CN114355287B - Ultra-short baseline underwater sound distance measurement method and system - Google Patents
Ultra-short baseline underwater sound distance measurement method and system Download PDFInfo
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Abstract
The invention discloses an ultra-short baseline underwater acoustic ranging method and system, wherein the ultra-short baseline underwater acoustic ranging method comprises the following steps: step 1, obtaining an initial glancing angle estimated value of sound rays of an ultra-short baseline positioning system; step 2, calculating the current effective sound velocity c in real time according to a mapping table of the initial glancing angle estimation value and the acoustic matrix height e The method comprises the steps of carrying out a first treatment on the surface of the Step 3, according to said c e And obtaining the tilt of the transponder by multiplying the measured sound ray propagation time tau. The invention can improve the efficiency of underwater sound measurement of the slope distance and avoid complex operation of the traditional acoustic ray tracking algorithm for restoring the underwater sound propagation track in real time.
Description
Technical Field
The invention relates to the technical field of underwater sound positioning and navigation, in particular to an ultra-short baseline underwater sound distance measuring method and system.
Background
In a scene with low accuracy requirement, the propagation speed of sound in water can be approximately 1500m/s, but the actual sound speed can change in real time along with the change of factors such as the temperature, the salinity and the pressure of the water body, and the error caused by the simple approximation is called sound speed error, and the sound speed error is not only a main factor affecting the position estimation accuracy of the transponder, but also a main error source causing an ultra-short BaseLine (USBL, ultraShort Baseline) to measure the skew and the azimuth angle.
In the current studies, there are mainly two methods for correcting the sound velocity error: RT (Ray tracking) method and EESP (Equivalent Sound Speed Profile, equivalent sound velocity profile) method.
The RT method divides the water body into a plurality of water layers with equal thickness, and the sound velocity only changes among the water layers, but does not change in the water layers, so that the propagation track of the sound ray in the water can be simulated according to a standard light equation, then the effect of approximate integration can be achieved by accumulating the track length of each layer, the total length of the sound propagation track is obtained, and the ratio of the total length to the sound propagation duration (which is measured by other modes) is the sound velocity to be obtained. The method has higher sound velocity precision, but the process is extremely complex, and the whole process is required to be repeated continuously to update the accurate sound velocity value in real time.
In the EESP algorithm, the gradient of sound velocity change between layers is assumed to be a constant value, so that sound velocity change does not need to be calculated layer by layer, and the solving process of an RT method is effectively simplified. However, under this assumption, the propagation track of sound is close to an arc with constant curvature, when the track is short, the calculation error of the algorithm is not obvious, but when the track is long, the surrounding environment changes in a complex and changeable way, the real shape of the sound ray also gradually deviates from the arc, so that the calculation error is increased, and therefore, ESSP is generally applied to USBL with a working distance of only tens of meters.
Disclosure of Invention
The invention aims to provide an ultra-short baseline underwater acoustic ranging method and system with the advantages of ranging precision and efficiency.
In order to achieve the above object, the present invention provides an ultra-short baseline underwater acoustic ranging method, which includes:
step 1, obtaining an initial glancing angle estimated value of sound rays of an ultra-short baseline positioning system;
step 2, calculating the current effective sound velocity c in real time according to a mapping table of the initial glancing angle estimation value and the acoustic matrix height e ；
Step 3, according to said c e And obtaining the tilt of the transponder by multiplying the measured sound ray propagation time tau.
Further, in the step 1, the method for obtaining the initial glancing angle estimation value specifically includes:
step 11, setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t Loading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradients;
step 12, obtaining an initial glancing angle alpha according to the initial glancing angle range 0 ；
Step 13, according to said alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer k Calculating sound ray propagation duration tau' by using the following formula (1);
wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
step 14, comparing said τ 'with the actual measured sound ray propagation time period τ, if |τ' - τ|is<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is repeated with steps 12 and 13.
