CN114111732A - Array type acoustic wave measuring method, system and storage medium - Google Patents
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Abstract
The invention relates to an array acoustic wave measuring method, a system and a storage medium, wherein the method is based on three acoustic wave sensors which are fixedly arranged, and the three acoustic wave sensors which are fixedly arranged form a triangle; the method comprises the following steps: acquiring coordinates of the three acoustic wave sensors; acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor; and calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
Description
Technical Field
The invention relates to the field of wave measurement, in particular to an array type acoustic wave measurement method, a system and a storage medium.
Background
Sea waves are surface waves that occur on the surface of the ocean, i.e., a wave that travels along the interface between water and air, and are a type of gravitational wave. The wave motion of the sea waves is random, and the sea waves are usually disorderly because the wind speed and the wind direction of the sea surface change anytime and anywhere. Sea waves are one of the most important ocean elements, and the observation of the sea waves is an important link for researching oceanography and serving in the fields of disaster reduction, prevention and the like. An aeroacoustic wavemeter is a device which has excellent performance and is verified by metrological verification. However, the current aeroacoustic wavemeter can only measure the wave height and wave period of the sea wave, and does not have the capability of measuring the propagation direction of the sea wave. With the deep research and application of the ocean, more and more fields need to quantitatively observe the propagation direction of the sea waves.
Although array type wave direction measuring instruments in a microwave distance measuring mode exist in the market, the equipment is expensive, due to the adoption of a cross-correlation method with extremely complex operation, the power consumption of a hardware platform is large, the space and the power supply of a plurality of ocean observation platforms are very limited, and the applicability of the large-power-consumption equipment is poor.
The invention aims to design an array type acoustic wave measuring method, system and storage medium aiming at the problems in the prior art.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides an array acoustic wave measurement method, system, and storage medium, which can effectively solve the problems in the prior art.
The technical scheme of the invention is as follows:
an array-type acoustic wave measuring method is provided,
based on three fixedly arranged acoustic wave sensors, the three fixedly arranged acoustic wave sensors form a triangle;
the method comprises the following steps:
acquiring coordinates of the three acoustic wave sensors;
acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor;
and calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
Further, the calculating the propagation direction of the sea wave according to the geometric relationship of the triangle formed by the three fixedly arranged acoustic wave sensors specifically includes:
establishing a two-dimensional coordinate system according to a plane formed by the three acoustic wave sensors, and calculating a deviation angle between the Y-axis direction and the due north direction of the two-dimensional coordinate system
Defining the direction of the sea wave in the two-dimensional coordinate system as a virtual wave direction, wherein the virtual wave direction is intersected with the acoustic wave sensor which arrives firstly;
calculating the virtual wave direction according to the geometric relation of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors;
the true wave direction is calculated according to the following formula,
real wave direction-virtual wave direction + deviation angle
Further, the defining of the direction of the sea wave in the two-dimensional coordinate system is a virtual wave direction, and the intersection of the virtual wave direction and the acoustic wave sensor which arrives first specifically includes:
the virtual wave direction defining a sea wave is a single direction and intersects the first arriving acoustic wave sensor.
Further, the calculating the virtual wave direction according to the geometric relationship of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors specifically includes:
defining the acoustic wave sensor P at which a sea wave arrives first1The acoustic wave sensor P of a sea wave sub-arrival2The acoustic wave sensor P, at which the wave finally arrives3Calculating a first set of distances between three of the acoustic wave sensors;
calculating P2And P3A second set of distances from the virtual wave direction;
calculating the virtual wave direction upwards and the sea wave direction P according to the first distance collection and the second distance collection1To P2First transmission distance, wave length P1To P3A second transmission distance of;
and calculating the direction of the virtual wave direction according to the geometric relation of the first transmission distance, the second transmission distance, the first time difference and the second time difference in a triangle formed by the three fixedly arranged acoustic wave sensors.
