CN114739331B - Method for determining position of explosion point of underwater near-field explosion real ship dynamic test - Google Patents
Method for determining position of explosion point of underwater near-field explosion real ship dynamic test Download PDFInfo
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- CN114739331B CN114739331B CN202210381354.XA CN202210381354A CN114739331B CN 114739331 B CN114739331 B CN 114739331B CN 202210381354 A CN202210381354 A CN 202210381354A CN 114739331 B CN114739331 B CN 114739331B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
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Abstract
The invention discloses a method for determining the position of a dynamic test explosion point of an underwater near-field explosion real ship, which uses a data processing module and at least three shock wave pressure sensors and comprises the following steps: establishing a space rectangular coordinate system by taking the center of the intersecting plane of the sea level and the test ship as the origin of coordinates, the central axis of the test ship in the length direction as an x axis, the direction vertical to the x axis in the horizontal plane as a y axis, the vertical direction as a z axis and the actual space distance of one meter as unit scales; fixing shock wave pressure sensors on two sides of a ship board of a test ship and connecting the shock wave pressure sensors with a data processing module in a signal mode; detonating explosives at a preset depth underwater; the shock wave pressure sensing collects explosion shock wave signals and transmits the explosion shock wave signals to the data processing module; and the data processing module determines the position of the explosion point according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of the explosion shock wave, the time difference of receiving explosion shock wave signals among the shock wave pressure sensors and the depth of the explosive. The method is simple and has high accuracy.
Description
Technical Field
The invention belongs to the technical field of ship damage and protection, and particularly relates to a method for determining the position of an explosion point of an underwater near-field explosion real ship dynamic test.
Background
The protection capability of ships is one of the important embodiments of ship vitality, and missiles, torpedoes, mines and other aerial and underwater weapons are the main threats to ship vitality. In the second war, the nightmare such as torpedo, mine and the like is a nightmare of the water-surface ship. The weapons in water have higher killing capacity than the missiles (compared with single weapons), because the nature of the acting media is different, the density of the water media is about 800 times of the density of the air media, the pressure of the initial shock wave generated by explosion in the air is two orders of magnitude smaller than that of the initial shock wave generated by explosive in water, and the energy of the detonation products is less for target damage. The underwater explosion can be divided into underwater far field explosion, underwater middle far field explosion and underwater near field explosion according to the distance between an explosive charging center and a target, wherein the research on the underwater far field explosion and the underwater middle far field explosion gradually becomes a system, and the whole damage effect of ships cannot be directly reflected from a laboratory-level scaling test due to the complexity of load and the strong fluid-solid coupling effect of a target structure, so that the underwater near field explosion real ship test becomes a necessary way for researching the problems in the related fields of ship damage and protection in the underwater near field explosion.
However, in the underwater near-field explosion real-ship test, because the ship is in dynamic navigation, the explosion point position cannot be simply estimated by combining some test data under a static ship model like a laboratory-level scaling test, and correct and effective real-ship damage data can be obtained only by corresponding damage data of each test to explosion point position information one by one, so that further exploration on ship damage and protection is facilitated.
Disclosure of Invention
In view of the above, the present invention provides a method for determining a location of a detonation point in an underwater near-field detonation real vessel dynamic test, which can quickly and accurately determine the location of the detonation point by using a shock wave pressure sensor and a data processing module in the underwater near-field detonation real vessel test.
A method for determining the position of an explosion point of an underwater near-field explosion real ship test uses a data processing module and at least three shock wave pressure sensors, and establishes a space rectangular coordinate system by taking the center of the intersecting plane of a sea level and a test ship as a coordinate origin, the central axis of the test ship in the length direction as an x axis, the direction vertical to the x axis in a horizontal plane as a y axis and the vertical direction as a z axis;
fixing the shock wave pressure sensors on two sides of a ship board of a test ship and connecting the shock wave pressure sensors with the data processing module in a signal mode;
detonating explosives at a preset depth underwater;
the shock wave pressure sensor collects explosion shock wave signals and transmits the explosion shock wave signals to the data processing module;
and the data processing module determines the position of a blasting point according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of the explosion shock wave, the time difference of receiving the explosion shock wave signal among the shock wave pressure sensors and the depth of the explosive.