Further, in the step 14, α is updated 0 The method of the value of (2) specifically comprises:
if τ' - τ.ltoreq.0, then
If τ' - τ>0, then
Further, the mapping table is obtained by the following offline method:
step 21, dividing a target water area into K layers of water layers connected with constant depth gradients;
step 22, setting the acoustic array height range [ p ] tz (1),p tz (n)]Initial glancing angle range alpha of sound ray 0 (1),α 0 (m)]And sampling at equal intervals to form a sampling value combination vector: { p tz (i)、α 0 (j)}，p tz (i) Representation [ p ] tz (1),p tz (n)]The ith equidistant sampling value in the sample is obtained by calculation in the formula (3); alpha 0 (j) Representation [ alpha ] 0 (1),α 0 (m)]The j-th equidistant sampling value in the sample is obtained through calculation in the formula (4); i|i is less than or equal ton,i∈N * ，j|j≤m,j∈N * ，N * Representing a positive integer set;
step 23, calculating the sound ray length by using the following formula (5):
wherein x (i, j) and r (i, j) each represent p tz (i) And alpha 0 (j) Corresponding transponder horizontal distance and acoustic line length; p is p rz Indicating the height of the transponder;
step 24, solving the sound ray propagation time length by using the following formula (6);
where τ (i, j) represents the acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Sound ray propagation time length; alpha k A sound ray glancing angle for the kth water layer; g k Is the sound velocity gradient of the kth water layer,c(z k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
step 25, solving the equivalent sound velocity c by the following equation (7) e (i,j)：
And 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 13, and establishing the sampling value combination vectors and corresponding equivalent sound speeds into the mapping table.
Further, in the step 2, c is obtained by using the formulas (8) and (9) according to the mapping table e (i) And c e (i+1) obtaining c by using the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1), α 0 Representing an initial glancing angle estimate, p tz Representing acoustic array height measurements.
The invention also provides an ultra-short baseline underwater acoustic ranging system, which comprises:
an initial glancing angle estimation unit for acquiring an initial glancing angle estimation value of the sound ray of the ultra-short baseline positioning system;
a current effective sound velocity obtaining unit for calculating the current effective sound velocity c in real time according to the mapping table of the initial glancing angle estimation value and the acoustic array height e ；
A transponder skew acquiring unit for acquiring a skew of the transponder according to said c e And obtaining the tilt of the transponder by multiplying the measured sound ray propagation time tau.
Further, the initial glancing angle estimation unit specifically includes:
a parameter presetting subunit for setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t Loading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradients;
an initial glancing angle calculation subunit for obtaining an initial glancing angle alpha according to the initial glancing angle range 0 ；
A sound ray propagation time length calculation subunit for calculating a sound ray propagation time length according to the alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer k Calculating sound ray propagation duration tau' by using the following formula (1);
wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
an initial glancing angle estimation calculation subunit for comparing said τ 'with an actual measured sound ray propagation duration τ if |τ' - τ|<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is a value of (2).
Further, the initial glancing angle estimate calculation subunit updates α 0 The method of the value of (2) specifically comprises:
if τ' - τ.ltoreq.0, then
If τ' - τ>0, then
Further, the current effective sound velocity acquisition unit acquires c using the formulas (8) and (9) specifically according to the map e (i) And c e (i+1) obtaining c by using the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1), α 0 Representing an initial glancing angle estimate, said sound ray initial glancing angle range being [ alpha ] 0 (1),α 0 (m)]，p tz Representing acoustic array height measurements.
Further, the mapping table is obtained offline through an upper computer, the initial glancing angle estimation unit, the current effective sound velocity obtaining unit and the transponder oblique distance obtaining unit are all preset in the embedded navigation computer, the upper computer is connected with the embedded navigation computer through a switch, the upper computer provides the mapping table for the embedded navigation computer in a communicating state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnecting state of the switch.
Due to the adoption of the technical scheme, the invention has the following advantages: the method utilizes the mapping table to calculate the current effective sound velocity in real time, omits the calculation process of repeatedly restoring the sound ray propagation track, and has the advantage of high calculation efficiency.
Drawings
FIG. 1 is a block diagram of an ultra-short baseline hydroacoustic ranging system provided by an embodiment of the present invention;
FIG. 2 is a flowchart of an ultra-short baseline underwater acoustic ranging method provided by an embodiment of the present invention;
FIG. 3 is a sound ray diagram under a layered approximation of linear sound velocity provided by an embodiment of the present invention; as shown in fig. 3, according to the depth gradient Δz i The target water area with the depth z is divided into a plurality of layers of equal-depth media (shown by a dotted line in the figure). In the figure, c (z) represents the sound velocity value at the depth z; x is the horizontal distance; alpha 0 Representing an initial glancing angle of the sound ray; alpha i And alpha i+1 The grazing angles of the sound rays of the i-th and i+1-th water layers are shown, respectively.
