CN114415114A - Secondary positioning method and system for detector - Google Patents
Secondary positioning method and system for detector Download PDFInfo
- Publication number
- CN114415114A CN114415114A CN202210016198.7A CN202210016198A CN114415114A CN 114415114 A CN114415114 A CN 114415114A CN 202210016198 A CN202210016198 A CN 202210016198A CN 114415114 A CN114415114 A CN 114415114A
- Authority
- CN
- China
- Prior art keywords
- sound source
- sound
- detector
- signal
- sounding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a secondary positioning method and a secondary positioning system for a detector, which belong to the field of detector positioning, and comprise the following steps: controlling a sound source to emit an inquiry sound wave and acquiring the sounding time and the sounding position of the inquiry sound wave emitted by the sound source; acquiring the acquisition time of a response signal acquired by a signal processing terminal, wherein the response signal is generated by a sound pressure sensor carried on a wave detector according to an inquiry sound wave, and a signal transmission medium is connected between the sound pressure sensor and the signal processing terminal; acquiring a plurality of groups of sounding moments, sounding positions and acquisition moments by changing the positions of sound sources; calculating a plurality of groups of sounding moments and collecting moments according to a first arrival extraction algorithm to obtain a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions; and calculating a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions according to a circle positioning algorithm to obtain the position of the detector. The invention can perform secondary positioning on the detector with low cost, high efficiency and high accuracy.
Description
Technical Field
The invention relates to the field of detector positioning, in particular to a secondary detector positioning method and a secondary detector positioning system.
Background
Shallow sea detectors are generally distributed on the seabed in a tossing mode, and the detectors are difficult to distribute to preset positions due to the randomness of an operation mode and the like; in addition, the detector may be displaced in a certain time due to the influence of ocean currents, tides, and the like. Therefore, the actual position of the geophone on the seafloor must be determined again after deployment, and this method is referred to as secondary positioning. The current secondary positioning method mainly comprises two types of sound wave positioning and first arrival wave positioning.
The acoustic wave positioning method is mainly based on a transponder bound on a detector, the transponder receives a sound source inquiry signal and returns a response signal, then the response signal is received by a sonar array, and then the position of the detector is calculated by calculating the time delay difference of the signals from and to, so that the positioning precision is high. However, the transponder is easily buried by the sediment in the sea after being laid, so that the loss is large when the ultrasonic (30k-80kHz) interrogation signal emitted by the positioning sound source reaches the transponder, and the transponder cannot respond; in addition, when the working water depth is shallow, the environmental noise is increased, and the response signal of the transponder is easily submerged in the noise and cannot be identified; moreover, the failure rate of the existing transponder in subsea operation is high. Due to the reasons, the signal recovery rate of the transponder is low in practical application, so that a positioning blind spot exists in sound wave positioning.
The first-arrival positioning method mainly utilizes the first-arrival time positioning during seismic data acquisition, does not need other special hardware equipment, and is convenient to position. However, the positioning error of the first arrival method is large due to the low frequency of the bubbles generated by the air gun (the main frequency is 150Hz), the deviation between the structure position of the air gun and the position of the bubbles, the inconsistency of wavelets of different shot signals generated by the air gun, and the like.
In addition, there are also remote operated unmanned vehicles (ROV) for deploying detectors and simultaneously performing underwater positioning. But the operation is complicated and the cost is high.
Disclosure of Invention
The invention aims to provide a secondary positioning method and a secondary positioning system for a detector, aiming at the problems of high cost, large error and low signal recovery ratio of secondary positioning of the detector in the prior art, which cause positioning blind spots.
In order to achieve the purpose, the technical scheme of the invention is as follows:
in one aspect, the present invention provides a secondary positioning method for a detector, which is used for performing secondary positioning on the detector, and includes the following steps:
controlling a sound source to emit an inquiry sound wave, and acquiring the sounding time and the sounding position of the inquiry sound wave emitted by the sound source;
acquiring the acquisition time of the response signal acquired by the signal processing terminal; wherein the response signal is generated by a sound pressure sensor mounted on a wave detector according to the inquiry sound wave, and the sound pressure sensor transmits the response signal to the signal processing terminal through a signal transmission medium;
acquiring a plurality of groups of the sounding time, the sounding positions and the acquisition time by changing the position of a sound source;
calculating a plurality of groups of sounding moments and collecting moments according to a first arrival extraction algorithm to obtain a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions;
and calculating a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions according to a circle positioning algorithm to obtain the position of the detector.