Further, the data processing module determines the location of the fry spot in a specific manner:
calculating the product of the time difference of receiving the explosion shock wave signal between every two shock wave pressure sensors and the underwater propagation speed of the explosion shock wave to obtain the distance difference between the position of an explosion point and every two shock wave pressure sensors;
taking a shock wave pressure sensor which firstly acquires an explosion shock wave signal from every two shock wave pressure sensors as a first focus, taking the other shock wave pressure sensor as a second focus, and obtaining a plurality of double-sheet hyperboloids according to the corresponding distance difference between every two shock wave pressure sensors and the position of an explosion point;
one of the double-sheet double curved surfaces far away from the first focus is abandoned, and a plurality of single-sheet double curved surfaces are obtained;
respectively calculating the intersection line of each single-page hyperboloid and the horizontal plane where the fixed depth of the explosive is located;
and calculating the average coordinate of the intersection point of the intersection lines, and determining the average coordinate as the position of the explosion point.
Further, the specific way of calculating the average coordinate by the data processing module is as follows:
adding the intersection point coordinates to obtain a total coordinate;
and dividing the x, y and z values of the total coordinate by the number of intersection points to obtain the average coordinate.
Further, the specific way of calculating the average coordinate by the data processing module is as follows:
adding the intersection point coordinates to obtain a first total coordinate;
dividing the x, y and z values of the first total coordinate by the number of the intersection points respectively to obtain a first average coordinate;
respectively calculating the linear distance between each intersection point coordinate and the first average coordinate in the space rectangular coordinate system;
calculating the difference between the linear distances;
selecting intersection point coordinates corresponding to the three straight line distances with the minimum difference;
adding the coordinates of the three intersection points to obtain a second total coordinate;
dividing the x, y and z values of the second total coordinate by three respectively to obtain the average coordinate.
Further, the specific way of calculating the average coordinate by the data processing module is as follows:
carrying out mean clustering with K being two on the intersection point coordinates, and dividing the intersection point coordinates into two types;
selecting one of the two types with more concentrated intersection point coordinates;
adding the intersection point coordinates in the selected class to obtain a total coordinate;
and dividing the x, y and z values of the total coordinate by the number of the intersection point coordinates in the selected class to obtain the average coordinate.
Further, the information in the detonation shock wave signal comprises a pressure time curve of the detonation shock wave;
and taking the time difference of the peak value of the curve in each two pressure-time curves as the time difference of receiving the explosion shock wave signal between each two corresponding shock wave pressure sensors.
Further, the coordinates of each shock wave pressure sensor when swinging along with the test ship are obtained by an Euler coordinate transformation matrix.
Further, the underwater propagation velocity of the explosive shock wave is obtained in the field of near-field explosion research according to a table look-up of the TNT equivalent of the explosive and the fixed depth of the explosive.
Further, the shock wave pressure sensor is provided with a protection device.
Further, when the shock wave pressure sensor is installed on a test ship, one end provided with the sensing element vertically enters the position below the water surface downwards, and the coordinate in the space rectangular coordinate system where the sensing element is located serves as the coordinate of the corresponding shock wave sensor.
The invention has the following beneficial effects:
1. according to the method, the position of the explosion point can be quickly and accurately determined by utilizing the data processing module and at least three shock wave pressure sensors in the underwater near-field explosion real ship test according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of explosion shock waves, the time difference of receiving explosion shock wave signals among the shock wave pressure sensors, the depth of an explosive and other small data.
2. When the intersecting line intersection point is solved to determine the position (the coordinates of the explosion point) of the explosion point, the invention considers that the instrument error of the shock wave pressure sensor and the data processing module can cause that each intersecting line can not be completely and ideally intersected at a certain point all the time and can fluctuate in a certain space coordinate range, so the average coordinate of the intersection point is used as the position of the explosion point, the calculated error of the position of the explosion point can be ignored compared with the volume of a test ship, and the calculation precision of the position of the explosion point is ensured on the premise that the calculation method of the position of the explosion point is simple and efficient.
3. The invention provides three modes when solving the average coordinate of the intersection point, and the three modes can be flexibly selected for actual needs. The first mode utilizes all intersection points to calculate the average coordinate, and the first mode is the simplest mode, but the calculation precision is relatively low; determining three closest intersection point coordinates by using the linear distance of each intersection point coordinate and the average coordinate of each intersection point coordinate in a rectangular space coordinate system, taking the average coordinate as the average coordinate of the final intersection point, wherein the calculated amount is relatively large, but the accuracy of the determined explosion point position is highest; and in the third mode, the intersection point coordinates are divided into two types by utilizing the K-means clustering, and one type with more concentrated intersection point coordinates in the two types is selected to calculate the average coordinates to be used as the average coordinates of the final intersection point, so that the solving speed is high, and the accuracy of the determined position of the explosion point is relatively high.
4. According to the method, the situation that the shock wave pressure sensor swings along with a test ship is fully considered when the coordinates of the shock wave pressure sensor are used, the deflection angles in the pitching alpha direction, the yawing beta direction and the rolling theta direction of the shock wave pressure sensor are substituted into the Euler coordinate transformation matrix, the coordinates of the shock wave pressure sensor in the bumping state are solved, and the calculation accuracy of the position of an explosion point is improved.
5. The protection device is arranged on the shock wave pressure sensor, so that the damage of the shock wave pressure sensor caused by seawater impact when the shock wave pressure sensor moves along with a test ship is reduced, the shock wave pressure sensor can detect explosion shock wave signals more stably and accurately, and the calculation accuracy of the position of an explosion point is further improved.
6. When the shock wave pressure sensor is installed on a test ship, one end provided with the sensing element vertically enters the position below the water surface downwards, and coordinates in a space rectangular coordinate system where the sensing element is located serve as the coordinates of the corresponding shock wave pressure sensor. One end of the sensing element vertically and downwards enters the water surface, so that the signal of the explosion shock wave can be more sensitively received, and the calculation precision of the position of the explosion point is improved; the coordinates in the rectangular space coordinate system where the sensing elements are located are used as the coordinates of the corresponding shock wave sensor, so that the calculation accuracy of the positions of the explosion points can be further improved.
Drawings
FIG. 1 is a schematic diagram of a single-sheet hyperboloid intersecting a plane in which a frying point is located at a constant depth according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of intersections formed by intersections of lines of intersection in an embodiment of the present invention;
wherein, the 1-first sensor, the 2-second sensor, the 3-plane where the explosive depth is fixed, the 4-first intersection line, the 5-second intersection line, the 6-third intersection line, the intersection points of A, B, C, D, E and F-intersection lines
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a method for determining the position of an explosion point in a dynamic test of an underwater near-field explosion real ship, which has the following basic idea: the method comprises the steps that at least three shock wave pressure sensors are used for receiving explosion shock wave signals and transmitting the explosion shock wave signals to a data processing module, and the data processing module determines the positions of explosion points according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of explosion shock waves, the time difference of the shock wave pressure sensors for receiving the explosion shock wave signals and the depth of explosives.
According to the method, in the underwater near-field explosion real ship test, the data processing module and at least three shock wave pressure sensors are utilized to quickly and accurately determine the position of the explosion point according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of explosion shock waves, the time difference of explosion shock wave signals received among the shock wave pressure sensors, the fixed depth of explosives and other small data, the method is simple, efficient and good in reliability, and is suitable for determining the positions of the explosion points in the near-field explosion tests of different types of ships.
Based on the basic idea, referring to fig. 1 and fig. 2, the present embodiment proposes the following technical solutions:
a method for determining the position of a dynamic test explosion point of an underwater near-field explosion real ship uses a data processing module and at least three shock wave pressure sensors, and comprises the following steps:
establishing a space rectangular coordinate system by taking the center of the intersecting plane of the sea level and the test ship as a coordinate origin, taking the central axis of the test ship in the length direction as an x axis, taking the direction vertical to the x axis in the horizontal plane as a y axis and taking the vertical direction as a z axis;
fixing shock wave pressure sensors on two sides of a ship board of a test ship and connecting the shock wave pressure sensors with a data processing module in a signal mode;
detonating explosives at a preset depth underwater;
the shock wave pressure sensing collects explosion shock wave signals and transmits the explosion shock wave signals to the data processing module;
the data processing module determines the position of the explosion point according to the coordinates (directly obtained through the installation position) of each shock wave pressure sensor, the underwater propagation speed of the explosion shock wave, the time difference of the explosion shock wave signals received between the shock wave pressure sensors and the fixed depth of the explosive (determined according to the preset depth of the explosive).
Specifically, the data processing module determines the location of the fry spot in the following manner:
calculating the product of the time difference of receiving the explosion shock wave signal between every two shock wave pressure sensors and the underwater propagation speed of the explosion shock wave to obtain the distance difference between the position of an explosion point and every two shock wave pressure sensors;
taking a shock wave pressure sensor which firstly acquires an explosion shock wave signal from every two shock wave pressure sensors as a first focus, taking the other shock wave pressure sensor as a second focus, and obtaining a plurality of double-sheet hyperboloids according to the corresponding distance difference between every two shock wave pressure sensors and the position of an explosion point;
one of the double-sheet double curved surfaces far away from the first focus is abandoned, and a plurality of single-sheet double curved surfaces are obtained;
respectively calculating the intersection line of each single-page hyperboloid and the horizontal plane where the fixed depth of the explosive is located;
and calculating the average coordinate of the intersection point of the intersecting lines, and determining the average coordinate as the position of the burst point.
Specifically, for convenience of explanation, three shock wave sensors are taken as an example, and the three shock wave sensors are respectively and fixedly installed on two sides of a ship board of the test ship, namely two shock wave sensors on one side and one shock wave sensor on the other side; referring to fig. 1, the three shockwave sensors are named sensor 1, sensor 2, and sensor 3 (not shown). At this time, "every two shock wave pressure sensors" means three combinations of the first sensor 1 and the second sensor 2, the first sensor 1 and the third sensor 3, and the second sensor 2 and the third sensor 3. Calculating the product of the time difference of the first sensor 1 and the second sensor 2 for receiving the explosion shock wave and the underwater propagation speed of the explosion shock wave, wherein the product result is the distance difference between the position of the explosion point and the first sensor 1 and the second sensor 2; obviously, according to the fact that the distance difference between the positions of the frying points and the first sensor 1 and the second sensor 2 is a constant value, the track of the positions of the frying points can be obtained as a hyperboloid; assuming that the first sensor 1 receives the explosion shock wave signal earlier than the second sensor 2, and taking the first sensor 1 as a first focus and the second sensor 2 as a second focus as shown in fig. 1, the explosion point position is inevitably located on a first intersection line 4 of the semi-hyperboloid close to the first sensor 1 and the plane 3 where the depth of the explosive is fixed. Similarly, as shown in fig. 2, a second intersection 5 can be obtained by the first sensor 1 and the third sensor 3, and a third intersection 6 can be obtained by the second sensor 2 and the third sensor 3. At this time, due to the instrumental error of the shock wave pressure sensor and the data processing module, the above three intersecting lines intersect on the plane 3 where the explosive depth is fixed to form an intersecting point, as shown in fig. 2, since there is only one actual explosion point position, the first intersecting line 4, the second intersecting line 5 and the third intersecting line 6 form an intersection point concentration region, as shown in fig. 2, the intersecting points B, C and D are intersection point concentration regions (the rest of the more dispersed intersecting points such as the intersecting point a, the intersecting point E and the intersecting point F are only mathematically existing common intersecting points and do not correspond to the explosion point position), and the actual explosion point position (i.e. explosion point coordinate) is necessarily close to the intersection point concentration region, and when the number of installed shock wave sensors is more than three, more intersecting points are located in the intersection point concentration region.
According to the above principle, the data processing module calculates the average coordinate (which is finally determined as the location of the explosion point) in one of the following ways:
adding the intersection point coordinates to obtain a total coordinate;
and dividing the x, y and z values of the total coordinates by the number of the intersection points respectively to obtain average coordinates.
This approach is represented in fig. 2 as: the average coordinates of all the intersections in fig. 2 are found.
The second way for the data processing module to calculate the average coordinates (which are ultimately determined as the location of the fry spot) is:
adding the coordinates of the intersection points to obtain a first total coordinate (in FIG. 2: calculating the average coordinate of all the intersection points in FIG. 2);
dividing the x, y and z values of the first total coordinate by the number of the intersection points (the number of all the intersection points in fig. 2) respectively to obtain a first average coordinate;
respectively calculating the linear distance between each intersection point coordinate and the first average coordinate in a space rectangular coordinate system;
calculating the difference between the linear distances;
selecting intersection point coordinates (an intersection point B, an intersection point C and an intersection point D in the graph 2) corresponding to the three straight line distances with the minimum difference;
adding the coordinates of the three intersection points (the intersection point B, the intersection point C and the intersection point D in the figure 2) to obtain a second total coordinate;
and dividing the x, y and z values of the second total coordinate by three respectively to obtain the average coordinate.
