CN115165070A - Optical fiber vector hydrophone and array attitude calibration method and system thereof - Google Patents
Optical fiber vector hydrophone and array attitude calibration method and system thereof Download PDFInfo
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Abstract
The invention provides an optical fiber vector hydrophone and an array attitude calibration method and system thereof, wherein the attitude calibration method comprises the following steps: the sound source emits signals and rotates for a circle around the optical fiber vector hydrophone; acquiring an azimuth angle theta of the optical fiber vector hydrophone corresponding to the sound source by adopting an acoustic energy flow method; determining the X + axis direction of the optical fiber vector hydrophone according to the obtained azimuth angle; determining the attitude heading of the current hydrophone and the deviation angle delta theta of the X + axis direction according to an attitude sensor in the optical fiber vector hydrophone, and carrying out attitude calibration on the optical fiber vector hydrophone to ensure that the X + axis direction of the optical fiber vector hydrophone is coincident with the attitude heading. The problem that the prior art can not ensure that the X-axis of the fiber vector hydrophone is consistent with the course angle of the attitude sensor in the navigation process is solved, the application capability of the fiber vector hydrophone array in target azimuth measurement is further improved, and the array azimuth estimation precision is improved.
Description
Technical Field
The invention relates to the technical field of hydrophone array attitude calibration, in particular to an optical fiber vector hydrophone and an array attitude calibration method and system thereof.
Background
With the continuous development of science and technology, in order to meet the needs of bank station construction, serve a coast early warning sonar system, realize remote detection, discernment, the ability that the hydrophone exert in wherein becomes more and more important. The optical fiber vector hydrophone converts a detected signal into an optical signal through a high-sensitivity optical fiber coherent detection technology, and transmits the optical signal to a signal processing system through an optical fiber so as to extract information, and has the characteristics of high sensitivity, convenience in multiplexing and the like. A plurality of optical fiber vector hydrophones are combined according to a certain distance to form an optical fiber vector hydrophone array with good array gain.
Each optical fiber vector hydrophone in the optical fiber vector hydrophone array corresponds to one attitude sensor, and the orientation estimation angle of the vector hydrophone is corrected through the heading angle of the attitude sensor. Because the vector hydrophones are fixed in a spring suspension mode, the suspended states of each optical fiber vector hydrophone are different, and therefore an azimuth estimation error is generated; the attitude sensor is arranged in a pressure-resistant and watertight sealed cavity, the heading angle is kept consistent with the zero-degree direction (namely the X + axis of the optical fiber vector hydrophone) of the optical fiber vector hydrophone in a mechanical structure limiting mode, but engineering deviation exists when the two are assembled in a matching mode, so that the X + axis direction of the vector hydrophone and the heading angle direction of the attitude sensor are not completely overlapped, and therefore the inaccuracy of azimuth estimation is caused; the fiber vector hydrophones in the array are connected through soft connection, and in the actual assembly process, the deviation between the X + axis direction and the course angle of each vector hydrophone is not a fixed value, so that the array gain is weakened during the array orientation estimation, and the array orientation estimation cannot be carried out in serious cases. According to sound intensity signals received by an X axis and a Y axis of the fiber vector hydrophone, the course angle of the attitude sensor is corrected, so that the deviation between the X + axis direction of the vector hydrophone and the course angle of the attitude sensor is within an error range, the accuracy of each course sensor in the fiber vector hydrophone array is realized, and the array azimuth estimation precision is further improved. However, in the present phase, for the correction of the hydrophone itself in the fiber vector hydrophone array when the correction of the heading angle through the attitude sensor is mostly in the non-navigation state, a method for actually correcting the heading angle of the attitude sensor in the navigation process is urgently needed instead of or in addition to the method for realizing the accuracy of each heading sensor in the fiber vector hydrophone array, so that the array azimuth estimation accuracy is improved.
Disclosure of Invention
The invention aims to provide an optical fiber vector hydrophone and an array attitude calibration method and system thereof, which solve the problem that the prior art can not ensure that the X + axis of the optical fiber vector hydrophone is consistent with the heading angle of an attitude sensor in the navigation process, further improve the application capability of an optical fiber vector hydrophone array in target azimuth measurement and improve the array azimuth estimation precision.
In a first aspect, the present invention provides a method for calibrating a posture of a fiber vector hydrophone, including:
the sound source emits signals and rotates for a circle around the optical fiber vector hydrophone;
acquiring an azimuth angle theta of the optical fiber vector hydrophone corresponding to the sound source by adopting an acoustic energy flow method;
determining the X + axis direction of the optical fiber vector hydrophone according to the obtained azimuth angle;
and determining the deviation angle delta theta between the attitude heading of the current hydrophone and the X + axis direction according to an attitude sensor in the optical fiber vector hydrophone, and performing attitude calibration on the optical fiber vector hydrophone to ensure that the X + axis direction of the optical fiber vector hydrophone coincides with the attitude heading.
Further, before the sound source transmits a signal, the method further comprises: under far-field conditions, a fiber-vector hydrophone is placed vertically in the water.
Preferably, the optical fiber vector hydrophone is vertically placed in a straightening state through a counterweight and a floating ball.
Preferably, the acoustic source is rotated around the fiber-vector hydrophone by a rotary stage.
Further, the acoustic source rotates around the fiber vector hydrophone at a fixed preset speed.
Further, the acoustic energy streaming method comprises:
according to the received sound source signal information, the estimation of the azimuth angle of the optical fiber vector hydrophone is realized, wherein the X-axis and Y-axis signal reception of the optical fiber vector hydrophone is as follows:
wherein s (t) represents the sound intensity of the position of the optical fiber vector hydrophone at the time t; v. of x Representing the X-axis received sound intensity signal; v. of y Representing the sound intensity signal received by the Y axis; theta is the azimuth angle of the sound source signal on the XOY plane of the vector ball;
the azimuth angle theta of the sound source signal on the vector sphere XOY plane is as follows:
in a second aspect, the invention provides a method for calibrating the attitude of an optical fiber vector hydrophone array, which includes:
the sound source transmits signals and rotates for a circle around the optical fiber vector hydrophone array;
acquiring the azimuth angle theta of each optical fiber vector hydrophone in the optical fiber vector hydrophone array corresponding to the sound source by adopting an acoustic energy flow method;
determining the X + axis direction of each optical fiber vector hydrophone according to the obtained azimuth angle;
and determining the attitude heading of the current hydrophone and the deviation angle delta theta of the X + axis direction according to the attitude sensor in each optical fiber vector hydrophone, and performing attitude calibration on each optical fiber vector hydrophone to ensure that the X + axis direction of each optical fiber vector hydrophone is coincident with the attitude heading.
Further, the acoustic source rotates around the fiber vector hydrophone array at a fixed preset speed for one revolution.
Further, the acoustic energy streaming method comprises:
according to sound source signal information received by each optical fiber proper hydrophone in the optical fiber vector hydrophone array, the azimuth angle of each optical fiber vector hydrophone is estimated, wherein the X-axis signal reception and the Y-axis signal reception of the optical fiber vector hydrophones are as follows:
wherein s (t) represents the sound intensity of the position of the optical fiber vector hydrophone at the time t; v. of x Representing the X-axis received sound intensity signal; v. of y Representing the sound intensity signal received by the Y axis; theta is the azimuth angle of the sound source signal on the vector sphere XOY plane;
the azimuth angle θ of the sound source signal on the vector sphere XOY plane is:
in a third aspect, the present invention provides a system for calibrating an attitude of an optical fiber vector hydrophone array, including: the system comprises a sound source signal transmitting module, a sound source signal receiving module, a data processing module and an attitude calibration module;
the sound source signal transmitting module: the device is used for transmitting signals by a sound source and rotating around the optical fiber vector hydrophone array for a circle at a preset speed;
a sound source signal acquisition module: the system is used for acquiring a sound source signal received by each optical fiber vector hydrophone in the optical fiber vector hydrophone array and sending the sound source signal to the data processing module;
a data processing module: the system comprises a sound source signal acquisition module, a data acquisition module and a data acquisition module, wherein the sound source signal acquisition module is used for acquiring a sound source signal sent by the sound source signal acquisition module and acquiring an azimuth angle of each optical fiber vector hydrophone in an optical fiber vector hydrophone array corresponding to a sound source by adopting an acoustic energy flow method; determining the X + axis direction of each fiber vector hydrophone through all the obtained azimuth angles; determining a deviation angle between the attitude heading of the current hydrophone and the X + axis direction corresponding to the attitude heading according to an attitude sensor in each optical fiber vector hydrophone;
an attitude calibration module: the attitude calibration method is used for calibrating the attitude of each fiber vector hydrophone in the fiber vector hydrophone array, so that the X + axis direction of each fiber vector hydrophone in the array is coincident with the attitude heading.
Advantageous effects
According to the fiber vector hydrophone and the array attitude calibration method and system thereof, under the far field condition, the fiber vector hydrophone is vertically placed in water, a sound source emits a broadband signal and rotates for a circle around each fiber vector hydrophone, and the X + axis direction of each fiber vector hydrophone is found by adopting an acoustic energy flow method. And meanwhile, according to the course angle of the attitude sensor, calculating the deviation angle between the X < + > axis of the optical fiber vector hydrophone and the course angle of the attitude sensor, and calibrating the deviation angle to ensure that the X < + > axis direction of the optical fiber vector hydrophone is coincident with the course of the attitude sensor. The test in water can ensure that the fiber vector hydrophone can also carry out attitude calibration in the navigation process.
The fiber vector hydrophones in the fiber vector hydrophone array are connected flexibly, and in the actual assembly process, the deviation between the X + axis direction and the attitude heading of each fiber vector hydrophone in the array is not a fixed value; the larger the array scale is, the more the attitude calibration is carried out on each fiber vector hydrophone in the array, the higher the array attitude can reach, the larger the array gain is, the larger the range of the array to the target azimuth estimation is, the higher the precision is, and the large-scale application of the fiber vector hydrophone array is promoted.
Drawings
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 embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a fiber vector hydrophone calibration configuration provided by the present invention;
fig. 2 is an orientation estimation diagram of the fiber vector hydrophone array provided by the invention.
In the figure: 1-an optical fiber vector hydrophone; 2-attitude sensors; 3-attitude heading; 4-X + axis direction of the fiber vector hydrophone; 5-vector sphere XOY plane; 6-sound source; 7-fiber vector hydrophone array.
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 described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, an attitude sensor 2 is arranged at the top of the optical fiber vector hydrophone 1, and an arrow direction in the attitude sensor 2 represents an attitude heading 3; the fiber vector hydrophone 1 is provided with a vector sphere in the middle, and a vector sphere XOY plane 5 is arranged inside the vector sphere, wherein dotted lines in the vector sphere XOY plane 5 represent an X axis and a Y axis of the fiber vector hydrophone 1, and a solid arrow direction represents an X + axis direction 4 of the fiber vector hydrophone.
As shown in fig. 1-2, the present embodiment provides a method for calibrating a posture of a fiber vector hydrophone, including:
step 1: under far-field conditions, the fiber vector hydrophone 1 is vertically placed in water, and the fiber vector hydrophone 1 is in a straightened state through a balance weight and a floating ball.
Step 2: the spin stage is arranged such that the acoustic source 6 can rotate around the fiber vector hydrophone 1 and the distance of the acoustic source 6 from the fiber vector hydrophone 1 remains constant.
And 3, step 3: the sound source 6 emits a broadband signal and rotates around the fiber vector hydrophone 1 for one circle, wherein the time length of one circle is about 1 minute;
and 4, step 4: acquiring an azimuth angle theta of the optical fiber vector hydrophone 1 corresponding to the sound source 6 by adopting an acoustic energy flow method;
the acoustic energy flow method comprises the following steps:
according to the sound source signal information received by the fiber vector hydrophone 1, the estimation of the fiber vector hydrophone 1 to the azimuth angle of the sound source 6 is realized, wherein the reception of the signals of the X axis and the Y axis of the fiber vector hydrophone 1 is as follows:
wherein s (t) represents the sound intensity of the position of the optical fiber vector hydrophone 1 at the time t; v. of x Representing the X-axis received sound intensity signal; v. of y Representing the sound intensity signal received by the Y axis; theta is the azimuth angle of the sound source signal on the vector sphere XOY plane 5;
the azimuth angle θ of the sound source signal on the vector sphere XOY plane 5 is:
and 5: and determining the X + axis direction 4 of the optical fiber vector hydrophone according to the acquired azimuth angle. The position of the sound source 6 when the azimuth angle is zero degree, namely the X + axis direction 4 of the optical fiber vector hydrophone, is determined by obtaining the azimuth angle of the sound source 6 after rotating for a circle.
Step 6: and determining a deviation angle delta theta between the attitude heading 3 and the X + axis direction of the current hydrophone according to the attitude sensor 2 in the optical fiber vector hydrophone 1, and performing attitude calibration on the optical fiber vector hydrophone 1 to ensure that the X + axis direction 4 of the optical fiber vector hydrophone coincides with the attitude heading 3. The deviation angle Δ θ is an angle value of a test azimuth angle of the fiber vector hydrophone 1 when the sound source 6 rotates to a position where the heading angle of the attitude sensor is 0 degree.
Example 2
As shown in fig. 1-2, in the present embodiment, a method for calibrating an attitude of an optical fiber vector hydrophone array is provided, in which the method in embodiment 1 is used to perform an attitude calibration on each optical fiber vector hydrophone 1 in an optical fiber vector hydrophone array 7, so that an X + axis direction 4 of each optical fiber vector hydrophone in the array coincides with an attitude heading 3, where the difference between the calibration method in embodiment 2 and the calibration method in embodiment 1 is that a light source 6 rotates around the entire optical fiber vector hydrophone array 7 at a fixed preset speed by one revolution. The optical fiber vector hydrophone array 7 is formed by arranging a plurality of optical fiber vector hydrophones 1 in a line, and the number of the optical fiber vector hydrophones 1 in the optical fiber vector hydrophone array 7 can be set according to actual requirements. Fig. 2 is an example of a fiber vector hydrophone array 7 of 16 fiber vector hydrophones 1. When the postures of each fiber vector hydrophone 1 in the array are consistent in height, the larger the array gain is, the larger the range of the array for target azimuth estimation is, and the higher the accuracy is.
Example 3
As shown in fig. 1-2, the present disclosure provides a system for calibrating an attitude of an optical fiber vector hydrophone array, including: the system comprises a sound source signal transmitting module, a sound source signal receiving module, a data processing module and an attitude calibration module;
the sound source signal transmitting module: the system is used for transmitting a broadband signal by a sound source 6, and rotates around the optical fiber vector hydrophone array 7 for a circle at a preset speed, wherein the time length of the rotation for the circle is 1 minute;
a sound source signal acquisition module: the system is used for acquiring a sound source signal received by each optical fiber vector hydrophone 1 in the optical fiber vector hydrophone array 7 and sending the sound source signal to the data processing module;
a data processing module: the system is used for receiving a sound source signal sent by a sound source signal acquisition module and acquiring the azimuth angle of each optical fiber vector hydrophone 1 in the optical fiber vector hydrophone array 7 corresponding to the sound source by adopting an acoustic energy flow method; determining the X + axis direction 4 of each fiber vector hydrophone according to all the obtained azimuth angles; determining a deviation angle between the attitude heading 3 of the current hydrophone and the corresponding X + axis direction according to the attitude sensor 2 in each optical fiber vector hydrophone 1;
an attitude calibration module: the attitude calibration method is used for calibrating the attitude of each optical fiber vector hydrophone 1 in the optical fiber vector hydrophone array 7, so that the X + axis direction 4 of each optical fiber vector hydrophone in the array coincides with the attitude heading 3.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (10)
1. A method for calibrating the attitude of a fiber vector hydrophone, comprising:
a sound source emits a signal and rotates for a circle around the optical fiber vector hydrophone;
acquiring an azimuth angle theta of the optical fiber vector hydrophone corresponding to the sound source by adopting an acoustic energy flow method;
determining the X + axis direction of the optical fiber vector hydrophone according to the obtained azimuth angle;
and determining the deviation angle delta theta between the attitude heading of the current hydrophone and the X + axis direction according to an attitude sensor in the optical fiber vector hydrophone, and performing attitude calibration on the optical fiber vector hydrophone to ensure that the X + axis direction of the optical fiber vector hydrophone coincides with the attitude heading.
2. The method of claim 1, further comprising, before the acoustic source emits the signal:
under far-field conditions, a fiber-vector hydrophone is placed vertically in the water.
3. The method as claimed in claim 2, wherein the vertical placement of the fiber vector hydrophone is achieved by a weight and a floating ball to keep the fiber vector hydrophone in a straightened state.
4. The method of claim 1, wherein the acoustic source is rotated around the fiber-vector hydrophone by a rotating stage.
5. The method of claim 1, wherein the acoustic source rotates around the fiber vector hydrophone at a fixed predetermined speed.
6. The method of claim 1, wherein the method of acoustic power streaming comprises:
according to the received sound source signal information, the estimation of the azimuth angle of the optical fiber vector hydrophone is realized, wherein the X-axis and Y-axis signal reception of the optical fiber vector hydrophone is as follows:
wherein s (t) represents the sound intensity of the position of the optical fiber vector hydrophone at the time t; v. of x Representing the X-axis received sound intensity signal; v. of y Representing the sound intensity signal received by the Y axis; theta is the azimuth angle of the sound source signal on the XOY plane of the vector ball;
the azimuth angle theta of the sound source signal on the vector sphere XOY plane is as follows:
7. a method for calibrating the attitude of an optical fiber vector hydrophone array is characterized by comprising the following steps:
the sound source transmits signals and rotates for a circle around the optical fiber vector hydrophone array;
acquiring the azimuth angle theta of each optical fiber vector hydrophone in the optical fiber vector hydrophone array corresponding to the sound source by adopting an acoustic energy flow method;
determining the X + axis direction of each optical fiber vector hydrophone according to the obtained azimuth angle;
and determining the attitude heading of the current hydrophone and the deviation angle delta theta of the X + axis direction according to the attitude sensor in each optical fiber vector hydrophone, and performing attitude calibration on each optical fiber vector hydrophone to ensure that the X + axis direction of each optical fiber vector hydrophone is coincident with the attitude heading.
8. The method of claim 6, wherein the sound source rotates around the fiber-optic vector hydrophone array at a fixed preset speed.
9. The method for calibrating the attitude of the fiber vector hydrophone array according to claim 6, wherein the acoustic energy flow method comprises the following steps:
according to sound source signal information received by each optical fiber proper hydrophone in the optical fiber vector hydrophone array, the azimuth angle of each optical fiber vector hydrophone is estimated, wherein the X-axis signal reception and the Y-axis signal reception of the optical fiber vector hydrophones are as follows:
wherein s (t) represents the sound intensity of the position of the optical fiber vector hydrophone at the time t; v. of x Representing the X-axis received sound intensity signal; v. of y Representing the sound intensity signal received by the Y axis; theta is the azimuth angle of the sound source signal on the XOY plane of the vector ball;
the azimuth angle theta of the sound source signal on the vector sphere XOY plane is as follows:
10. an optical fiber vector hydrophone array attitude calibration system, comprising: the system comprises a sound source signal transmitting module, a sound source signal receiving module, a data processing module and an attitude calibration module;
the sound source signal transmitting module: the device is used for transmitting signals by a sound source and rotating around the optical fiber vector hydrophone array for a circle at a preset speed;
a sound source signal acquisition module: the system is used for acquiring a sound source signal received by each optical fiber vector hydrophone in the optical fiber vector hydrophone array and sending the sound source signal to the data processing module;
a data processing module: the system is used for receiving a sound source signal sent by a sound source signal acquisition module and acquiring the azimuth angle of each optical fiber vector hydrophone in the optical fiber vector hydrophone array corresponding to the sound source by adopting an acoustic energy flow method; determining the X + axis direction of each optical fiber vector hydrophone through all the obtained azimuth angles; determining a deviation angle between the attitude heading of the current hydrophone and the X + axis direction corresponding to the attitude heading according to an attitude sensor in each optical fiber vector hydrophone;
an attitude calibration module: the attitude calibration method is used for calibrating the attitude of each optical fiber vector hydrophone in the optical fiber vector hydrophone array, so that the X + axis direction of each optical fiber vector hydrophone in the array is coincident with the attitude heading.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929538A (en) * | 2023-07-27 | 2023-10-24 | 山东博华电子科技发展有限公司 | Hydrophone with attitude control function and monitoring equipment thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929538A (en) * | 2023-07-27 | 2023-10-24 | 山东博华电子科技发展有限公司 | Hydrophone with attitude control function and monitoring equipment thereof |
| CN116929538B (en) * | 2023-07-27 | 2024-01-23 | 山东博华电子科技发展有限公司 | Hydrophone with attitude control function and monitoring equipment thereof |
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