Further, the method comprises the following steps:
and correcting the position of the detector by shot point screening and a least square method.
Preferably, the sound source is carried on an excitation ship, and then by changing the position of the sound source, the step of obtaining a plurality of groups of the sounding time, the sounding position and the collecting time includes:
the excitation ship sails along a preset air route, and the sound source emits a plurality of inquiry sound waves at intervals during the sailing of the excitation ship.
Preferably, the occurrence time and the collection time are acquired under the same timer.
On the other hand, the invention also provides a secondary positioning system of the detector, which comprises a sound source excitation end, a signal processing terminal and a sound pressure sensor arranged on the detector; the sound source excitation end comprises a sound source for emitting an interrogation sound wave and a positioning device for positioning; the sound pressure sensor is used for generating a response signal according to the inquiry sound wave, and a signal transmission medium used for transmitting the response signal is connected between the sound pressure sensor and the signal processing terminal; the signal processing terminal comprises a collecting unit and a processing unit, the collecting unit is used for collecting the response signals, and the processing unit is used for calculating the position of the detector according to the collecting time when the response signals are collected and the sounding time and the sounding position when the sound source sends out the inquiry sound waves.
Preferably, the sound pressure sensor is an optical fiber sound pressure sensor, the signal transmission medium is an optical fiber, and the signal processing terminal further includes a photoelectric conversion unit for converting an optical signal into a collection signal matched with the collection unit.
Furthermore, the signal processing terminal further comprises a demodulation unit, and the demodulation unit is used for demodulating the acquired signal into a processing signal matched with the processing unit.
Further, the system also comprises a timer, wherein the timer is used for indicating the sound source to emit the inquiry sound wave and indicating the signal processing terminal to collect the response signal.
Preferably, the sound source is an electroacoustic transducer sound source, a parametric array sound source, a hydrodynamic sound source, a laser sound source, an explosive explosion sound source or a plasma sound source.
Preferably, the optical path structure of the optical fiber acoustic pressure sensor is a michelson interferometer, a mach-zender interferometer or a fabry-perot interferometer based on a 2 × 2 coupler, a 3 × 3 coupler or a grating device.
Preferably, the detector has a plurality of detectors, and the plurality of detectors are connected to the signal processing terminal through the same signal transmission medium.
Further, still including arousing the ship and record the ship, the sound source arouses the end and installs arousing on the ship, signal processing terminal installs record on the ship.
By adopting the technical scheme, the invention has the beneficial effects that:
1. compared with the sound wave positioning method, the secondary positioning method of the detector does not need to bind a transponder on the detector, so that the signal of the transponder does not need to be received through a sonar array, the influence of environmental noise is avoided, and the secondary positioning method of the detector has the advantages of convenience in collecting and releasing the detector, low failure rate and low operation and maintenance cost, and does not need a battery for supplying power to the transponder;
2. compared with the first-arrival positioning method, the secondary positioning method of the detector sends out an inquiry signal through the positioning sound source, so that the positioning precision is high.
Drawings
Fig. 1 is a schematic view of an application scenario of a method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a method according to a first embodiment of the present invention;
FIG. 3 is a flowchart of a method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a signal processing terminal in a third embodiment of the present invention.
In the figure, the device comprises a sound source excitation end 1, a signal processing terminal 2, an acquisition unit 21, a processing unit 22, a photoelectric conversion unit 23, a demodulation unit 24, a detector 3 and a sound pressure sensor 4.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.
In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.
Example one
A secondary positioning method for a detector is used for carrying out secondary positioning on the detector arranged on the sea bottom, a possible application scene of the method is shown in figure 1, and the method comprises an excitation ship and a recording ship, wherein a sound source and a positioning device are mounted on the excitation ship, a signal processing terminal is mounted on the recording ship, and the signal processing terminal is connected with a sound pressure sensor mounted on the detector on the sea bottom through a guiding optical cable. As shown in fig. 2, the method comprises the steps of:
and S1, controlling the sound source to emit the inquiry sound wave, and acquiring the sound emitting time and the sound emitting position of the inquiry sound wave emitted by the sound source.