FIG. 4 is a flow chart of an initial glancing angle search provided by an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
The ultra-short baseline underwater sound distance measuring method provided by the embodiment of the invention comprises the following steps:
step 1, obtaining an initial glancing angle estimated value of sound rays of an ultra-short baseline positioning system.
Step 2, calculating the current effective sound velocity c in real time according to a mapping table of the initial glancing angle estimation value and the acoustic matrix height e 。
Step 3, according to said c e The product of the measured sound ray propagation time tau, namely: r=c e τ, obtain responseAnd (5) a slant distance.
The embodiment of the invention calculates the current effective sound velocity in real time by utilizing the mapping table, omits the calculation process of repeatedly restoring the sound ray propagation track, and has the advantage of high calculation efficiency.
In one embodiment, as shown in fig. 4, in the step 1, the method for obtaining the initial glancing angle estimation value specifically includes:
step 11, setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t And loading the sound velocity profile c (z) to divide the target water area into K layers of water layers connected by constant depth gradients. Wherein τ t May be, but is not limited to, 0.1 °.
Step 12, obtaining an initial glancing angle alpha according to the initial glancing angle range 0 . The initial glancing angle may be predicted, for example, using a dichotomy represented by:
step 13, according to said alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer according to the Snell theorem k And calculates the sound ray propagation duration τ' using the following equation (1):
wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 The following sound speeds:
step 14, comparing said τ 'with the actual measured sound ray propagation time period τ, if |τ' - τ|is<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is repeated with steps 12 and 13.
In one embodiment, in step 14, α is updated 0 The method of the value of (2) specifically comprises:
if τ' - τ.ltoreq.0, then
If τ' - τ>0, then
In one embodiment, the mapping table may be, but is not limited to, set in an upper computer, and in an off-line stage, the acoustic array working height and the initial glancing angle of sound rays of the ultra-short baseline positioning system in the target water area are traversed, and a typical value mapping table between the acoustic array working height and the effective sound velocity value is built based on a high-precision sound ray tracking method, as shown in fig. 2, and specifically includes:
step 21, dividing the target water area into K layers of water layers connected by constant depth gradient, namely replacing the continuously-changing sound velocity distribution by the sound velocity distribution of which each layer is a broken line, as shown in fig. 3.
Step 22, setting the acoustic array height range and the acoustic line initial glancing angle value range, and sampling at equal intervals to form a sampling value combination vector: { p tz (i)、α 0 (j)}，p tz (i) Representation [ p ] tz (1),p tz (n)]The ith equidistant sampling value in the sample is obtained by calculation in the formula (3); alpha 0 (j) Representation [ alpha ] 0 (1),α 0 (m)]The j-th equidistant sampling value in the sample is obtained through calculation in the formula (4); i|i is less than or equal to N, i epsilon N * ，j|j≤m,j∈N * ，N * Representing a positive integer set.
Step 23, calculating the sound ray length by using the following formula (5):
wherein x (i, j) and r (i, j) each represent p tz (i) And alpha 0 (j) Corresponding transponder horizontal distance and acoustic line length; p is p rz Indicating the height of the transponder, the height value of which is considered to be constant, since the transponder is fixed to the water bottom.
It should be noted that, the acoustic array height range and the acoustic line initial glancing angle range must completely cover all the possible values of the two variables, and the setting needs to be performed according to the actual working scene of the ultra-short baseline measurement. In addition, the value interval of the two variables mainly affects the calculation efficiency and the accuracy of the algorithm, namely, the smaller the value interval is, the more the number of sound ray segments is increased, the higher the sound ray reduction accuracy is, and the corresponding calculation pressure is also increased; otherwise, the acoustic line recovery accuracy is lowered and the calculation pressure becomes smaller. The method can be flexibly adjusted according to actual application requirements, and balance between calculation accuracy and efficiency is realized.
Step 24, solving the sound ray propagation duration by using the following formula (6):
where τ (i, j) represents the acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Sound ray propagation time length; alpha k A sound ray glancing angle for the kth water layer; g k Is the sound velocity gradient of the kth water layer,c(z k ) And (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below.