This approach is represented in fig. 2 as: the average coordinates of the intersection point B, the intersection point C, and the point D in fig. 2 are obtained.
The data processing module calculates the average coordinate (the average coordinate is finally determined as the location of the frying point) in three ways:
carrying out mean clustering with K being two on the intersection point coordinates, and dividing the intersection point coordinates into two types;
selecting one of the two types with more concentrated intersection point coordinates;
adding the intersection point coordinates in the selected class to obtain a total coordinate;
and dividing the x, y and z values of the total coordinates by the number of the coordinates of the intersection points in the selected class to obtain average coordinates.
Obviously, when the average coordinate of the intersection point is solved, three modes are provided, and the three modes can be flexibly selected according to actual needs. The first mode utilizes all intersection points to calculate the average coordinate, and the first mode is the simplest mode, but the calculation precision is relatively low; determining three closest intersection point coordinates by using the linear distance of each intersection point coordinate and the average coordinate of each intersection point coordinate in a space rectangular coordinate system, taking the average coordinate as the average coordinate of the final intersection point, wherein the calculated amount is relatively large, but the accuracy of the position of the explosion point determined by the calculation amount is highest; and in the third mode, the intersection point coordinates are divided into two types by utilizing the K-means clustering, and one type with more concentrated intersection point coordinates in the two types is selected to calculate the average coordinates to be used as the average coordinates of the final intersection point, so that the solving speed is high, and the accuracy of the determined position of the explosion point is relatively high.
More specifically, the information in the above-mentioned explosive shock wave signal includes a pressure time curve of the explosive shock wave, and therefore, a time difference in which a peak of the curve occurs in each two pressure time curves is taken as a time difference in which the explosive shock wave signal is received between each two corresponding shock wave pressure sensors.
As a further improvement of the invention, the coordinates of the shock wave pressure sensor when swinging along with the test ship can be obtained by an Euler coordinate transformation matrix. Namely: when the ship generates deviation in three directions of pitching alpha, yawing beta and rolling theta in bump, the three deviation angles can be obtained according to a sailing recorder (black box) of a test ship, and the coordinates of the shock wave pressure sensor when swinging along with the test ship are obtained according to the following modes:
the matrix on the left of the equal sign is the coordinate representation of a certain shock wave pressure sensor when swinging along with the test ship, and the matrix on the rightmost side of the equal sign is the coordinate representation of a corresponding certain shock wave pressure sensor when the test ship does not swing.
It can be seen that when the coordinates of the shock wave pressure sensor are used, the situation that the shock wave pressure sensor swings along with a test ship is fully considered, the deflection angles in the pitching alpha direction, the yawing beta direction and the rolling theta direction of the shock wave pressure sensor are substituted into the Euler coordinate transformation matrix, the coordinates of the shock wave pressure sensor in the bumping state are solved, and the calculation accuracy of the position of a burst point is improved.
In addition, the underwater propagation velocity of the explosive shock wave can be obtained in the field of near-field explosion research according to a table look-up of the TNT equivalent of the explosive and the depth of the explosive. For example: and placing an explosive charge with the TNT equivalent of 500kg at a position 7m away from the sea level in the underwater vertical direction, and looking up a table to obtain the underwater propagation speed of the explosive shock wave of about 4966m/s. Moreover, the shock wave pressure sensor used in the method for determining the position of the explosion point is provided with the protection device, and the protection device reduces the damage of the shock wave pressure sensor caused by the impact of seawater when the shock wave pressure sensor moves along with a test ship, so that the shock wave pressure sensor can detect explosion shock wave signals more stably and more accurately, and the calculation precision of the position of the explosion point is further improved.
It is worth noting that when the shock wave pressure sensor is installed on a test ship, one end provided with the sensing element vertically enters below the water surface downwards, and the coordinate in the space rectangular coordinate system where the sensing element is located is used as the coordinate of the corresponding shock wave sensor. One end of the sensing element vertically and downwards enters the water surface, so that the signal of the explosion shock wave can be more sensitively received, and the calculation precision of the position of the explosion point is improved; the coordinates in the space rectangular coordinate system of the sensing element are used as the coordinates of the corresponding shock wave sensor, so that the calculation accuracy of the position of the explosion point can be further improved.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for determining the position of a test explosion point of an underwater near-field explosion real ship uses a data processing module and at least three shock wave pressure sensors,
establishing a space rectangular coordinate system by taking the center of the intersecting plane of the sea level and the test ship as a coordinate origin, taking the central axis of the test ship in the length direction as an x axis, taking the direction vertical to the x axis in the horizontal plane as a y axis and taking the vertical direction as a z axis;
the shock wave pressure sensors are fixed on two sides of a ship board of the test ship and are in signal connection with the data processing module;
detonating explosives at a preset depth underwater;
the shock wave pressure sensor collects explosion shock wave signals and transmits the explosion shock wave signals to the data processing module;
the data processing module determines the position of a blasting point according to the coordinates of the shock wave pressure sensors, the underwater propagation speed of the explosion shock wave, the time difference of receiving the explosion shock wave signal among the shock wave pressure sensors and the depth of the explosive;
the specific mode of determining the position of the frying point by the data processing module is as follows:
calculating the product of the time difference of receiving the explosion shock wave signal between every two shock wave pressure sensors and the underwater propagation speed of the explosion shock wave to obtain the distance difference between the position of an explosion point and every two shock wave pressure sensors;
taking a shock wave pressure sensor which firstly acquires an explosion shock wave signal from every two shock wave pressure sensors as a first focus, taking the other shock wave pressure sensor as a second focus, and obtaining a plurality of double-sheet hyperboloids according to the corresponding distance difference between every two shock wave pressure sensors and the position of an explosion point;
one of the double-sheet double curved surfaces far away from the first focus is abandoned, and a plurality of single-sheet double curved surfaces are obtained;
respectively calculating the intersection line of each single-sheet hyperboloid and the horizontal plane where the fixed depth of the explosive is located;
and calculating the average coordinate of the intersection point of the intersection lines, and determining the average coordinate as the position of the explosion point.
2. A method for determining a fry spot location according to claim 1 wherein said data processing module calculates said average coordinates by:
adding the intersection point coordinates to obtain a total coordinate;
and dividing the x, y and z values of the total coordinate by the number of intersection points to obtain the average coordinate.
3. A method for determining a fry spot location according to claim 1 wherein said data processing module calculates said average coordinates by:
adding the intersection point coordinates to obtain a first total coordinate;
dividing the x, y and z values of the first total coordinate by the number of intersection points to obtain a first average coordinate;
respectively calculating the linear distance between each intersection point coordinate and the first average coordinate in the space rectangular coordinate system;
calculating the difference between the linear distances;
selecting intersection point coordinates corresponding to the three straight line distances with the minimum difference value;
adding the coordinates of the three intersection points to obtain a second total coordinate;
dividing the x, y and z values of the second total coordinate by three respectively to obtain the average coordinate.
4. A method for determining a fry spot location according to claim 1 wherein said data processing module calculates said average coordinates by:
performing mean clustering with K being two on the intersection point coordinates, and dividing the intersection point coordinates into two types;
selecting one of the two types with more concentrated intersection point coordinates;
adding the intersection point coordinates in the selected class to obtain a total coordinate;
and dividing the x, y and z values of the total coordinate by the number of the intersection point coordinates in the selected class to obtain the average coordinate.
5. The method of determining the location of a fry spot of any one of claims 1 to 4,
the information in the detonation shock wave signal comprises a pressure time curve of the detonation shock wave;
and taking the time difference of the peak value of the curve in each two pressure-time curves as the time difference of receiving the explosion shock wave signal between each two corresponding shock wave pressure sensors.
6. The method for determining a location of a fry spot according to any one of claims 1 to 4 wherein the coordinates of each said shock wave pressure sensor as it sways along the test ship are obtained from an Euler coordinate transformation matrix.
7. The method for determining the location of a blast point according to any one of claims 1 to 4, wherein the underwater propagation velocity of said detonation shock wave is obtained from a look-up table of TNT equivalent of explosives and their depthkeeping depth in the field of near field detonation study.
8. Method for determining the location of a detonation point according to any one of claims 1-4, characterised in that the shock wave pressure sensor is provided with a protective device.
9. A method for determining the location of a blast point according to any of claims 1 to 4 wherein the shock wave pressure sensor is mounted on the test vessel such that the end having the sensing element is directed vertically downwardly below the water surface and the coordinates of the sensing element in the spatial rectangular coordinate system are taken as the coordinates of the corresponding shock wave sensor.
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