The sound source is configured as a sonar, is an underwater sound generating device, works in an external trigger mode, vibrates under an electric signal with given frequency and amplitude to generate sound, and can be specifically selected from an electroacoustic transducer sound source, a parametric array sound source, a fluid dynamic sound source, a laser sound source, an explosive explosion sound source or a plasma sound source.
The sound source is usually accompanied by a positioning device, such as a GNSS positioning module (beidou or GPS, etc.), so as to record the sound production position of the sound source when the sound source emits an interrogation sound wave. In addition, the sound source is usually accompanied by a wireless or wired communication module for transmitting the recorded sound production time and sound production position.
And S2, acquiring the acquisition time of the response signal acquired by the signal processing terminal.
The detector is provided with a sound pressure sensor, and the sound pressure sensor is used for receiving an inquiry sound wave emitted by a sound source and correspondingly generating a response signal after receiving the inquiry sound wave. In addition, the sound pressure sensor also transmits the generated response signal to the signal processing terminal through the signal transmission medium, correspondingly, the signal processing terminal at least comprises a beneficial acquisition unit, and the acquisition unit is used for acquiring the response signal.
In this embodiment, the sound pressure sensor is configured as an optical fiber sound pressure sensor, the signal transmission medium is configured as an optical fiber, and correspondingly, the response signal generated by the sound pressure sensor is an optical signal, so that the signal processing terminal further includes a photoelectric conversion unit, and the photoelectric conversion unit is configured to convert the optical signal into a collecting signal matched with the collecting unit. For example, the optical path structure of the optical fiber acoustic pressure sensor may be a michelson interferometer, a mach-zender interferometer, or a fabry-perot interferometer based on a 2 × 2 coupler, a 3 × 3 coupler, or a grating device, and the optical fiber acoustic pressure sensor and other sensing channels in the detector are integrated together by multiplexing technologies such as optical fiber wavelength division, time division, and space division, and then transmitted to a signal processing terminal by an optical fiber or an optical cable.
And S3, acquiring multiple groups of sounding time, sounding position and collecting time by changing the position of the sound source.
For example, when one sound source is arranged and mounted on the excitation ship, the above-mentioned steps of obtaining a plurality of sets of sounding time, sounding position and collecting time by changing the sound source position are: the excitation ship navigates along a preset air route, and during the navigation of the excitation ship, the sound source can send out a plurality of inquiry sound waves at certain time intervals (or certain distance intervals). According to the two steps, each time the sound source sends out an inquiry sound wave, a sounding time, a sounding position and a collecting time correspond to each other. And further preferably, the occurrence time and the acquisition time are acquired under the same timer; when the sound source sends out an inquiry sound wave, the signal processing terminal synchronously starts to collect signals, and the work of the signal processing terminal are controlled by the same timer; or the sound source and the signal processing terminal are considered to work at the same standard time, for example, work at the same satellite time service system, such as GPS or beidou. Correspondingly, the signal processing terminal is carried on the recording ship.
Or in another preferred embodiment, the sound source can be configured with a plurality of sound sources and distributed on the water surface buoy, only one inquiry sound wave (which can be sent out simultaneously or not) needs to be sent out by each sound source, and a plurality of groups of sound-producing time, sound-producing positions and collecting time can be obtained.
And S4, calculating multiple groups of sounding time and collecting time according to a first arrival wave extraction algorithm to obtain multiple distance parameters from the detector to the sound source when the sound source is at different sounding positions.
The calculation process involved in this step is preferably performed on a signal processing terminal, and therefore, the signal processing terminal should have a communication function so as to receive the sounding time and the sounding position when the sound source sends out the interrogation sound; and the signal processing terminal should also have a processing unit for performing the above-described calculation process.
Specifically, the time for transmitting the inquiry sound wave from the sound source to the sound pressure sensor can be known by comparing the time difference between the sounding time and the collecting time, and then a plurality of distance parameters from the detector to the sound source can be calculated when the sound source is at different sounding positions according to the propagation speed of the sound wave in water.
And S5, calculating a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions according to a circle positioning algorithm to obtain the position of the detector.
The calculation process involved in this step is also preferably performed on the signal processing terminal, and the principle is that the position of the detector is not moved in a short time, the detector is located on a circle with the sound wave as the center and the distance parameter as the radius, and the intersecting position of a plurality of circles is the position of the detector.
It is understood that, in other preferred embodiments, the calculation processes related to S4 and S5 may be executed by other computing devices, and in this case, only a wired or wireless communication module needs to be configured on the signal processing terminal, and the sound emitting time and the sound emitting position corresponding to the sound source and the collecting time of the response signal collected by the signal processing terminal are all transmitted to the corresponding computing device.
Example two
The difference from the first embodiment is that: as shown in fig. 3, the method further comprises the steps of:
and S6, correcting the position of the detector obtained by calculation in the S5 through shot point screening and a least square method so as to improve the precision.
EXAMPLE III
A secondary detector positioning system, as shown in fig. 4 and 5, comprises a sound source excitation end 1, a signal processing terminal 2 and a sound pressure sensor 4 arranged on a detector 3.
Wherein the sound source excitation terminal 1 includes a sound source for emitting an interrogation sound wave and a positioning device for positioning. The sound source is configured as a sonar, which is an underwater sound generating device and works in an external trigger mode, and vibrates under an electric signal with given frequency and amplitude to generate sound, in the embodiment, the sound source is preferably an electroacoustic transducer sound source, a driving signal of the electroacoustic transducer sound source comes from a signal generator, and the signal generator outputs a sweep frequency signal of 500-3.5kHz during working; or in other embodiments, the sound source can be a parametric array sound source, a hydrodynamic sound source, a laser sound source, an explosive explosion sound source or a plasma sound source. The positioning device is a GNSS positioning module, such as Beidou or GPS. When the sound source excitation end 1 is used, the sound source excitation end is usually carried on an excitation ship, the excitation ship carries a sound source to move, and the sound source is sent outwards to inquire the sounding time and the sounding position of sonar.
The sound pressure sensor 4 is configured to generate a response signal according to the received interrogation sound wave, and a signal transmission medium for transmitting the response signal is connected between the sound pressure sensor 4 and the signal processing terminal 2. The signal processing terminal 2 includes a collecting unit 21 and a processing unit 22, the collecting unit 21 is configured to collect the response signal, and the processing unit 22 is configured to calculate and obtain the position of the detector 3 according to the collecting time when the response signal is collected, and the sounding time and the sounding position when the sound source sends out the interrogation sound.
In this embodiment, the acoustic pressure sensor 4 is configured as an optical fiber acoustic pressure sensor, the signal transmission medium is configured as an optical fiber, and correspondingly, the response signal generated by the acoustic pressure sensor 4 is an optical signal, for example, the optical path structure of the optical fiber acoustic pressure sensor may be based on a 2 × 2 coupler, a 3 × 3 coupler, or a michelson interferometer, a mach-zehnder interferometer, or a fabry-perot interferometer of a grating device, and the optical fiber acoustic pressure sensor and other sensing channels in the detector are integrated together by multiplexing techniques such as optical fiber wavelength division, time division, and space division, and then transmitted to the signal processing terminal 2 by an optical fiber or an optical cable. In the present embodiment, the sound pressure sensor 4 is preferably a michelson interference optical path based on a 3 × 3 coupler, the optical path and the optical path of the other channels in the detector 3 adopt a wavelength division multiplexing technique, and the operating frequency of the sound pressure sensor 4 is 10-10 kHz.
The signal processing terminal 2 configured as described above further includes a photoelectric conversion unit 23 based on the use of the optical fiber sound pressure sensor, the photoelectric conversion unit 23 is configured to convert the response signal existing as the optical signal into the acquisition signal matched with the acquisition unit 21 as described above, and in addition, the signal processing terminal 2 typically further includes a demodulation unit 24, and the demodulation unit 24 is configured to demodulate the acquisition signal acquired by the acquisition unit 21 into a processing signal matched with the processing unit 22. For example, the signal processing terminal 2 is a signal processing platform based on an FPGA, and includes a photoelectric conversion chip, an AD sampling chip, and an FPGA demodulation processing chip integrated on the same circuit, so as to complete the processing of the relevant signals in real time. The signal processing terminal 2 is usually mounted on a recording ship when in use, and acquires the sounding time and the sounding position when the sound source sends an inquiry sonar by means of the communication function of the recording ship.
