CN114706086A - Underwater high-speed moving target echo characteristic forecasting method - Google Patents

Underwater high-speed moving target echo characteristic forecasting method Download PDF

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CN114706086A
CN114706086A CN202210248196.0A CN202210248196A CN114706086A CN 114706086 A CN114706086 A CN 114706086A CN 202210248196 A CN202210248196 A CN 202210248196A CN 114706086 A CN114706086 A CN 114706086A
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moving target
reference system
echo
time domain
target
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王斌
王文欢
范军
周富霖
赵开琦
黎洁
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8979—Combined Doppler and pulse-echo imaging systems
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The invention relates to the technical field of acoustics, and discloses a method for forecasting echo characteristics of an underwater high-speed moving target, which comprises the following steps: introducing an initial incident plane wave value of the moving target into a laboratory reference system K; calculating the value of the incident plane wave by adopting a static target time domain plate element method; transforming scattering time domain echo values of all surface elements in the laboratory reference system K in the step 2 into an inertial reference system K'; and superposing the scattering time domain echo values of all the surface elements to obtain a scattering time domain waveform simulation result of the moving target. Compared with the traditional quasi-static approximate method, the method considers the expansion and contraction effect of the echo envelope, the Doppler frequency shift in the pulse and the distance change caused by the target motion in the sound wave propagation time, can provide rapid and accurate prediction of the echo characteristics of the underwater high-speed moving target, and provides theoretical support for verifying the time-frequency domain characteristics of the underwater high-speed target echo and improving the identification capability of the underwater monitoring sonar on the high-speed target.

Description

Underwater high-speed moving target echo characteristic forecasting method
Technical Field
The invention relates to the technical field of acoustics, in particular to a method for forecasting echo characteristics of an underwater high-speed moving target.
Background
The underwater target echo is an information source of active sonar work, has important significance and engineering application value for active sonar detection and identification, underwater target sound scattering is taken as the classic problem of underwater acoustics, long-term extensive theoretical research and experimental research are developed, a large number of research achievements are obtained and applied to active sonar development, detection and identification, the research on the underwater target sound scattering is generally concentrated on static targets, however, most of the targets detected by the sonar are non-static, and the translation process of the targets can be accompanied by rotation, vibration and the like, such as high-speed sailing submarines, unmanned submersible vehicles UUV, torpedoes, propellers rotating at high speed, vibrating outer shells and the like, the motions firstly cause the changes of target postures, instantaneous speeds and the like, so that the waveform, amplitude and frequency of the target echo change, and related researches at home and abroad are mainly concentrated on low-speed moving target sound scattering at present, generally, a quasi-static approximation method is adopted, and documents related to the sound scattering characteristics of the high-speed moving target and echo simulation related methods are fewer, so that urgent needs are brought to the underwater high-speed moving target echo characteristic forecasting method.
Disclosure of Invention
Aiming at the defects of the prior art, by referring to the idea of a frame jumping method in the electromagnetic field and combining a physical acoustic method and a Lorentz transformation technology, a time domain echo analytical formula of a high-speed moving target is deduced, and an echo characteristic forecasting method of an underwater high-speed moving target is provided, so that the time domain echo of the underwater high-speed moving target in water can be quickly and accurately forecasted.
In order to achieve the purpose, the invention provides the following technical scheme:
the underwater high-speed moving target echo characteristic forecasting method is characterized by comprising the following steps: the method comprises the following steps:
step 1: in the laboratory reference system K, the initial incident plane wave P is knowni(r, t) and speed and heading information of the moving object, whereinr is the acoustic wave propagation distance, t is the acoustic wave propagation time;
step 2: obtaining incident plane wave P in inertial reference system K' based on Lorentz transformation formulai'(r',t')；
And step 3: adopting a stationary target time domain plate element method to measure incident plane wave P in an inertial reference system Ki' (r ', t ') to obtain scattering time domain echoes P of each bin of the moving target in an inertial reference system Ks'(r',t')；
And 4, step 4: the scattering time domain echo value of the complex moving target surface can be equivalent to the superposition of the scattering time domain echo values of all surface elements, and the output echo P under the laboratory reference system K is obtained based on the Lorentz inverse transformation formulas(r, t), thereby obtaining the simulation result of the scattering time domain waveform of the moving target.
The laboratory reference system K refers to a ground stationary reference system, and the inertial reference system K 'refers to a moving target self-reference system, namely, the moving target is assumed to be stationary in the inertial reference system K'.
Compared with the prior art, the invention provides a method for forecasting the echo characteristics of an underwater high-speed moving target, which has the following beneficial effects:
1. compared with the traditional quasi-static approximate method, the method considers the expansion and contraction effect of echo envelope, Doppler frequency shift in pulse and distance change caused by target motion in sound wave propagation time, can provide rapid and accurate forecast for the echo characteristics of the underwater high-speed moving target, and provides theoretical support for verifying the echo time-frequency domain characteristics of the underwater high-speed target and improving the recognition capability of underwater monitoring sonar on the high-speed target;
2. aiming at the requirement of fast forecasting of the echo characteristics of the underwater high-speed moving target, the idea of a frame jumping method in the electromagnetic field is referred, a physical acoustic method and a Lorentz transformation technology are combined, a time domain echo analytical formula of the high-speed moving target is deduced, and a Lorentz transformation-time domain plate element method is provided, so that the time domain echo of the underwater high-speed moving target in water can be forecasted fast and accurately.
Drawings
FIG. 1 is a general technical route diagram of the present invention;
FIG. 2 is a schematic diagram of a triangular bin structure according to the present invention;
FIG. 3 is a schematic view of the present invention relative to a reference coordinate system;
FIG. 4 is a schematic diagram of the backscattering echoes of a rigid sphere at different motion speeds according to the present invention;
FIG. 5 is a schematic diagram of the frequency and envelope amplitude of rigid spherical echoes of different motion speeds in accordance with the present invention;
FIG. 6 is the initial incident plane wave waveform of example 1 in a laboratory reference frame K;
FIG. 7 is a plane wave form incident under an inertial reference system K' in the embodiment 1;
FIG. 8 is a rigid spherical scattering time domain echo waveform of the embodiment 1 under an inertial reference frame K';
FIG. 9 is a rigid spherical scattering time domain echo waveform of example 1 in a laboratory reference frame K.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme, namely a method for forecasting echo characteristics of an underwater high-speed moving target, which comprises the following steps as shown in figure 1: step 1: in the laboratory reference system K, the initial incident plane wave P is knowni(r, t) and the navigation speed and the course information of the moving target, wherein r is the sound wave propagation distance, and t is the sound wave propagation time; step 2: obtaining incident plane wave P in inertial reference system K' based on Lorentz transformation formulai' (r ', t '); and step 3: adopting a static target time domain plate element method to carry out alignment on incident plane waves P in an inertial reference system Ki' (r ', t ') to obtain the scattering time domain echo P of each bin of the moving object in the inertial reference system Ks' (r ', t '); and 4, step 4: complex moving object tableThe scattering time domain echo value of the surface can be equivalent to the superposition of the scattering time domain echo values of all surface elements, and an output echo P under a laboratory reference system K is obtained based on a Lorentz inverse transformation formulas(r, t), thereby obtaining the simulation result of the scattering time domain waveform of the moving target.
The scattering time domain echo of the triangular bin in the inertial reference frame K' as shown in FIG. 2 is
Figure BDA0003545888680000041
Wherein the superscript represents that the physical quantity is in an inertial reference frame K';
Figure BDA0003545888680000042
is the unit vector of the incident wave,
Figure BDA0003545888680000043
for the outgoing wave unit vector, then,
Figure BDA0003545888680000044
c0is underwater sound velocity, R 'is bin position vector, T'12,T′23,T′31Is the bin edge vector, then,
Figure BDA0003545888680000045
Figure BDA0003545888680000046
Figure BDA0003545888680000047
is the incident wave shape, A 'is the incident wave amplitude, t' is the time,
Figure BDA0003545888680000048
is a bin unit normal vector.
Physically, the lorentz transformation is a time-space coordinate transformation between two different inertial reference systems in a narrow theory of relativity. Assuming that there are two inertial reference systems K (O, x, y, z, t) and K '(O', x ', y', z ', t') which make a relatively uniform linear motion, as shown in fig. 3, at the time t '0, the respective coordinate axes of the two coordinate systems coincide with each other, and K' moves relative to K at a velocity ν m/s as viewed in the reference system K, the lorentz transformation between the two reference systems is a time-space coordinate transformation
Figure BDA0003545888680000049
Figure BDA00035458886800000410
Wherein the content of the first and second substances,
Figure BDA00035458886800000411
if the coordinate is transformed from the reference system K' to K, v in the formula (2) is changed to-v.
The physical quantity in the formula (1) is converted from a laboratory reference system K' to an inertial reference system K by using a formula (2), and the time domain echo (K) of the small plate in the inertial reference system K is obtained as
Figure BDA0003545888680000051
Wherein the content of the first and second substances,
Figure BDA0003545888680000052
wherein the content of the first and second substances,
Figure BDA0003545888680000053
r is the position vector of the bin in the laboratory reference system K, R ═ Rx,Ry,Rz]；T12,T23,T31For the edge vector of the bin in the laboratory reference system K, then there is T12＝[T12x,T12y,T12z]，T23＝[T23x,T23y,T23z]，T31＝[T31x,T31y,T31z]；
And (4) according to the formula (3), calculating to obtain the underwater high-speed target time domain echo by adopting a Lorentz transformation-time domain plate element method.
Example (b):
taking a rigid sphere as an example, the scattering time domain echo under the motion condition is calculated: assuming that the sound source emits a CW signal with a frequency of 300kHz and a pulse width of 0.1ms, a rigid sphere with a radius of 0.1m approaches the emitting end at 100m with a velocity v. Figure 4 shows the transient scattered echoes of a rigid sphere at different velocities and figure 5 shows the frequency and envelope amplitude results for each echo. It can be seen that when the rigid ball moves linearly at different speeds, the backscatter echoes of the rigid ball will have frequency deviation and change in envelope amplitude. Since the velocity v is opposite to the propagation direction of the incident wave, the frequency moves to the high frequency end, and the higher the velocity is, the larger the frequency deviation of the scattered echo is. Meanwhile, the amplitude of the scattering echo tends to decline with the increase of the speed.
Taking v-0.1 c in fig. 4 as an example, the method for predicting the echo characteristics of the underwater high-speed moving target is further described. Step 1, initiating an incident plane wave waveform in a laboratory reference system K, as shown in FIG. 6; and 2, obtaining an incident plane wave under an inertial reference system K' based on a Lorentz transformation formula, as shown in FIG. 7. And 3, calculating the incident plane wave in the inertial reference system K 'by adopting a static target time domain plate element method to obtain a rigid spherical scattering time domain echo waveform of the moving target under the inertial reference system K', as shown in FIG. 8. And 4, obtaining a rigid ball scattering time domain echo waveform under the laboratory reference system K, namely the waveform obtained by the method, as shown in FIG. 9.
According to the method, the complex target surface is divided into a group of bins, scattering sound fields of the bins in a motion state are calculated by combining a physical acoustic method and a Lorentz transformation technology, and the sum of the scattering sound fields is an approximate value of a total scattering sound field.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (2)

1. The underwater high-speed moving target echo characteristic forecasting method is characterized by comprising the following steps: the method comprises the following steps:
step 1: in a laboratory reference frame K, the initial incident plane wave P is knowni(r, t) and the navigation speed and the course information of the moving target, wherein r is the sound wave propagation distance, and t is the sound wave propagation time;
and 2, step: obtaining incident plane wave P in inertial reference system K' based on Lorentz transformation formulai'(r',t')；
And step 3: adopting a stationary target time domain plate element method to measure incident plane wave P in an inertial reference system Ki' (r ', t ') to obtain scattering time domain echoes P of each bin of the moving target in an inertial reference system Ks'(r',t')；
And 4, step 4: the scattering time domain echo value of the complex moving target surface can be equivalent to the superposition of the scattering time domain echo values of all surface elements, and the output echo P under the laboratory reference system K is obtained based on the Lorentz inverse transformation formulas(r, t), thereby obtaining a simulation result of the scattering time domain waveform of the moving target.
2. The underwater high-speed moving target echo characteristic forecasting method according to claim 1, characterized in that: the laboratory reference system K refers to a ground stationary reference system, and the inertial reference system K 'refers to a moving target self-reference system, namely, the moving target is assumed to be stationary in the inertial reference system K'.
CN202210248196.0A 2022-03-14 2022-03-14 Underwater high-speed moving target echo characteristic forecasting method Pending CN114706086A (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992676A (en) * 2017-11-29 2018-05-04 上海无线电设备研究所 A kind of high-speed simulation modeling method of moving target time domain scatter echo
CN113126070A (en) * 2021-04-16 2021-07-16 西北工业大学 Active sonar echo or scattered wave time domain simulation method for complex underwater target

Patent Citations (2)

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CN107992676A (en) * 2017-11-29 2018-05-04 上海无线电设备研究所 A kind of high-speed simulation modeling method of moving target time domain scatter echo
CN113126070A (en) * 2021-04-16 2021-07-16 西北工业大学 Active sonar echo or scattered wave time domain simulation method for complex underwater target

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