Step 25, solving the equivalent sound velocity c by the following equation (7) e (i,j)：
And 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 13, and establishing the sampling value combination vectors and corresponding equivalent sound speeds into the mapping table.
Substituting all possible values in the range of the initial glancing angle values of the acoustic array height and the acoustic line into the process, calculating corresponding equivalent sound velocity, and establishing a mapping table of typical values of the three variables.
In one embodiment, in step 2, c is obtained using equations (8) and (9) according to the mapping table e (i) And c e (i+1) substituting the initial glancing angle estimated value and the measured acoustic array height together into a mapping table, and determining the current effective sound velocity value c by using an interpolation method represented by the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1)，α 0 Representing an initial glancing angle estimate, alpha 0 (j) Represents the j-th equidistant sampling value and alpha in the initial glancing angle range of sound ray 0 (j+1) represents the j+1st equally spaced sample value in the initial glancing angle range of sound rays, said initial glancing angle range of sound rays being [ alpha ] 0 (1),α 0 (m)]，p tz Representing acoustic array height measurements, p tz (i) Representing the ith equally spaced sample value, p, over the acoustic array height tz (i+1) represents the (i+1) th equidistant sample value in the acoustic array height range of [ p ] tz (1),p tz (n)]。
The ultra-short baseline underwater acoustic ranging system provided by the embodiment of the invention comprises an initial glancing angle estimation unit, a current effective sound velocity acquisition unit and a transponder skew acquisition unit, wherein:
the initial glancing angle estimation unit is used for obtaining an initial glancing angle estimation value of the sound ray of the ultra-short baseline positioning system.
The current effective sound velocity obtaining unit is used for calculating the current effective sound velocity c in real time according to the mapping table of the initial glancing angle estimation value and the acoustic array height e 。
The transponder skew obtaining unit is used for obtaining the skew according to the c e And obtaining the tilt of the transponder by multiplying the measured sound ray propagation time tau.
In one embodiment, the initial glancing angle estimation unit specifically includes a parameter preset subunit, an initial glancing angle calculation subunit, a sound ray propagation duration calculation subunit, and an initial glancing angle estimation value calculation subunit, where:
the parameter presetting subunit is used for setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t And loading the sound velocity profile c (z) to divide the target water area into K layers of water layers connected by constant depth gradients.
The initial glancing angle calculating subunit is used for obtaining an initial glancing angle alpha according to the initial glancing angle range 0 。
A sound ray propagation time length calculating subunit forAccording to said alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer k And calculates the sound ray propagation duration τ' using the following equation (1):
wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below.
An initial glancing angle estimation calculation subunit for comparing said τ 'with an actual measured sound ray propagation duration τ if |τ' - τ|<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is a value of (2).
In one embodiment, the initial glancing angle estimate calculation subunit updates α 0 The method of the value of (2) specifically comprises:
if τ' - τ.ltoreq.0, then
If τ' - τ>0, then
In one embodiment, the current effective sound velocity acquisition unit acquires c using equation (8) and equation (9) specifically according to the map e (i) And c e (i+1) obtaining c by using the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1), α 0 Representing an initial glancing angle estimate, alpha 0 (j) Represents the j-th equidistant sampling value and alpha in the initial glancing angle range of sound ray 0 (j+1) represents the j+1st equally spaced sample value in the initial glancing angle range of sound rays, said initial glancing angle range of sound rays being [ alpha ] 0 (1),α 0 (m)]，p tz Representing acoustic array height measurements, p tz (i) Representing the ith equally spaced sample value, p, over the acoustic array height tz (i+1) represents the (i+1) th equidistant sample value in the acoustic array height range of [ p ] tz (1),p tz (n)]。
In one embodiment, the mapping table is obtained offline through an upper computer, the initial glancing angle estimation unit, the current effective sound velocity obtaining unit and the transponder skew obtaining unit are all preset in the embedded navigation computer, the upper computer is connected with the embedded navigation computer through a switch, the upper computer provides the mapping table for the embedded navigation computer in a communication state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnection state of the switch so as to reduce the data forwarding burden of the embedded navigation computer. The sensor comprises an ultra-short baseline positioning system, a depth gauge and a sound velocity profile meter, wherein the ultra-short baseline positioning system consists of an acoustic array and a transponder, and the relative distance between the acoustic array and the transponder can be calculated by sending sound waves to the ultrasonic transducer and measuring the round trip time of the sound waves. Since the acoustic array is comprised of a plurality of closely spaced (i.e., baseline) acoustic transducer arrangements, the system is referred to as an ultra-short baseline positioning system.