When the device is used, as shown in fig. 4, in operation, the excitation ship carries the sound source excitation end 1 to sail along a preset air route, in the sailing process, the sound source continuously sends out inquiry sonars at a certain time interval (or at a certain distance interval) under the control of external signals, and each inquiry sonar is sent out by the sound source, and the sound source excitation end 1 corresponds to a sound production time and a sound production position. After the sonar is propagated through water and received by the sound pressure sensor 4 mounted on the detector on the seabed, the sound pressure sensor 4 correspondingly generates a response signal, and the response signal is transmitted to the signal processing terminal 2 mounted on the recording vessel through the optical fiber. The photoelectric conversion unit 23 in the signal processing terminal 2 converts the response signal existing in the form of an optical signal into a collected signal existing in the form of an electrical signal, the collected signal is collected by the collection unit 21 and corresponds to a collection time, the collected signal is continuously transmitted to the mediation unit, the mediation unit mediates the collected signal into a processing signal suitable for the processing unit 22 to process, and the processing unit 22 calculates a plurality of groups of sounding time, sounding position and collection time based on a first arrival wave extraction algorithm and a circle positioning algorithm, so as to determine the specific position of the detector.
It will be appreciated that in order to ensure the calculated position accuracy of the detector, it is necessary to know the time difference between the acquisition time and the sounding time accurately, and therefore the system is further provided with a timer for instructing the sound source to emit an interrogation sound wave and instructing the signal processing terminal 2 (specifically, the acquisition unit 21) to acquire a response signal (specifically, an acquisition signal). One possible configuration of the timer is that it controls the signal processing terminal 2 to start signal acquisition in synchronization with the control of the sound source to emit an interrogation sound, for example, by instructing the sound source and the signal processing terminal 2 to operate in synchronization with each other in the manner of a radio station. Or in other preferred embodiments, the timer is configured as a positioning system with time service function, such as beidou or GPS, so that the sound source and the signal processing terminal 2 operate at the same standard time, as shown in fig. 4.
It will be appreciated that the excitation and recording vessels in the above embodiments are not essential, for example both may be replaced by buoys. In this case, a plurality of sound source excitation terminals 1 may be provided, and each sound source excitation terminal 1 may be fixed to a float at a different position.
In addition, the system provided in this embodiment is not limited to performing secondary positioning on a single detector, when there are multiple detectors 3, the multiple detectors 3 may all be connected to the signal processing terminal 2 through a signal transmission medium, and the multiple detectors 3 may all be connected to the signal processing terminal 2 through the same signal transmission medium or through one signal transmission medium respectively.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (12)
1. A secondary positioning method of a detector is used for carrying out secondary positioning on the detector and is characterized in that: the method comprises the following steps:
controlling a sound source to emit an inquiry sound wave, and acquiring the sounding time and the sounding position of the inquiry sound wave emitted by the sound source;
acquiring the acquisition time of the response signal acquired by the signal processing terminal; wherein the response signal is generated by a sound pressure sensor mounted on a wave detector according to the inquiry sound wave, and the sound pressure sensor transmits the response signal to the signal processing terminal through a signal transmission medium;
acquiring a plurality of groups of the sounding time, the sounding positions and the acquisition time by changing the position of a sound source;
calculating a plurality of groups of sounding moments and collecting moments according to a first arrival extraction algorithm to obtain a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions;
and calculating a plurality of distance parameters from the detector to the sound source when the sound source is at different sounding positions according to a circle positioning algorithm to obtain the position of the detector.
2. The method of claim 1, wherein: the method further comprises the steps of:
and correcting the position of the detector by shot point screening and a least square method.
3. The method of claim 1, wherein: the sound source is carried on arousing the ship, then through changing the sound source position, acquire the multiunit the sound production moment the sound production position with the step of collection moment includes:
the excitation ship sails along a preset air route, and the sound source emits a plurality of inquiry sound waves at intervals during the sailing of the excitation ship.
4. The method of claim 1, wherein: and the occurrence time and the acquisition time are acquired under the same timer.
5. A secondary geophone positioning system, comprising: the detector comprises a sound source excitation end, a signal processing terminal and a sound pressure sensor arranged on the detector; the sound source excitation end comprises a sound source for emitting an interrogation sound wave and a positioning device for positioning; the sound pressure sensor is used for generating a response signal according to the inquiry sound wave, and a signal transmission medium used for transmitting the response signal is connected between the sound pressure sensor and the signal processing terminal; the signal processing terminal comprises a collecting unit and a processing unit, the collecting unit is used for collecting the response signals, and the processing unit is used for calculating the position of the detector according to the collecting time when the response signals are collected and the sounding time and the sounding position when the sound source sends out the inquiry sound waves.
