform |
| CN111024049A (en) * | 2019-12-20 | 2020-04-17 | 中国科学院声学研究所 | Deep sea acoustic receiving submerged buoy and signal acquisition method |
Non-Patent Citations (2)
| Title |
|---|
| 《基于水下滑翔机的海洋环境噪声测量系统》;刘璐;《应用声学》;第36卷(第4期);第370-376页 * |
| 《水下声学滑翔机研究进展及关键技术》;孙芹东;《水下无人系统学报》;第28卷(第1期);第10-17页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113721195A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103364067B (en) | The underwater sound array system that a kind of deep water connects without cable and synchronous collection method | |
| CN113720434A (en) | Single-channel hydrophone based on deepwater underwater glider and operation method | |
| CN110764132B (en) | Cable formula seabed earthquake monitoring system | |
| CN103491148A (en) | Mobile deep sea cultivation monitoring system | |
| CN105607064B (en) | A kind of underwater Sonar system | |
| CN206531959U (en) | Sonar system signal acquisition transmission control unit | |
| CN113721195B (en) | Four-channel hydrophone array based on deepwater underwater glider and operation method | |
| CN207502724U (en) | A kind of more sonar networking detecting and locating systems of marine growth | |
| CN105043442A (en) | Self-contained underwater sound and hydrological data synchronous acquisition device, system and method | |
| CN107831466A (en) | Underwater wireless acoustic marker and its multi-address instruction code method | |
| JPH0627861B2 (en) | Initial setting method and device for seismic data collection device | |
| CN108132292B (en) | Deep sea in-situ electrochemical testing device capable of realizing remote data transmission and implementation method | |
| CN213717982U (en) | Data transmission system of sonar | |
| CN113395102A (en) | Self-adaptive satellite communication equipment and link intelligent selection method | |
| CN205665865U (en) | Ocean data acquisition system based on big dipper satellite communication | |
| CN103969638B (en) | A kind of underwater sound is intercepted and jamming equipment | |
| CN204462385U (en) | A kind of acoustics seabed Range Measurement System | |
| CN107436569A (en) | A kind of buoy modularization acquisition system based on CAN | |
| CN207184490U (en) | A kind of underwater sound signal harvester | |
| WO2020052219A1 (en) | Antenna structure having seawater flow rate measurement function | |
| Hobart et al. | Acoustic modem unit | |
| CN209131825U (en) | A kind of digitlization scalar hydrophone | |
| CN114024642A (en) | Intelligent hydrophone capable of achieving large-scale convenient networking and synchronous acquisition | |
| CN2243658Y (en) | Moving water surveying instrument | |
| CN106124717A (en) | A kind of ocean based on cellular optimization networking mode water quality real-time monitoring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |