CN115390052A - Imaging sonar object simulation device and method - Google Patents
Imaging sonar object simulation device and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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Abstract
The invention discloses an imaging sonar object simulation device and method, wherein the device comprises the following steps: a motion platform; the transmitting transducer is used for transmitting a preset signal to a sonar target in water; the hydrophone is connected with the motion platform and is positioned in the water; the control assembly is respectively connected with the motion platform, the transmitting transducer and the receiving hydrophone; the motion platform is used for driving the receiving hydrophones to move to various position points in a vertical plane so as to form an imaging sonar receiving array, and the transmitting transducer is positioned in the vertical plane; the control assembly performs imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and signals acquired by the receiving hydrophones. The method comprises the steps of utilizing a single hydrophone to simulate any array shape in a time-sharing mode to acquire signals, simulating all acquisition channels of the imaging sonar to acquire simultaneously, and then utilizing the data to verify the imaging sonar effect. The method can reduce the imaging sonar imaging process to the maximum extent, and the obtained result can represent the designed sonar actual imaging effect to the maximum extent.
Description
Technical Field
The invention relates to the technical field of sonar imaging, in particular to an imaging sonar object simulation device and method.
Background
With the increasing frequency of human underwater resource development and utilization activities, the visual detection technology of underwater targets has very urgent application requirements in the fields of port safety inspection, underwater engineering operation, ocean science research, water surface/underwater carrier collision avoidance and national defense and military. The imaging sonar can effectively detect underwater targets, can perform high-speed and continuous shooting on underwater static or moving targets, and is widely applied to various underwater activities at present. The imaging sonar adopts an acoustic pulse to transmit the whole underwater detection scene, receives the echo signal of the detected object through a designed transducer receiving array, and simultaneously generates thousands of wave beam signals by using a phased array technology, thereby obtaining a real-time image of the detection scene.
In the imaging sonar development process, the performance verification of an imaging algorithm usually needs a complete sonar system. However, since the sonar system comprises hundreds of front-end signal acquisition channels and transducers and circuits with large scale such as analog signal filtering, amplification, sampling and digital signal processing, the development period is long and the cost is huge, which greatly reduces the iteration speed of the algorithm. In addition, if the sonar array type needs to be modified, hardware system manufacturing needs to be carried out again, and the research and development progress of the sonar is undoubtedly slowed down. Therefore, in the initial stage of sonar development, a sonar imaging algorithm is generally verified through computer modeling simulation, but because sonar detection scale is large, sound field propagation and a sound-medium interaction mechanism are complex, and computer modeling is difficult to simulate a real sonar detection process, a simulation result generally has a large difference from an actual imaging effect.
In the article of three-dimensional imaging sonar target echo modeling simulation and analysis, a paper firstly establishes a linear target echo model of a shallow sea wedge-shaped seabed, and then derives echo signals under an ideal environment and echo signals under the interference of shallow sea environment reverberation by adopting a channel convolution method based on a ray acoustic reverberation model. The target echo model and the sound propagation model in the method both belong to ideal models, and the actual sound propagation model is often complex.
In patent CN103163785B, a sonar simulator is built to verify the performance of a sonar system, which belongs to semi-physical simulation. The simulated echoes of the array element number are generated through computer simulation, signals such as noise, reverberation and interference are added to restore the real detection environment as far as possible, certain entrance and exit are provided with the real sound propagation model, and the system scale is very large.
In the article of sparse array-based real-time three-dimensional imaging sonar system, a paper verifies the effectiveness of an algorithm by designing and implementing a set of three-dimensional imaging sonar system.
In conclusion, in the imaging sonar development process, the imaging effect can only be verified by manufacturing a sonar prototype at present, but the prototype development period is long and the development difficulty is high. Therefore, in the early stage, computer simulation is generally adopted to replace experiments, but the deviation of the computer simulation result is often large, and the guiding significance to the imaging algorithm is limited.
Accordingly, there is a need for improvements and developments in the art.