6. The system of claim 5, wherein: the sound pressure sensor is an optical fiber sound pressure sensor, the signal transmission medium is an optical fiber, and the signal processing terminal further comprises a photoelectric conversion unit, wherein the photoelectric conversion unit is used for converting an optical signal into a collection signal matched with the collection unit.
7. The system of claim 6, wherein: the signal processing terminal also comprises a demodulation unit, and the demodulation unit is used for demodulating the acquired signal into a processing signal matched with the processing unit.
8. The system of claim 5, wherein: the sound source is used for sending out an inquiry sound wave, and the signal processing terminal is used for acquiring the response signal.
9. The system of claim 5, wherein: the sound source is an electroacoustic transducer sound source, a parametric array sound source, a fluid dynamic sound source, a laser sound source, an explosive explosion sound source or a plasma sound source.
10. The system of claim 6, wherein: the optical path structure of the optical fiber sound pressure sensor is a Michelson interferometer, a Mach-Zehnder interferometer or a Fabry-Perot interferometer based on a 2 x 2 coupler, a 3 x 3 coupler or a grating device.
11. The system of claim 5, wherein: the detector is provided with a plurality of detectors, and the detectors are connected with the signal processing terminal through the same signal transmission medium.
12. The system of claim 5, wherein: still including arousing ship and record ship, the sound source arouses the end and installs arouse on the ship, signal processing terminal installs record ship is on the ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210016198.7A CN114415114A (en) | 2022-01-07 | 2022-01-07 | Secondary positioning method and system for detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210016198.7A CN114415114A (en) | 2022-01-07 | 2022-01-07 | Secondary positioning method and system for detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114415114A true CN114415114A (en) | 2022-04-29 |
Family
ID=81272028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210016198.7A Pending CN114415114A (en) | 2022-01-07 | 2022-01-07 | Secondary positioning method and system for detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114415114A (en) |
-
2022
- 2022-01-07 CN CN202210016198.7A patent/CN114415114A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6532192B1 (en) | Subsea positioning system and apparatus | |
| US5894450A (en) | Mobile underwater arrays | |
| US6859419B1 (en) | Laser-based acousto-optic uplink communications technique | |
| CN111580113A (en) | River course storehouse bank underwater topography and silt thickness survey system | |
| RU2456634C1 (en) | Method of navigating submarine object using hydroacoustic navigation system | |
| EP1381878B1 (en) | Positioning system | |
| RU2483326C2 (en) | Hydroacoustic synchronous range-finding navigation system for positioning underwater objects in navigation field of randomly arranged hydroacoustic transponder beacons | |
| CN109870694B (en) | High-precision long baseline positioning system based on multiple unmanned boat platforms | |
| CN104297727A (en) | Integrated method integrating underwater target positioning and remote control and telemetering data underwater acoustic network transmission | |
| US20200284903A1 (en) | Method for tracking underwater objects | |
| CN108681338A (en) | A kind of telemetering and remote control system of submarine navigation device | |
| CN109861762B (en) | Cross-medium covert communication system and method based on sound-light | |
| CN111352115B (en) | High-resolution sounding side-scan sonar and detection method thereof | |
| KR100660563B1 (en) | Buoy-plate multi channel seismic survey system and method | |
| CN107064943B (en) | A kind of ocean bottom cable fixed sonar system and localization method | |
| JP2009017241A (en) | Highly functional buoy incorporating gps | |
| RU2689281C1 (en) | Method for navigation-information support of deep-sea autonomous unmanned underwater vehicle | |
| JP2004245779A (en) | System for determining position of submerging vessel and sonobuoy | |
| JP2002250766A (en) | Method and system for underwater towed body position measurement | |
| CN114415114A (en) | Secondary positioning method and system for detector | |
| CN111694072A (en) | Multi-platform and multi-sensor development system integration and data processing platform | |
| JPH09145821A (en) | Underwater object position measuring device | |
| CN103557843B (en) | Compact underwater microtopography measurement apparatus | |
| RU2463624C1 (en) | Hydroacoustic navigation system | |
| Kawada et al. | Acoustic positioning system of combined aerial and underwater drones |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |