CN114838728A - Dipole source positioning method for planar artificial side line array - Google Patents

Dipole source positioning method for planar artificial side line array Download PDF

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CN114838728A
CN114838728A CN202210317271.4A CN202210317271A CN114838728A CN 114838728 A CN114838728 A CN 114838728A CN 202210317271 A CN202210317271 A CN 202210317271A CN 114838728 A CN114838728 A CN 114838728A
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dipole source
pressure sensor
pressure
parameter
pressure signal
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季明江
曹璐
冉德超
郭鹏宇
张飞
刘勇
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National Defense Technology Innovation Institute PLA Academy of Military Science
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/14—Fourier, Walsh or analogous domain transformations, e.g. Laplace, Hilbert, Karhunen-Loeve, transforms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Abstract

The invention discloses a dipole source positioning method for a planar artificial side line array, which comprises the following steps: collecting pressure signals received by each pressure sensor in the planar artificial side line array; performing fast Fourier transform on the pressure signals received by each pressure sensor, and extracting the pressure signal amplitude corresponding to each pressure sensor to obtain an actual array response vector comprising each pressure signal amplitude; combining a fluid density parameter, a motion amplitude parameter, a motion angle frequency parameter and a dipole size parameter of a dipole source into a preset variable, and constructing a calculation formula of pressure signal amplitude values corresponding to each pressure sensor and comprising the preset variable parameter and a dipole source position parameter to obtain a theoretical array response vector comprising each pressure signal amplitude value calculation value; and estimating the position of the dipole source according to the actual array response vector and the theoretical array response vector. The method can realize the positioning of the dipole source and obviously improve the positioning precision.