Disclosure of Invention
The invention aims to solve the technical problem that in the prior art, the imaging sonar object simulation device and method are provided, and the problem that in the prior art, sonar imaging has larger deviation of a computer simulation result is solved.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an imaging sonar object simulation device, which comprises:
a motion platform;
the transmitting transducer is fixed in water and used for transmitting a preset signal to a sonar target in the water;
the receiving hydrophone is connected with the motion platform and is positioned in the water;
the control assembly is respectively connected with the motion platform, the transmitting transducer and the receiving hydrophone;
the moving platform is used for driving the receiving hydrophones to move to various position points in a vertical plane so as to form an imaging sonar receiving array, and the transmitting transducer is located in the vertical plane;
and the control component performs imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
Imaging sonar analogue means in kind, wherein, the sonar target is located emission transducer's sound field irradiation region is intra-area, and is located receive hydrophone's directive property scope, the position scope of sonar target is:
Wherein X, Y and Z respectively represent the coordinates of an X axis, a Y axis and a Z axis of a sonar target in a three-dimensional coordinate system, the vertical direction is taken as the X axis, the direction which is perpendicular to the X axis in a vertical plane where a receiving hydrophone moves is taken as the Y axis, the direction which is perpendicular to the X axis and the Y axis and faces the sonar target is taken as the Z axis, the position where the receiving hydrophone is located is taken as the origin of the three-dimensional coordinate system, L represents the distance between the center of a transmitting transducer and the receiving hydrophone in the X axis direction, M represents the distance between the center of the transmitting transducer and the receiving hydrophone in the Y axis direction, and theta represents the open angle of the transmitting transducer,
representing the open angle of the receiving hydrophone.
Imaging sonar analogue means in kind, wherein, the control module includes:
the motion controller is electrically connected with the motion platform;
a power amplifier electrically connected with the transmitting transducer;
the signal source is electrically connected with the power amplifier;
the preamplifier is electrically connected with the receiving hydrophone;
the acquisition card is electrically connected with the signal source and the preamplifier;
and the computer is electrically connected with the signal source, the acquisition card and the motion controller.
Imaging sonar analogue means in kind, wherein, imaging sonar analogue means in kind still includes:
and the target activity controller is electrically connected with the computer to control the sonar target activity.
An imaging sonar object simulation method, which is applied to the imaging sonar object simulation device according to any one of the above items, the simulation method comprising the steps of:
controlling the motion platform to enable the receiving hydrophone to move to a position point;
controlling a transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophone;
controlling the motion platform to enable the receiving hydrophones to move to the next position point, continuously executing the step of controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophones until all the position points of the receiving hydrophones form an imaging sonar receiving array;
and carrying out imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
The imaging sonar object simulation method comprises the following steps:
the motion controller is electrically connected with the motion platform;
a power amplifier electrically connected to the transmitting transducer;
the signal source is electrically connected with the power amplifier;
the preamplifier is electrically connected with the receiving hydrophone;
the acquisition card is electrically connected with the signal source and the preamplifier;
the computer is electrically connected with the signal source, the acquisition card and the motion controller;
control transmitting transducer is to sonar target transmission of aquatic and is predetermine the signal to through receive hydrophone acquisition signal, include:
and controlling the signal source to simultaneously output a waveform signal and a trigger signal so as to enable the transmitting transducer to transmit a preset signal to a sonar target according to the waveform signal and enable the acquisition card to acquire the signal of the receiving hydrophone according to the trigger signal.
The imaging sonar real object simulation method comprises the following steps:
the target activity controller is electrically connected with the computer to control the sonar target activity;
the simulation method further comprises the steps of:
and after all position points of the receiving hydrophones form an imaging sonar receiving array, controlling the sonar target motion through a target motion controller, and continuously controlling the motion platform to enable the receiving hydrophones to move to the position points until the signal acquisition is finished.
The imaging sonar object simulation method is characterized in that the sonar target is a three-dimensional stereo target; and/or
And when the motion platform is controlled to enable the receiving hydrophone to move to the position point, the receiving hydrophone is static for a preset time.
A computer device comprising a memory storing a computer program and a processor, wherein the processor implements the steps of the method as claimed in any one of the above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, realizes the steps of the method as set forth in any of the above.
Has the advantages that: the method comprises the steps of utilizing a single hydrophone to virtually acquire (echo) signals in any array shape in a time-sharing mode, simulating all acquisition channels of the imaging sonar to acquire simultaneously, and then utilizing the data to verify the imaging sonar effect. The method can reduce the imaging sonar imaging process to the maximum extent, and the obtained result can represent the designed sonar actual imaging effect to the maximum extent.
Drawings
FIG. 1 is a schematic structural diagram of an imaging sonar object simulation device in the invention.
FIG. 2 is a flow chart of the imaging sonar object simulation method in the invention.
Fig. 3 is a schematic diagram of a sonar target layout range.
Fig. 4 is a result of imaging sonar real objects (object 1 and object 2) and simulation in the present invention.
Description of reference numerals:
1. a water pool; 2. a motion platform; 3. a motion controller; 4. a computer; 5. a signal source; 6. a power amplifier; 7. a transmitting transducer; 8. collecting cards; 9. a preamplifier; 10. receiving a hydrophone; 11. sonar target.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1-4, the present invention provides some embodiments of an imaging sonar object simulation apparatus.
As shown in fig. 1 and 3, the imaging sonar object simulation device of the present invention includes:
a motion platform 2;
the transmitting transducer 7 is fixed in water and used for transmitting a preset signal to the sonar target 11 in the water;
the receiving hydrophone 10 is connected with the motion platform 2 and is positioned in water;
the control assembly is respectively connected with the motion platform 2, the transmitting transducer 7 and the receiving hydrophone 10;
the motion platform 2 is used for driving the receiving hydrophones 10 to move to various position points in a vertical plane to form an imaging sonar receiving array, and the transmitting transducer 7 is located in the vertical plane;
the control component performs imaging simulation on the sonar target 11 according to the position information of the receiving hydrophone 10 at all position points and the signals acquired by the receiving hydrophone 10.
It is worth explaining that based on the fact that the imaging algorithm verification period in the existing imaging sonar development is long, and the reliability of a computer simulation result is low, the imaging sonar object simulation device and method are provided. The device and the method use the synthetic aperture sonar principle for reference, and perform (echo) signal acquisition by utilizing a single hydrophone in a time-sharing virtual arbitrary array shape by controlling acquisition trigger time, simulate all acquisition channels of the imaging sonar to acquire simultaneously, and then verify the imaging sonar effect by utilizing the data. The method can reduce the imaging sonar imaging process to the maximum extent, and the obtained result can represent the designed sonar actual imaging effect to the maximum extent, thereby having important significance for the algorithm verification of the imaging sonar.
Specifically, the imaging sonar object simulation device can be applied to the pool 1 or other water bodies, and can simulate the sonar target 11 in the water body to simulate the appearance and the size of the sonar target 11.
The motion platform 2 is a platform providing a moving force for the receiving hydrophone 10, the moving direction may be linear direction movement, in-plane movement, three-dimensional direction movement, and the like, the motion platform 2 is connected to the receiving hydrophone 10 and is used for driving the receiving hydrophone 10 to move, and the motion platform 2 may be located on the water surface or under the water. In order to ensure that the receiving hydrophone 10 can move in three dimensions, the moving platform can adopt a three-axis moving platform 2.
The transmitting transducer 7 is a 'transmitter', and is used for transmitting acoustic signals in water, the transmitting transducer 7 is used for transmitting preset signals (namely acoustic signals) to a sonar target 11 in water, the transmitting transducer 7 is located under water, and the position of the transmitting transducer 7 is fixed and unchanged in the simulation process.
The receiving hydrophone 10 is a transducer for converting underwater acoustic signals into electric signals, and the receiving hydrophone 10 is used for receiving acoustic waves reflected by the underwater sonar targets 11 and converting the acoustic waves into the electric signals. The position of receiving hydrophone 10 can be along with motion platform 2 removes, and receiving hydrophone 10 removes in vertical plane, can be static in the removal process and predetermine the time and sample, because the different positions of receiving hydrophone 10 in vertical plane sample, can form imaging sonar receiving array. The vertical plane refers to a plane perpendicular to the horizontal plane, which is, of course, perpendicular to the water surface since the horizontal plane is parallel to the water surface.
The control assembly is an assembly for controlling all parts in the imaging sonar real object simulation device, can control the motion platform 2 to move, control the transmitting transducer 7 to transmit preset signals and control the receiving hydrophone 10 to acquire signals, and carries out imaging simulation on the sonar target 11 according to the position information of the receiving hydrophone 10 at all position points and the signals acquired by the receiving hydrophone 10 to obtain an image of the sonar target 11.
According to imaging sonar hardware parameters to be simulated, a sound source with performance close to the sound source level, emission directivity and the like of the imaging sonar emission transducer 7 is selected as the emission transducer 7 of the device, and a receiving hydrophone 10 with directivity and receiving sensitivity close to those of the imaging sonar receiving transducer is selected as the receiving hydrophone 10 of the device.
Specifically, as shown in fig. 3, the imaging sonar real object simulation apparatus is controlled by the following steps:
controlling the motion platform 2 to receive the hydrophone 10 to move to a position point;
controlling the transmitting transducer 7 to transmit a preset signal to a sonar target 11 in water, and acquiring the signal through the receiving hydrophone 10;
controlling the motion platform 2 and the receiving hydrophone 10 to move to the next position point, continuing to execute the step of controlling the transmitting transducer 7 to transmit a preset signal to a sonar target 11 in water, and acquiring the signal through the receiving hydrophone 10 until all the position points of the receiving hydrophone 10 form an imaging sonar receiving array;
and performing imaging simulation on the sonar target 11 according to the position information of the receiving hydrophone 10 at all position points and the signals acquired by the receiving hydrophone 10.
