CN114114278B - Positioning method for passive omnidirectional buoy LOFIX - Google Patents
Positioning method for passive omnidirectional buoy LOFIX Download PDFInfo
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- CN114114278B CN114114278B CN202111397299.5A CN202111397299A CN114114278B CN 114114278 B CN114114278 B CN 114114278B CN 202111397299 A CN202111397299 A CN 202111397299A CN 114114278 B CN114114278 B CN 114114278B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000001228 spectrum Methods 0.000 claims abstract description 43
- 238000012935 Averaging Methods 0.000 claims abstract description 4
- 238000012216 screening Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application provides a passive omnidirectional buoy LOFIX positioning method, which belongs to the technical field of underwater acoustic signal processing, and specifically comprises the steps of obtaining a buoy position and a target line spectrum signal-to-noise ratio, and under the condition that buoys involved in positioning all contact a target, continuously sliding in time to obtain a real-time buoy position and a target line spectrum signal-to-noise ratio; judging the signal-to-noise ratio of the target line spectrum, and judging whether the target line spectrum of each buoy reaches a signal-to-noise ratio threshold or not; LOFIX, carrying out positioning solution, namely carrying out LOFIX positioning solution when the signal-to-noise ratio of the target line spectrum exceeds a threshold; positioning solution screening, modeling an area surrounded by the buoy, judging whether any positioning solution is positioned in the area surrounded by the buoy, and only leaving the positioning solution in the area; counting the multiple positioning solutions, performing LOFIX positioning solutions, and averaging the multiple LOFIX positioning solution results to obtain a final LOFIX positioning result. By the processing scheme, the accuracy of the positioning result is improved.
Description
Technical Field
The application relates to the field of underwater acoustic signal processing, in particular to a passive omnidirectional buoy LOFIX positioning method.
Background
In a sonobuoy search system, LOFIX positioning is one of the main positioning methods of passive omni-directional buoys, and the target position is estimated by utilizing the intensity difference of target line spectrums acquired by a plurality of buoys.
The traditional passive omnidirectional buoy LOFIX is used for positioning, after a sonar operator obtains positioning materials such as once target line spectrum intensity, buoy position and the like, positioning calculation is completed once, a plurality of solutions can be obtained by each calculation, the calculated positioning solutions are output at the same time, and the sonar operator manually judges which positioning solution is likely to be the target position. In practical use, as the positioning error of LOFIX positioning solutions is related to the signal-to-noise ratio of the target line spectrum and the float matrix, the positioning error obtained by changing the float matrix under the same signal condition is also changed and cannot be predicted because the positioning error becomes large due to the too low signal-to-noise ratio. If a plurality of positioning solutions are output for each positioning and then the sonar staff confirms the positioning solutions, the operation is complex, and the errors can be judged due to the unpredictability of the positioning solution errors.
Disclosure of Invention
In view of this, the application provides a passive omni-directional buoy LOFIX positioning method, which solves the problems in the prior art and improves the accuracy of the positioning result.
The application provides a passive omnidirectional buoy LOFIX positioning method which adopts the following technical scheme:
The passive omni-directional buoy LOFIX positioning method is characterized by comprising the following steps of:
step 1, acquiring a buoy position and a target line spectrum signal-to-noise ratio, and under the condition that buoys involved in positioning are contacted with a target, continuously sliding in time to obtain a real-time buoy position and a target line spectrum signal-to-noise ratio;
Step 2, judging the signal-to-noise ratio of the target line spectrum, and judging whether the target line spectrum of each buoy reaches a signal-to-noise ratio threshold or not;
Step 3, LOFIX positioning and solving, wherein LOFIX positioning and solving are carried out when the signal-to-noise ratio of the target line spectrum exceeds the threshold;
step 4, positioning solution screening, modeling an area surrounded by the buoy, judging whether any positioning solution is positioned in the area surrounded by the buoy, and only leaving the positioning solution in the area;
and 5, counting the positioning solutions for multiple times, performing LOFIX positioning solutions for multiple times, and averaging the positioning solution results for multiple times LOFIX to obtain a final LOFIX positioning result.
Optionally, in the step 1, when acquiring the buoy position and the target line spectrum signal-to-noise ratio, sliding is performed in time, and when input information is acquired, the sliding interval is not more than 10s.
Optionally, the target line spectrum signal-to-noise ratio judging method in the step 2 is that the ratio of the peak power of the target line spectrum to the average power of the background noise is not less than the peak-to-average ratio threshold.
Optionally, the threshold value range is 2-5.
Optionally, the number of buoys involved in positioning is greater than 4.
Optionally, the modeling method of the area surrounded by the buoys in the step 4 includes that the positions of the buoys are represented by a rectangular coordinate system, the buoys are arranged into polygons according to a clockwise sequence, and any one of the buoys is located at an origin.
Optionally, in the step 4, the method for determining whether the positioning solution is located in the area surrounded by the buoy is to establish a ray intersecting with the polygon with the positioning solution as a starting point, if the intersecting point is odd, it is determined that the positioning solution is located in the area of the polygon formed by the buoy, if the intersecting point is even, it is determined that the positioning solution is located outside the area of the polygon formed by the buoy, and only the positioning solution located in the area of the buoy is reserved.
Optionally, in the step 5, the number of times of performing LOFIX positioning solutions is greater than or equal to 5.
In summary, the application has the following beneficial technical effects:
The problems of high LOFIX positioning errors caused by fluctuation of the target line spectrum intensity and time variation of a target signal propagation channel are remarkably solved, compared with a single positioning result, the improved positioning result has obviously reduced errors, and the burden of repeated operation of single positioning of a sonar operator is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a passive omni-directional buoy LOFIX positioning method of the present application;
FIG. 2 is a diagram of the target position obtained by the original LOFIX positioning method when the simulated target line spectrum and buoy position information are obtained;
FIG. 3 is an enlarged view of a portion of FIG. 2;
FIG. 4 is a simulated target line spectrum, buoy position information, target position results obtained by the method of the present application;
FIG. 5 is an enlarged view of a portion of FIG. 4;
FIG. 6 is a target position result obtained by the original LOFIX positioning method when actually measuring the target line spectrum and buoy position information of a lake test;
FIG. 7 is an enlarged view of a portion of FIG. 6;
FIG. 8 shows the result of the target position obtained by the method of the application when the target line spectrum and buoy position information of the lake test are actually measured.
Fig. 9 is a partial enlarged view of fig. 8.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the application provides a passive omnidirectional buoy LOFIX positioning method.
The passive omni-directional buoy LOFIX positioning method comprises the following steps:
Step 1, acquiring a buoy position and a target line spectrum signal-to-noise ratio, and under the condition that buoys involved in positioning are contacted with a target, continuously sliding in time to obtain a real-time buoy position and a target line spectrum signal-to-noise ratio; when the buoy position and the target line spectrum signal-to-noise ratio are acquired, sliding intervals are not more than 10s when input information is acquired in a sliding mode in time. Wherein the number of buoys involved in positioning is greater than 4. Thus, the target area estimation error is avoided to be larger when the area surrounded by 3 buoys is triangular.
Step 2, judging the signal-to-noise ratio of the target line spectrum, and judging whether the target line spectrum of each buoy reaches a signal-to-noise ratio threshold or not; the signal-to-noise ratio judging method of the target line spectrum is that the ratio NY2 2 of the peak power of the target line spectrum to the average power of background noise is not less than the peak-to-average ratio threshold; the threshold value range is 2-5. The threshold is generally not less than 2 to ensure that the signal achieves a higher signal-to-noise ratio and not more than 5 to ensure that the signal-to-noise ratio is not too high to be subjected to positioning calculation, thereby ensuring the accuracy of the result obtained by each positioning calculation.
Step 3, LOFIX positioning and solving, wherein LOFIX positioning and solving are carried out when the signal-to-noise ratio of the target line spectrum exceeds a threshold; the specific solving process is as follows: firstly, judging a target track, wherein the track is a vertical line connecting the positions of 2 buoys when the target line spectrum intensities of the 2 buoys are equal, and the track is a circle when the target line spectrum intensities of the 2 buoys are not equal, so as to obtain a track curve, and solving the intersection point of every two tracks, thus obtaining a single positioning solution.
Step 4, positioning solution screening, modeling an area surrounded by the buoy, judging whether any positioning solution is positioned in the area surrounded by the buoy, and only leaving the positioning solution in the area; the modeling method of the area surrounded by the buoys includes that firstly, the positions of the buoys are represented by a rectangular coordinate system, then the buoys are arranged into polygons according to a clockwise sequence, and any one of the buoys is located at an origin; the method for judging whether the secondary positioning solution is positioned in the area surrounded by the buoy is that a ray is established to intersect with the polygon by taking the positioning solution as a starting point, if the intersecting points are odd numbers, the positioning solution is judged to be positioned in the area of the polygon formed by the buoy, if the intersecting points are even numbers, the positioning solution is judged to be positioned outside the area of the polygon formed by the buoy, and only the positioning solution positioned in the area of the buoy is reserved.
And 5, counting the positioning solutions for multiple times, performing LOFIX positioning solutions for multiple times, and averaging the positioning solution results for multiple times LOFIX to obtain a final LOFIX positioning result. Carrying out LOFIX times or more of positioning solution; therefore, the statistical result of multiple positioning junction solutions can be utilized to improve the estimation precision of the target position.
Simulation data and lake test data LOFIX of the application are compared with positioning results:
FIGS. 3 and 4 are views of the simulated target line spectrum, buoy position information, and the target position results obtained by the original LOFIX positioning method, wherein FIG. 4 is a partial enlarged view of FIG. 3; fig. 4 and 5 are simulated target line spectra, buoy position information, and the target position results obtained by the method of the present application, wherein fig. 5 is an enlarged view of a portion of fig. 4. In the figure, the filled boxes represent buoy positions, the open triangles represent target positions, and the circles are LOFIX positioning solutions. Compared with the prior art, the positioning solution obtained by the method has smaller error.
FIGS. 6 and 7 are views showing the results of the target position obtained by the original LOFIX positioning method when actually measuring the target line spectrum and buoy position information of a lake test, wherein FIG. 7 is a partial enlarged view of FIG. 6; fig. 8 and 9 show the results of the target position obtained by the method of the present application when the target line spectrum and buoy position information of the lake test are actually measured, wherein fig. 9 is a partial enlarged view of fig. 8. In the figure, the filled boxes represent buoy positions, triangles represent target positions, and circles are LOFIX positioning solutions. Compared with the prior art, the positioning solution obtained by the method has smaller error.
The present application is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (8)
1. The passive omni-directional buoy LOFIX positioning method is characterized by comprising the following steps of:
step 1, acquiring a buoy position and a target line spectrum signal-to-noise ratio, and under the condition that buoys involved in positioning are contacted with a target, continuously sliding in time to obtain a real-time buoy position and a target line spectrum signal-to-noise ratio;
Step 2, judging the signal-to-noise ratio of the target line spectrum, and judging whether the target line spectrum of each buoy reaches a signal-to-noise ratio threshold or not;
Step 3, LOFIX positioning and solving, wherein LOFIX positioning and solving are carried out when the signal-to-noise ratio of the target line spectrum exceeds the threshold;
step 4, positioning solution screening, modeling an area surrounded by the buoy, judging whether any positioning solution is positioned in the area surrounded by the buoy, and only leaving the positioning solution in the area;
and 5, counting the positioning solutions for multiple times, performing LOFIX positioning solutions for multiple times, and averaging the positioning solution results for multiple times LOFIX to obtain a final LOFIX positioning result.
2. The method according to claim 1, wherein in step 1, when the buoy position and the target line spectrum signal-to-noise ratio are obtained, the sliding interval is not more than 10s when the input information is obtained by sliding in time.
3. The method according to claim 1, wherein the target line spectrum signal-to-noise ratio determining method in step 2 is that the ratio of peak power to background noise average power of the target line spectrum is not less than a peak-to-average ratio threshold.
4. A method of positioning a passive omni-directional buoy LOFIX according to claim 3, wherein the threshold range is 2-5.
5. The passive omni-directional buoy LOFIX positioning method of claim 1, wherein the number of buoys involved in positioning is greater than 4.
6. The method for positioning passive omni-directional buoys LOFIX as defined in claim 1, wherein the area surrounded by buoys in step 4 is modeled by first representing the positions of the buoys in a rectangular coordinate system and then arranging the buoys in a clockwise order into a polygon, with any one buoy at the origin.
7. The method of positioning the passive omni-directional buoy LOFIX according to claim 6, wherein in the step 4, the method of determining whether the positioning solution is located in the area surrounded by the buoy is to establish a ray intersecting the polygon with the positioning solution as a starting point, determine that the positioning solution is located in the area of the polygon formed by the buoy if the intersecting point is odd, and determine that the positioning solution is located outside the area of the polygon formed by the buoy if the intersecting point is even, and only keep the positioning solution located in the area of the buoy.
8. The method for positioning a passive omni-directional buoy LOFIX according to claim 1, wherein in step 5, the number of positioning solutions of LOFIX is 5 or more.
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| CN202111397299.5A CN114114278B (en) | 2021-11-23 | 2021-11-23 | Positioning method for passive omnidirectional buoy LOFIX |
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| CN108646248A (en) * | 2018-07-30 | 2018-10-12 | 西北工业大学 | A kind of passive acoustics for low-speed motion sound source tests the speed distance measuring method |
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- 2021-11-23 CN CN202111397299.5A patent/CN114114278B/en active Active
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| CN108646248A (en) * | 2018-07-30 | 2018-10-12 | 西北工业大学 | A kind of passive acoustics for low-speed motion sound source tests the speed distance measuring method |
| CN111736158A (en) * | 2020-08-25 | 2020-10-02 | 东南大学 | Target line spectrum feature identification method based on distributed multi-buoy matching |
| CN111929666A (en) * | 2020-09-09 | 2020-11-13 | 东南大学 | Weak underwater sound target line spectrum autonomous extraction method based on sequential environment learning |
| CN113534115A (en) * | 2021-05-31 | 2021-10-22 | 中国船舶重工集团公司第七一五研究所 | Active and passive combined processing sonar target high-precision line spectrum extraction method |
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