Description

Dipole source positioning method for planar artificial side line array
Technical Field
The invention relates to the technical field of target positioning, in particular to a dipole source positioning method for a planar artificial side line array.
Background
Fishes evolved a mechanical sense organ, namely a lateral line (lateralline), with strong near-field sensing capability in hundreds of millions of years, accurately sense surrounding flow field information through the lateral line, and can realize the actions of flow approaching, barrier avoiding, balance keeping, efficient cluster swimming, positioning, prey and the like in turbid, messy and dark underwater environments. This feeling of the fish lateral line is called "svenning", which is a feeling juxtaposed to the sense of touch, sense of hearing, sense of sight, etc., and is intermediate between the sense of touch and the sense of hearing, and is therefore also called "touch at a distance". Because the lateral line sensing mode is a near-field sensing mode and is not influenced by complex acoustic environment and light environment, the lateral line sensing mode has been developed into a novel detection mode with strong anti-interference capability, and the research and application of target sensing are more and more carried out by designing an artificial lateral line array, for example, by arranging a bionic artificial lateral line array on an Unmanned Underwater Vehicle (UUV), situation input is provided for obstacle avoidance, navigation control, near-field target attack and the like of the UUV, so that the sensing capability and the maneuvering capability of the UUV which are comparable to fish are expected to be realized.
For the side line sensing target, the generated flow field is very similar to that of a dipole, namely the most characteristic component is generated by a dipole source, so that the dipole source has representativeness to a general target, can be used for describing the flow field really acting on the side line in the actual environment, and is the most typical target for side line sensing. Therefore, the dipole source is widely applied to the research of the artificial lateral line as a typical excitation source and becomes a standard target, and the positioning problem of the dipole source also becomes a key problem for realizing the positioning of the underwater near-field target by using the artificial lateral line array.
However, the existing dipole source positioning method applied to the artificial side line array needs to rely on a complete dipole source flow field model, and in practice, dipole source parameters often cannot be measured or accurately measured, and particularly for a general underwater moving target, the related description parameters of dipole components of the general underwater moving target are often unknown, so that a large error exists between a theoretical model and an actual situation, and further the target positioning cannot be realized by using the existing positioning method or the positioning accuracy is poor.
Disclosure of Invention
In order to solve part or all of the technical problems in the prior art, the invention provides a dipole source positioning method for a planar artificial side line array.
The technical scheme of the invention is as follows:
there is provided a method of positioning a dipole source for an array of planar artificial side lines, the method comprising:
collecting pressure signals received by each pressure sensor in the planar artificial side line array;
performing fast Fourier transform on the pressure signals received by each pressure sensor, and extracting the pressure signal amplitude corresponding to each pressure sensor to obtain an actual array response vector comprising each pressure signal amplitude;
combining a fluid density parameter, a motion amplitude parameter, a motion angle frequency parameter and a dipole size parameter of a dipole source into a preset variable, and constructing a calculation formula of pressure signal amplitude values corresponding to each pressure sensor and comprising the preset variable parameter and a dipole source position parameter to obtain a theoretical array response vector comprising each pressure signal amplitude value calculation value;
and estimating the position of the dipole source according to the actual array response vector and the theoretical array response vector.
In some possible implementations, the planar artificial side line array includes a plurality of pressure sensors spaced along a plane.
In some possible implementations, the pressure signal is expressed as:
x i (t)＝p i (r s )s 0 (t)+e i (t)
wherein x is i (t) represents the pressure signal received by the ith pressure sensor in the planar artificial sided line array, p i (r s ) Representing the magnitude, r, of the pressure signal received by the ith pressure sensor s Indicating the position of the dipole source, s 0 (t) sin (ω t), ω represents the angular frequency of motion of the dipole source, e i (t) represents the noise corresponding to the ith pressure sensor, and t represents a time variable.
In some possible implementations, the calculation formula of the pressure signal amplitude including the preset variable parameter and the dipole source position parameter is as follows:
Figure BDA0003570206720000021
wherein p is i (r s Eta) represents a calculated value of the amplitude of the pressure signal received by the ith pressure sensor, eta represents a preset variable, and theta i Represents the included angle between the connecting line of the position of the ith pressure sensor and the position of the dipole source and the motion direction of the dipole source, r i Indicating the location of the ith pressure sensor, | | · | |, indicates a 2-norm.
In some possible implementations, the dipole source location is estimated using the following formula;
Figure BDA0003570206720000022
wherein the content of the first and second substances,
Figure BDA0003570206720000023
is represented by r s Is determined by the estimated value of (c),
Figure BDA0003570206720000024
the estimated value of η is represented by,
Figure BDA0003570206720000025
is expressed such that | | | m-p (r) s R variable when η) | takes minimum value s And η, m ═ m 1 ,…,m M ] T Representing the actual array response vector, m M Representing the magnitude of the pressure signal received by the Mth pressure sensor, p (r) s ,η)＝[p 1 (r s ,η),p 2 (r s ,η),...,p M (r s ,η)] T Representing the theoretical array response vector, p M (r s And eta) represents a calculated value of the amplitude of the pressure signal corresponding to the mth pressure sensor.
In some possible implementations, the method further includes: and presetting a reference coordinate system, and solving the position of the dipole source based on the set reference coordinate system.
The technical scheme of the invention has the following main advantages:
according to the dipole source positioning method for the planar artificial side line array, unknown parameters such as the fluid density parameter, the motion amplitude parameter, the motion angular frequency parameter and the dipole size parameter of the dipole source are combined and used as a single variable to solve the position of the dipole source, the problem that the dipole source cannot be positioned or is positioned inaccurately due to the fact that part of parameters of the dipole source cannot be obtained can be solved, the positioning of the dipole source can be achieved, and the positioning accuracy can be remarkably improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for positioning a dipole source for a planar artificial sided line array according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
The fish lateral line sensing principle is different from the sensing principle of the traditional acoustic and optical means, the water medium movement between a target and the lateral line is used as an information source for measuring the hydrodynamic field change generated by the target, and the fish lateral line can sense the flow field speed and the flow field pressure change. Existing research shows that by sensing pressure changes, fish siding can perform hydrodynamic imaging on the surrounding environment and identify surrounding targets. As can be seen, the sensing of the flow field pressure is a precondition for realizing near-field target detection, positioning and identification by the fish side line. Therefore, the current planar artificial lateral line array is generally constructed by using pressure sensors, and flow field pressure changes generated by a dipole source target are acquired through the pressure sensors so as to position the target.
However, the existing dipole source positioning method applied to the planar artificial side line array needs to rely on a complete dipole source flow field model, and in practice, various parameters of the dipole source can not be measured or accurately measured, and particularly for a general underwater moving target, the related description parameters of dipole components of the general underwater moving target are often unknown, so that the problems that target positioning cannot be realized or the positioning accuracy is poor and the like exist by using the existing positioning method.