Finally, it should be pointed out that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Those of ordinary skill in the art will appreciate that: the technical schemes described in the foregoing embodiments may be modified or some of the technical features may be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An ultra-short baseline hydroacoustic ranging method, comprising:
step 1, obtaining an initial glancing angle estimated value of sound rays of an ultra-short baseline positioning system;
step 2, calculating the current effective sound velocity c in real time according to a mapping table of the initial glancing angle estimation value and the acoustic matrix height e ；
Step 3, according to said c e Obtaining the slant distance of the transponder by multiplying the actually measured sound ray propagation time tau;
the mapping table is obtained by the following off-line method:
step 21, dividing a target water area into K layers of water layers connected with constant depth gradients;
step 22, setting the acoustic array height range [ p ] tz (1),p tz (n)]Initial glancing angle range alpha of sound ray 0 (1),α 0 (m)]And sampling at equal intervals to form a sampling value combination vector: { p tz (i)、α 0 (j)}，p tz (i) Representation [ p ] tz (1),p tz (n)]The ith equidistant sampling value in the sample is obtained by calculation in the formula (3); alpha 0 (j) Representation [ alpha ] 0 (1),α 0 (m)]The j-th equidistant sampling value in the sample is obtained through calculation in the formula (4); i|i is less than or equal to N, i epsilon N * ，j|j≤m,j∈N * ，N * Representing a positive integer set;
step 23, calculating the sound ray length by using the following formula (5):
wherein x (i, j) and r (i, j) each represent p tz (i) And alpha 0 (j) Corresponding transponder horizontal distance and acoustic line length; p is p rz Indicating the height of the transponder;
step 24, solving the sound ray propagation time length by using the following formula (6);
where τ (i, j) represents the acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Sound ray propagation time length; alpha k A sound ray glancing angle for the kth water layer; g k Is the sound velocity gradient of the kth water layer, c(z k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
step 25, usingThe equivalent sound velocity c is solved by the following formula (7) e (i,j)：
And 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 23, and establishing the sampling value combination vectors and corresponding equivalent sound speeds into the mapping table.
2. The ultra-short baseline hydroacoustic ranging method according to claim 1, wherein in step 1, the method for obtaining the initial glancing angle estimate specifically comprises:
step 11, setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t Loading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradients;
step 12, obtaining an initial glancing angle alpha according to the initial glancing angle range 0 ；
Step 13, according to said alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer k And calculate the sound ray propagation time period τ by the following equation (1) ′ ；
Wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
step 14, comparing said τ ′ And the actual measured sound ray propagation time period tau, if tau ′ -τ|<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is repeated with steps 12 and 13.
3. The ultra-short baseline hydroacoustic ranging method according to claim 2, wherein in step 14, α is updated 0 The method of the value of (2) specifically comprises:
if τ ′ - τ.ltoreq.0, then α 0 :
If τ ′ -τ>0, then alpha 0 :
4. The ultra-short baseline hydroacoustic ranging method according to claim 1, 2 or 3, wherein in the step 2, c is obtained by using the formulas (8) and (9) according to the mapping table e (i) And c e (i+1) obtaining c by using the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1), α 0 Representing an initial glancing angle estimate, p tz Representing acoustic array height measurements.