Further, the geometric relationship of the first transmission distance, the second transmission distance, the first time difference and the second time difference in a triangle formed by the three fixedly arranged acoustic wave sensors is specifically as follows:
first transmission distance2Second transmission distance2First time difference2Second time difference2。
Further, the calculating the direction of the virtual wave direction specifically includes:
and calculating the slope of the virtual wave direction in a plane corresponding to the triangle, and calculating the included angle between the virtual wave direction and the X axis according to the slope.
Further, the three acoustic wave sensors are oriented differently, and any two acoustic wave sensors differ in direction by not 180 °.
Further, the distance between any two of the acoustic wave sensors is 5-15 m.
Further provided is an array acoustic wave measurement system comprising the following modules:
the sensor module comprises three fixedly arranged acoustic wave sensors, and the three fixedly arranged acoustic wave sensors form a triangle;
the coordinate acquisition module is used for acquiring the coordinates of the three acoustic wave sensors;
the time difference calculation module is used for acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor;
and the propagation direction calculation module is used for calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
There is further provided a computer readable storage medium storing a computer program which, when executed by a processor, implements a method of array acoustic wave measurement as described.
Accordingly, the present invention provides the following effects and/or advantages:
the invention forms a triangle by three fixedly arranged sensors, calculates the propagation direction of the wave in the plane of the triangle, and calculates the real propagation direction of the sea wave according to the deviation angle between the plane of the secondary triangle and the due north direction.
On the premise of assuming parallel wave propagation, the method calculates the propagation direction of the waves by combining a time delay method and a geometric method, which have simpler physical scenes and simpler calculation methods, and greatly reduces the calculation amount, thereby completing the calculation task on a digital platform with low cost and low power consumption. The cheap and low-power-consumption marine instrument has quite obvious advantages in application and popularization. In addition, the layout constraint of the probes is small, the basic principle requirements such as reasonable intervals, reasonable azimuth angle staggering and the like are met, the algorithm software only needs the coordinates of 3 probes, the actual installation can be completed in only a few minutes, the coordinate parameters can be completed in the simplest mode such as keyboard input or serial port input, and the flexibility of the whole set of equipment is greatly improved.
The number of the sensors contained in the invention is three, three points can just form a triangle, and the three points can be randomly kept in the same plane.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
Drawings
FIG. 1 is a schematic flow diagram of the process.
Fig. 2 is a schematic illustration of the positions of three acoustic wave sensors.
Fig. 3 is a schematic diagram illustrating the principle of the method.
Fig. 4 is a schematic view of a test site.
Fig. 5 is a photograph of an experimental site of the present invention.
Fig. 6 is a schematic diagram of the principle established according to the invention at the experimental site.
Fig. 7 is a wind direction and wind speed acquisition diagram of an experimental site.
Fig. 8 is a diagram of the wind wave data acquisition in the implementation field.
FIG. 9 is a time series diagram of three sensor ranging data.
Fig. 10 is a time-delayed signal diagram of 3 sensors.
Detailed Description
To facilitate understanding of those skilled in the art, the structure of the present invention will now be described in further detail by way of examples in conjunction with the accompanying drawings: it should be understood that the steps mentioned in this embodiment, except for the sequence specifically mentioned, can be performed simultaneously or partially simultaneously according to the actual requirement,
referring to fig. 1, an array type acoustic wave measurement method,
based on three fixed acoustic wave sensors, the three fixed acoustic wave sensors form a triangle.
In this embodiment, as used herein, the term "acoustic wave sensor" may be considered to be: the acoustic ranging sensor or the ultrasonic ranging sensor is based on a nine-axis acceleration principle, can effectively acquire information such as ocean wave height, wave period, wave direction and the like through calculation of a Haihu patent algorithm, and is based on an ultrasonic ranging principle. A beam of ultrasonic wave modulated by narrow pulses is transmitted to the water surface by the transmitting ultrasonic transducer, and is reflected by the water surface and then returns to the ultrasonic receiving transducer at the same position as the transmitting transducer, so that the related information of the waves is calculated.