To solve the above technical problem, referring to fig. 1, an embodiment of the present invention provides a method for positioning a dipole source for a planar artificial lateral line array, the method comprising the following steps:
step S1, collecting pressure signals received by each pressure sensor in the planar artificial side line array;
step S2, performing Fast Fourier Transform (FFT) on the pressure signals received by each pressure sensor, and extracting the pressure signal amplitude corresponding to each pressure sensor to obtain an actual array response vector comprising each pressure signal amplitude;
step S3, combining the fluid density parameter, the motion amplitude parameter, the motion angular frequency parameter and the dipole size parameter of the dipole source into a preset variable, and constructing a calculation formula of pressure signal amplitude values corresponding to each pressure sensor and comprising the preset variable parameter and the dipole source position parameter to obtain a theoretical array response vector comprising each pressure signal amplitude value calculation value;
and step S4, estimating the position of the dipole source according to the actual array response vector and the theoretical array response vector.
According to the dipole source positioning method for the planar artificial side line array, the unknown parameters such as the fluid density parameter, the motion amplitude parameter, the motion angular frequency parameter and the dipole size parameter of the dipole source are combined and used as a single variable to solve the position of the dipole source, so that the problem that the positioning cannot be carried out or is inaccurate due to the fact that part of parameters of the dipole source cannot be obtained can be solved, the positioning of the dipole source can be achieved, and the positioning accuracy can be remarkably improved.
The following describes the steps and principles of the dipole source positioning method for planar artificial sided line array according to an embodiment of the present invention by using specific examples.
Specifically, the positioning method according to an embodiment of the present invention is described by taking an example in which a planar artificial side line array includes a plurality of pressure sensors, and the plurality of pressure sensors are arranged at intervals along a plane.
According to the pressure field distribution of the dipole source, the pressure distribution of the surface of the planar artificial side line array can be obtained, and further corresponding pressure signals are obtained through the test of the arranged pressure sensors. However, considering that a sensor placed in the flow field can change the distribution of the pressure field, and further influence the pressure value obtained by actual measurement, according to the image principle of a flat wall mirror, when the surface of the array is a plane, the distribution pressure on the boundary of the array and the flow field is about twice of that of the free flow field. Thus, the pressure signals received by the pressure sensors of the planar artificial sided line array can be expressed as:
x i (t)＝p i (r s )s 0 (t)+e i (t)
wherein x is i (t) represents the pressure signal received by the ith pressure sensor in the planar artificial sided line array, p i (r s ) Representing the magnitude, r, of the pressure signal received by the ith pressure sensor s Indicating the position of the dipole source, s 0 (t) sin (ω t), ω represents the angular frequency of motion of the dipole source, e i (t) represents the noise corresponding to the ith pressure sensor, and t represents a time variable.
By sampling the pressure signal, the pressure signal received by the entire planar artificial sided line array can be represented in vector form as follows:
x(l)＝p(r s )s 0 (l)+e(l),l＝1,…,L
wherein x (l) ═ x 1 (l),…,x M (l)] T ，x M (l) Representing the pressure signal received by the Mth pressure sensor in the planar artificial sided-wire array, p (r) s )＝[p 1 (r s ),…,p M (r s )] T ，p M (r s ) Representing the magnitude of the pressure signal received by the Mth pressure sensor, p (r) s ) Defined as the array response vector, e (l) ═ e 1 (l),…,e M (l)] T ，e M (l) The noise corresponding to the Mth pressure sensor is shown, L represents the fast beat number, and M represents the number of the pressure sensors in the planar artificial side line array.
According to the specific definition of the pressure signals, the pressure signal amplitude received by each pressure sensor can be obtained by performing Fast Fourier Transform (FFT) on the pressure signals received by each pressure sensor, so as to obtain an actual array response vector including each pressure signal amplitude.
Further, in practical application, the pressure signal amplitude p received by the ith pressure sensor i (r s ) The formula can be calculated by the following formula;
Figure BDA0003570206720000051
where ρ represents the fluid density of the dipole source, s represents the motion amplitude of the dipole source, ω represents the angular frequency of motion of the dipole source, a represents the size of the dipole source, e.g., the diameter or length of the dipole source, θ i Represents the included angle between the connecting line of the position of the ith pressure sensor and the position of the dipole source and the motion direction of the dipole source, r i Indicating the location of the ith pressure sensor, | | · | |, indicates a 2-norm.
Since the actual value of the amplitude of the pressure signal received by the pressure sensor can be obtained by calculating the pressure signal received by the pressure sensor, and the position of each pressure sensor is known, in the case of determining the fluid density, the motion amplitude, the motion angular frequency and the size parameter of the dipole source, the position r of the dipole source can be obtained by calculating through the formula s Thereby achieving the positioning of the dipole source.
However, when positioning the dipole source actually, the fluid density, the motion amplitude, the motion angular frequency and the size parameter of the dipole source cannot be known, and for this reason, in an embodiment of the present invention, in order to realize positioning of the dipole source and improve the positioning accuracy, the fluid density parameter, the motion amplitude parameter, the motion angular frequency parameter and the size parameter of the dipole source are combined into a preset variable, so as to combine the pressure signal amplitude p i (r s ) Is corrected to a variable r shown in the following form s And η:
Figure BDA0003570206720000061
where η represents a predetermined variable, η ═ ρ s ω 2 a 3 。
Based on the modified calculation formula, the theoretical array response vector including the calculated values of the amplitudes of the respective pressure signals can be expressed as: p (r) s ,η)＝[p 1 (r s ,η),p 2 (r s ,η),...,p M (r s ,η)] T Wherein p is M (r s And eta) represents a calculated value of the amplitude of the pressure signal corresponding to the mth pressure sensor.
Based on the determined actual array response vector and the theoretical array response vector, the location of the dipole source can be estimated using the following formula;
Figure BDA0003570206720000062
wherein the content of the first and second substances,
Figure BDA0003570206720000063
is represented by r s Is determined by the estimated value of (c),
Figure BDA0003570206720000064
the estimated value of η is represented by,
Figure BDA0003570206720000065
is expressed such that | | | m-p (r) s R variable when η) | takes minimum value s And η, m ═ m 1 ,…,m M ] T Representing the actual array response vector, m M Representing the amplitude, M, of the pressure signal received by the Mth pressure sensor i Indicating the magnitude of the pressure signal received by the ith pressure sensor.
Further, in an embodiment of the present invention, in order to solve the position of the dipole source, when positioning the dipole source, a reference coordinate system may be first set, and the position of the dipole source may be solved based on the set reference coordinate system, at this time, the position r of the dipole source s Can be expressed in terms of its coordinates in the reference coordinate, i.e. r s ＝(x s ,y s ,z s ) Position r of the ith pressure sensor i Can be expressed in terms of its coordinates in the reference coordinate, i.e. r i ＝(x i ,y i ,z i ) And r is i May be predetermined.
Alternatively, the reference coordinate system may be determined in the following manner: the central point of the planar artificial side line array is used as an origin, the arrangement direction of the pressure sensors is an x axis, a y axis is perpendicular to the x axis and is located on the installation plane of the pressure sensors, and the z axis, the x axis and the y axis form a right-hand rectangular coordinate system.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (6)