5. An ultra-short baseline hydroacoustic ranging system, comprising:
an initial glancing angle estimation unit for acquiring an initial glancing angle estimation value of the sound ray of the ultra-short baseline positioning system;
a current effective sound velocity obtaining unit for calculating the current effective sound velocity c in real time according to the mapping table of the initial glancing angle estimation value and the acoustic array height e ；
A transponder skew acquiring unit for acquiring a skew of the transponder according to said c e Obtaining the slant distance of the transponder by multiplying the actually measured sound ray propagation time tau;
the mapping table is obtained by the following off-line method:
step 21, dividing a target water area into K layers of water layers connected with constant depth gradients;
step 22, setting the acoustic array height range [ p ] tz (1),p tz (n)]Initial glancing angle range alpha of sound ray 0 (1),α 0 (m)]And sampling at equal intervals to form a sampling value combination vector: { p tz (i)、α 0 (j)}，p tz (i) Representation [ p ] tz (1),p tz (n)]The ith equidistant sampling value in the sample is obtained by calculation in the formula (3); alpha 0 (j) Representation [ alpha ] 0 (1),α 0 (m)]The j-th equidistant sampling value in the sample is obtained through calculation in the formula (4); i|i is less than or equal to N, i epsilon N * ，j|j≤m,j∈N * ，N * Representing a positive integer set;
step 23, calculating the sound ray length by using the following formula (5):
wherein x (i, j) and r (i, j) each represent p tz (i) And alpha 0 (j) Corresponding transponder horizontal distance and acoustic line length; p is p rz Indicating the height of the transponder;
step 24, solving the sound ray propagation time length by using the following formula (6);
where τ (i, j) represents the acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Sound ray propagation time length; alpha k A sound ray glancing angle for the kth water layer; g k Is the sound velocity gradient of the kth water layer, c(z k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
step 25, solving the equivalent sound velocity c by the following equation (7) e (i,j)：
And 26, traversing the step 22 to obtain all sampling value combination vectors, returning to the step 23, and establishing the sampling value combination vectors and corresponding equivalent sound speeds into the mapping table.
6. The ultra-short baseline hydroacoustic ranging system according to claim 5, wherein the initial glancing angle estimation unit specifically comprises:
a parameter presetting subunit for setting the depth p of the transponder rz Initial glancing angle range [ alpha ] 0 (1),α 0 (m)]And a search stop threshold τ t Loading a sound velocity profile c (z), and dividing the target water area into K layers of water layers connected by constant depth gradients;
an initial glancing angle calculation subunit for obtaining an initial glancing angle alpha according to the initial glancing angle range 0 ；
A sound ray propagation time length calculation subunit for calculating a sound ray propagation time length according to the alpha 0 Determining the sound ray glancing angle alpha of the divided kth water layer k And calculate the sound ray propagation time period τ by the following equation (1) ′ ；
Wherein g k C (z) being the sound velocity gradient of the kth water layer described by formula (2) k ) And c (z) k+1 ) Depth z respectively k And z k+1 Sound velocity below;
an initial glancing angle estimate calculation subunit for comparing the τ ′ And the actual measured sound ray propagation time period tau, if tau ′ -τ|<τ t The search is stopped and the current alpha is calculated 0 Output as an initial glancing angle estimate; otherwise, update alpha 0 Is a value of (2).
7. The ultra-short baseline hydroacoustic ranging system according to claim 6, wherein the initial glancing angle estimate calculation subunit updates α 0 The method of the value of (2) specifically comprises:
if τ ′ - τ.ltoreq.0, then α 0 :
If τ ′ -τ>0, then alpha 0 :
8. The ultra-short baseline hydroacoustic ranging system according to any one of claims 5-7, wherein the current effective sound velocity acquisition unit acquires c using equations (8) and (9), in particular, according to the mapping table e (i) And c e (i+1) obtaining c by using the formula (10) e ：
Wherein c e (i, j) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 (j) Equivalent sound velocity at time c e (i, j+1) represents an acoustic array height p tz (i) The initial glancing angle of sound ray is alpha 0 Equivalent sound velocity at (j+1), c e (i+1, j) represents an acoustic array height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 (j) Equivalent sound at timeSpeed, c e (i+1, j+1) represents that the acoustic array has a height p tz (i+1) the initial glancing angle of the sound ray is alpha 0 Equivalent sound velocity at (j+1), α 0 Representing an initial glancing angle estimate, said sound ray initial glancing angle range being [ alpha ] 0 (1),α 0 (m)]，p tz Representing acoustic array height measurements.
9. The ultra-short baseline hydroacoustic ranging system according to claim 5, 6 or 7, wherein the mapping table is obtained offline through an upper computer, the initial glancing angle estimation unit, the current effective sound velocity acquisition unit and the transponder skew acquisition unit are all preset in an embedded navigation computer, the upper computer is connected with the embedded navigation computer by a switch, the upper computer provides the mapping table for the embedded navigation computer in a communication state of the switch, and the upper computer is disconnected from the embedded navigation computer in a disconnection state of the switch.
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