In this embodiment, as shown in fig. 2, the three acoustic wave sensors 1 form a triangle and are fixedly disposed, that is, the three acoustic wave sensors of this embodiment are located on the same plane, and the three acoustic wave sensors are not located on the same line. Meanwhile, the three acoustic wave sensors of the present embodiment only need to form any triangle, and parameters such as the shape of the triangle are not limited.
The method comprises the following steps:
s1, acquiring coordinates of the three acoustic wave sensors; the coordinates of the three acoustic wave sensors can be acquired through gps and other equipment, and meanwhile, the existing acoustic wave sensors can be integrated with gps modules, so that the coordinates can be acquired conveniently.
Acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor; since the shape of the sea wave is a vertical structure, the sea wave can be considered as a vertical and plate-like shape as shown in fig. 2, and the propagation direction of the sea wave is a lateral transmission. Without considering the finely divided high frequency fluctuations, it can be assumed that the waves of the sea surface travel in a parallel manner. In the above relationship, the wave will arrive at the three acoustic wave sensors one after the other, for example, the relationship shown in fig. 2, and the wave will arrive at the acoustic wave sensor 2, then at the acoustic wave sensor 3, and finally at the acoustic wave sensor 1. The time of the wave from the acoustic wave sensor 2 to the acoustic wave sensor 3 is calculated as a first time difference, and the time of the wave from the acoustic wave sensor 3 to the acoustic wave sensor 1 is calculated as a second time difference.
And S2, calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors. In the process of wave propagation, the directions of the wave waves can be calculated according to the fixed geometric relation of the triangle by the acoustic wave sensors which arrive in sequence and the time intervals between the acoustic wave sensors which arrive. The time phase sequence of each time of the wave passing through each sensor can be determined by a time delay method, and the time difference of the phase position can be calculated quantitatively. Since the sensor array is of a fixed layout, i.e. the geometrical relationship between the sensors is determined, the propagation direction of the wave can be deduced inversely from the time difference between the sensors.
The following describes a specific process for calculating the direction of the sea wave based on the geometric relationship of the fixed triangles.
Further, in S2, the calculating the propagation direction of the sea wave according to the geometric relationship of the triangle formed by the three fixedly arranged acoustic wave sensors specifically includes:
s2.1, referring to FIG. 3, establishing a two-dimensional coordinate system according to a plane formed by the three acoustic wave sensors, and calculating a deviation angle between the Y-axis direction and the due north direction of the two-dimensional coordinate system
The three point/acoustic wave sensors can determine a plane, on the premise that a two-dimensional coordinate system is established by the plane. The origin of coordinates is not limited, and the coordinates of the three acoustic wave sensors can be converted into two-dimensional coordinates in the coordinate system through position information measured by gps.
S2.2, defining the direction of the sea wave in the two-dimensional coordinate system as a virtual wave direction, wherein the virtual wave direction is intersected with the acoustic wave sensor which arrives firstly.
This step is one of the core points of the present application, and in this step, the direction of the virtual wave direction is arbitrary and is not limited herein, and meanwhile, the virtual wave direction intersects with the acoustic wave sensor that arrives first.
And S2.3, calculating the virtual wave direction according to the geometric relation of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors.
In this step, since the triangle formed by the three fixedly arranged acoustic wave sensors is fixed, and the first time difference and the second time difference are also known, the direction of propagation of the sea wave in the two-dimensional coordinate system is assumed and defined as the virtual wave direction, and on the premise that the sea wave is constant, the first time difference and the second time difference of the sea wave obtained by the three fixedly arranged acoustic wave sensors can be calculated, that is, the speed of the sea wave in the virtual wave direction can be calculated, and then the direction of the virtual direction in the coordinate axis can be calculated according to the geometric relationship of the triangle.
S2.4, calculating the true wave direction according to the following formula,
real wave direction-virtual wave direction + deviation angle
Further, the defining of the direction of the sea wave in the two-dimensional coordinate system is a virtual wave direction, and the intersection of the virtual wave direction and the acoustic wave sensor which arrives first specifically includes:
s2.2.1, the virtual wave direction defining the sea wave is unidirectional and intersects the first arriving acoustic wave sensor. Since the direction of the wave of the sea wave is single, according to the characteristic, the propagation direction of the virtual wave direction is also single, so that the subsequent calculation is convenient.
Further, the calculating the virtual wave direction according to the geometric relationship of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors specifically includes:
s2.3.1, refer to FIG. 3, define the first wave of the seaThe acoustic wave sensor P that arrives1The acoustic wave sensor P of a sea wave sub-arrival2The acoustic wave sensor P, at which the wave finally arrives3And calculating a first distance set among three acoustic wave sensors.
S2.3.1, calculating P2And P3A second set of distances from the virtual wave direction;
specifically, in this step, the corresponding coordinates P of 3 acoustic wave sensors1(x1，y1)，P2(x2，y2)，P3(x3，y3) The deviation angle phi between the Y axis of the coordinate system and the true north direction, the distance between the three points:
in the two-dimensional coordinate system, the virtual wave direction is a representative wave direction and passes through the point P1Straight line l with slope k1Equation, y-y1＝k(x-x1) Then there is kx-y + y1-kx10. I.e. a ═ k, B ═ -1, and C ═ y1-kx1。
S2.3.2, calculating the virtual wave-up, sea wave from P, according to the first distance set and the second distance set1To P2First transmission distance, wave length P1To P3A second transmission distance of;
point P2Vertical line and straight line l1Meet at point P2′Point P3Vertical line and straight line l1Meet at point P3′，P2To P2A distance of d22′，P3To P3′A distance of d33′Then, then
P1To P2A distance of d12′，P1To P3A distance of d13′Then, then
After simplification, obtain
S2.3.4, calculating the direction of the virtual wave direction according to the geometrical relationship of the triangle formed by the first transmission distance, the second transmission distance, the first time difference and the second time difference among the three acoustic wave sensors which are fixedly arranged.
Further, the geometric relationship of the first transmission distance, the second transmission distance, the first time difference and the second time difference in a triangle formed by the three fixedly arranged acoustic wave sensors is specifically as follows:
first transmission distance2Second transmission distance2First time difference2Second time difference2。
Wave equation P calculated from time delay algorithm based on mature correlation principle1To P2Is delay12From P1To P3Is delay13. Since the speed of the wave is constant, in a two-dimensional coordinate system, in the fixed triangle of the above composition, according to the pythagorean theorem, it can be found that: first transmission distance2Second transmission distance2First time difference2Second time difference2. From this conclusion, and equation 1 above, one obtains
Further, the calculating the direction of the virtual wave direction specifically includes:
and calculating the slope of the virtual wave direction in a plane corresponding to the triangle, and calculating the included angle between the virtual wave direction and the X axis according to the slope.
Specifically, the slope of the virtual wave direction in the plane corresponding to the triangle is calculated according to formula 2,
[delay13(y2-y1)2-delay12(y3-y1)2]k2
+2[delay13(x2-x1)(y2-y1)-delay12(x3-x1)(y3-y1)]k
+delay13(x2-x1)2-delay12(x3-x1)2＝0，
let a be delay13(y2-y1)2-delay12(y3-y1)2，
b＝2[delay13(x2-x1)(y2-y1)-delay12(x3-x1)(y3-y1)]，
c＝delay13(x2-x1)2-delay12(x3-x1)2，
Then calculating the included angle between the virtual wave direction and the X axis according to formula 3,
θ′＝arctgk。
finally, the true wave direction is the virtual wave direction + deviation angle
The following formula
θ＝θ′+φ。
Further, the three acoustic wave sensors are oriented differently, and any two acoustic wave sensors differ in direction by not 180 °. The sensors are evenly distributed in the angle direction, so that the sensors can adapt to the measurement requirements of any incoming waves. If the 3 sensors are at approximately 180 degrees (approximately straight), the resolution of waves propagating from their normal direction will be greatly reduced.
Further, the distance between any two of the acoustic wave sensors is 5-15 m. The distance setting of the sensors needs to adapt to the wave length of waves, and if the distance is too close, the time difference between the sensors is too small to distinguish, so that the measurement precision is greatly reduced; if the distance is too far, the correlation between the sensors is too weak, and the measurement accuracy is also influenced. The wave length range is set to be 5-15m, the wave length range can be adapted to 10-300m, the corresponding period is 2.5-15s, and most waves can be covered.
Experimental data
In order to verify the feasibility of the application and simultaneously assess the capabilities of hardware and software on functions and technical indexes, the applicant develops an engineering prototype on the basis of the scheme, installs the prototype on a hydrological observation platform attached to a construction access of a Tan highway and railway bridge in Fujian province, and develops a test which lasts for more than 1 month.
A place: an auxiliary hydrological observation platform (119 degrees 36 '52.5' E, 25 degrees 43 '6.3' N) for a construction access road of a Fujian quan highway and railway bridge is shown in figure 4;
time: 22/2020/4 to 27/2020/5;
the equipment comprises the following components: as shown in fig. 5, aeroacoustic wavemeter (3 sensor), anemorumbometer, video surveillance (camera + hard disk recorder), solar panel, battery, CDMA communicator. Three aeroacoustic distance measuring sensors in different directions are arranged depending on a platform, the automatic operation mode is timed, a solar power supply supplies power, and CDMA wireless data transmission communication is realized. The wind sensor is used as auxiliary data, and the video camera can record sea conditions and can be used for manually identifying the propagation direction of sea waves.
The platform is 4 meters long and 2 meters wide, a coordinate system is established along two edges of the platform by taking the northeast point of the platform as an origin, and the installation coordinates of the 3 probes and the distance between the probes are shown in fig. 6. The included angle between the platform coordinate system and the due north direction is 30 degrees, and the real wave propagation direction in the due north coordinate system can be obtained by subtracting 30 degrees from the wave propagation direction calculated in the future.
The three corners of the triangle formed by the 3 sensors are: angle 123 is 85.2 °, angle 231 is 46.5 °, and angle 132 is 48.3 °.
The distance between the 3 sensors is 5-10 m, the length is reasonable, the angle distribution is uniform, and the direction is reasonable. A sensor layout with reasonable scale and orientation is the basis for measuring the propagation direction of the quasi-waves.
Referring to fig. 7-8, the east and north sides of the test site are open sea, the south side is the quan strait, and the rest are land. Under the same wind conditions, the northeast wind can cause larger waves in the sea area, and the southwest wind has weaker waves. In the test with 1 multi-month period, the site waves are larger with 3 courses, which are 22-25 days 4-month, 28-29 days 4-month and 21-25 days 5-month in 2020. The 3 wind directions were northeast wind. The wind force is also larger in the days of 5 months, 18 days and 19 days, but the wind direction is southwest wind, so that the induced sea waves are weaker.
Referring to fig. 9-10, the process of the same wave passing through the sensors is clearly illustrated, and taking this process as an example, the wave waveforms measured by the 3 sensors are very similar but temporally distinct, and the wave first reaches the # 1 sensor, then the # 2 sensor, and finally the # 3 sensor. Because of the waveform approximation, the time difference can be calculated according to the correlation method, and the propagation direction of the wave can be solved through the time difference among the sensors. The propagation direction of the sea wave solved by the experimental data is 39.8 degrees, which is basically consistent with the northeast wind direction. Meanwhile, for the test work of more than 1 month, the period is subjected to a plurality of heavy wave processes. Test results show that the scheme is feasible and achieves the preset target in both functional and technical indexes.
Example two
An array acoustic wave measurement system comprising the following modules:
the sensor module comprises three fixedly arranged acoustic wave sensors, and the three fixedly arranged acoustic wave sensors form a triangle;
the coordinate acquisition module is used for acquiring the coordinates of the three acoustic wave sensors;
the time difference calculation module is used for acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor;
and the propagation direction calculation module is used for calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
EXAMPLE III
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements an array acoustic wave measurement method according to an embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (10)
1. An array acoustic wave measurement method, characterized in that:
based on three fixedly arranged acoustic wave sensors, the three fixedly arranged acoustic wave sensors form a triangle;
the method comprises the following steps:
acquiring coordinates of the three acoustic wave sensors;
acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor and a second time difference between the first arriving acoustic wave sensor and the last arriving acoustic wave sensor;
and calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
2. The array acoustic wave measurement method of claim 1, wherein:
the calculation of the propagation direction of the sea waves according to the geometric relationship of the triangle formed by the three fixedly arranged acoustic wave sensors is specifically as follows:
establishing a two-dimensional coordinate system according to a plane formed by the three acoustic wave sensors, and calculating a deviation angle between the Y-axis direction and the due north direction of the two-dimensional coordinate system
Defining the direction of the sea wave in the two-dimensional coordinate system as a virtual wave direction, wherein the virtual wave direction is intersected with the acoustic wave sensor which arrives firstly;
calculating the virtual wave direction according to the geometric relation of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors;
the true wave direction is calculated according to the following formula,
real wave direction-virtual wave direction + deviation angle
3. An array acoustic wave measurement method according to claim 2, wherein:
defining the direction of the sea wave in the two-dimensional coordinate system as a virtual wave direction, wherein the intersection of the virtual wave direction and the acoustic wave sensor which arrives first is as follows:
the virtual wave direction defining a sea wave is a single direction and intersects the first arriving acoustic wave sensor.
4. An array acoustic wave measurement method according to claim 3, wherein:
the virtual wave direction is calculated according to the geometric relationship of a triangle formed by the first time difference, the second time difference and the three fixedly arranged acoustic wave sensors, and specifically comprises the following steps:
defining the acoustic wave sensor P at which a sea wave arrives first1The acoustic wave sensor of sea wave sub-arrivalP2The acoustic wave sensor P, at which the wave finally arrives3Calculating a first set of distances between three of the acoustic wave sensors;
calculating P2And P3A second set of distances from the virtual wave direction;
calculating the virtual wave direction upwards and the sea wave direction P according to the first distance collection and the second distance collection1To P2First transmission distance, wave length P1To P3A second transmission distance of;
and calculating the direction of the virtual wave direction according to the geometric relation of the first transmission distance, the second transmission distance, the first time difference and the second time difference in a triangle formed by the three fixedly arranged acoustic wave sensors.
5. The array acoustic wave measurement method of claim 4, wherein:
the geometrical relationship of the first transmission distance, the second transmission distance, the first time difference and the second time difference in a triangle formed by the three fixedly arranged acoustic wave sensors is as follows:
first transmission distance2Second transmission distance2First time difference2Second time difference2。
6. The array acoustic wave measurement method of claim 4, wherein: the calculating the direction of the virtual wave direction specifically includes:
and calculating the slope of the virtual wave direction in a plane corresponding to the triangle, and calculating the included angle between the virtual wave direction and the X axis according to the slope.
7. The array acoustic wave measurement method of claim 1, wherein: the three acoustic wave sensors are oriented differently, and the difference in direction between any two acoustic wave sensors is not 180 °.
8. The array acoustic wave measurement method of claim 1, wherein: the distance between any two of the acoustic wave sensors is 5-15 m.
9. An array acoustic wave measurement system, comprising: the system comprises the following modules:
the sensor module comprises three fixedly arranged acoustic wave sensors, and the three fixedly arranged acoustic wave sensors form a triangle;
the coordinate acquisition module is used for acquiring the coordinates of the three acoustic wave sensors;
the time difference calculation module is used for acquiring the time when the sea wave passes through each acoustic wave sensor, and calculating a first time difference between the first arriving acoustic wave sensor and the second arriving acoustic wave sensor of the sea wave and a second time difference between the second arriving acoustic wave sensor and the last arriving acoustic wave sensor of the sea wave;
and the propagation direction calculation module is used for calculating the propagation direction of the sea waves according to the geometric relation of a triangle formed by the three fixedly arranged acoustic wave sensors.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements an array acoustic wave measurement method as claimed in any one of claims 1 to 8.
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