1. A method for positioning a dipole source for an array of planar artificial laterals, comprising:
collecting pressure signals received by each pressure sensor in the planar artificial side line array;
performing fast Fourier transform on the pressure signals received by each pressure sensor, and extracting the pressure signal amplitude corresponding to each pressure sensor to obtain an actual array response vector comprising each pressure signal amplitude;
combining a fluid density parameter, a motion amplitude parameter, a motion angle frequency parameter and a dipole size parameter of a dipole source into a preset variable, and constructing a calculation formula of pressure signal amplitude values corresponding to each pressure sensor and comprising the preset variable parameter and a dipole source position parameter to obtain a theoretical array response vector comprising each pressure signal amplitude value calculation value;
and estimating the position of the dipole source according to the actual array response vector and the theoretical array response vector.
2. The method of claim 1, wherein the array of planar artificial siding comprises a plurality of pressure sensors spaced along a plane.
3. A method for positioning a dipole source for an array of planar artificial laterals as recited in claim 2, wherein said pressure signal is represented as:
x i (t)＝p i (r s )s 0 (t)+e i (t)
wherein x is i (t) represents the pressure signal received by the ith pressure sensor in the planar artificial sided line array, p i (r s ) Representing the magnitude, r, of the pressure signal received by the ith pressure sensor s Indicating the position of the dipole source, s 0 (t) sin (ω t), ω represents the angular frequency of motion of the dipole source, e i (t) represents noise corresponding to the ith pressure sensor, and t represents a time variable.
4. The method of claim 3, wherein the pressure signal amplitude comprising the preset variable parameter and the dipole source position parameter is calculated by the formula:
Figure FDA0003570206710000011
wherein p is i (r s Eta) represents a calculated value of the amplitude of the pressure signal received by the ith pressure sensor, eta represents a preset variable, and theta i Represents the included angle between the connecting line of the position of the ith pressure sensor and the position of the dipole source and the motion direction of the dipole source, r i Indicating the location of the ith pressure sensor, | | · | |, indicates a 2-norm.
5. The method of any of claims 1-4, wherein the dipole source location is estimated using the following formula;
Figure FDA0003570206710000021
wherein the content of the first and second substances,
Figure FDA0003570206710000022
is represented by r s Is determined by the estimated value of (c),
Figure FDA0003570206710000023
the estimated value of η is represented by,
Figure FDA0003570206710000024
is expressed such that | | | m-p (r) s R variable when η) | takes minimum value s And η, m ═ m 1 ,…,m M ] T Representing the actual array response vector, m M Representing the magnitude of the pressure signal received by the Mth pressure sensor, p (r) s ,η)＝[p 1 (r s ,η),p 2 (r s ,η),...,p M (r s ,η)] T Representing the theoretical array response vector, p M (r s And eta) represents a calculated value of the amplitude of the pressure signal corresponding to the mth pressure sensor.
6. A method for positioning a dipole source for an array of planar artificial sided lines according to any of claims 1-5, the method further comprising: and presetting a reference coordinate system, and solving the position of the dipole source based on the set reference coordinate system.
CN202210317271.4A 2022-03-29 2022-03-29 Dipole source positioning method for planar artificial side line array Pending CN114838728A (en)

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