Specifically, the imaging sonar receiving array may be an array of any shape, and the position and number of position points in the array may be set as needed. It should be noted that after the position and number of the position points of the array are determined, the moving trajectory of the receiving hydrophones 10 can also be determined as desired, typically using the shortest moving path. Receiving hydrophone 10 every time reaches a position point after, then control transmitting transducer 7 to sonar target 11 transmission preset signal to through receiving hydrophone 10 acquisition signal, the signal acquisition of this position point is accomplished the back, removes receiving hydrophone 10 to next position point, carries out the signal acquisition of next position point, and signal acquisition until all position points is accomplished, then all position points that receiving hydrophone 10 passed through can arrange and form formation imaging sonar receiving array. And finally, carrying out imaging simulation on the sonar target 11 according to the position information of the hydrophone 10 at all position points and the acquired signals.
Because the shapes of the sonar targets 11 are different, and the angles of the sonar targets 11 reflecting the acoustic signals are different, the receiving hydrophones 10 can receive the acoustic signals at different position points. Due to the different sizes of the sonar targets 11, the sonar targets 11 receive acoustic signals only at a position point near the projection of the vertical plane (the vertical plane is the plane where the receiving hydrophone 10 moves). Therefore, imaging simulation can be performed on the shape and size of the sonar target 11 through signals acquired from different position points.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 1 and fig. 3, the sonar target is located in the sound field irradiation area of the transmitting transducer and in the directivity range of the receiving hydrophone, and the position range of the sonar target is:
Wherein, X, Y, Z represent sonar target X axle in three-dimensional coordinate system, Y axle, the coordinate of Z axle respectively, use vertical direction as the X axle, use the direction of perpendicular to X axle in the vertical plane that the receiving hydrophone moved to be the Y axle, use perpendicular to X axle and Y axle and the direction towards sonar target to be the Z axleTaking the position of the receiving hydrophone as the origin of a three-dimensional coordinate system, wherein L represents the distance between the center of the transmitting transducer and the receiving hydrophone in the X-axis direction, M represents the distance between the center of the transmitting transducer and the receiving hydrophone in the Y-axis direction, theta represents the opening angle of the transmitting transducer,
representing the open angle of the receiving hydrophone.
Specifically, the transmitting transducer 7 is oriented the same as the receiving hydrophone 10, both towards the sonar target 11. In order to ensure that the acoustic signals emitted by the emitting transducer 7 can be transmitted to the sonar target 11 and reflected to the receiving hydrophone 10, the sonar target 11 is located in the irradiation area of the sound field of the emitting transducer 7 and is located in the directivity range of the receiving hydrophone 10, that is, when the sonar target 11 is located in the irradiation area of the sound field of the emitting transducer 7, the acoustic signals emitted by the emitting transducer 7 can be transmitted to the sonar target 11, and when the sonar target 11 is located in the directivity range of the receiving hydrophone 10, the acoustic signals reflected by the sonar target 11 can be transmitted to the receiving hydrophone 10.
Specifically, the sound field irradiation area of the transmitting transducer 7 is simulated into a cone, the directivity range of the receiving hydrophone 10 is also simulated into a cone, and the sonar target 11 is positioned in the coincidence area of the two cones. A three-dimensional coordinate system is established by taking the position of the receiving hydrophone 10 as an original point O (0, 0), the vertical direction is taken as an X-axis direction, the direction perpendicular to the X axis in the vertical plane in which the receiving hydrophone 10 moves is taken as a Y axis, namely, the receiving hydrophone 10 moves in the plane formed by the X axis and the Y axis to form an imaging sonar receiving array, the Z axis direction points to a sonar target 11, and the X axis, the Y axis and the Z axis are mutually perpendicular in pairs.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 1 and 3, the control component includes:
the motion controller 3 is electrically connected with the motion platform 2;
a power amplifier 6 electrically connected to the transmitting transducer 7;
the signal source 5 is electrically connected with the power amplifier 6;
a preamplifier 9 electrically connected to the receiving hydrophone 10;
the acquisition card 8 is electrically connected with the signal source 5 and the preamplifier 9;
and the computer 4 is electrically connected with the signal source 5, the acquisition card 8 and the motion controller 3.
Specifically, to achieve control of the motion platform 2, the transmitting transducer 7 and the receiving hydrophone 10, the motion platform 2 is controlled by the computer 4 and the motion controller 3 to adjust the position of the receiving hydrophone 10. The transmitting transducer 7 is controlled by the computer 4, the signal source 5 and the power amplifier 6 such that the transmitting transducer 7 transmits a preset signal. Signals of the receiving hydrophone 10 are collected by the computer 4, the acquisition card 8 and the preamplifier 9.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 1 and fig. 3, the imaging sonar object simulation apparatus further includes:
and the target activity controller is electrically connected with the computer 4 to control the activity of the sonar target 11.
Specifically, sonar target 11 is not necessarily fixed, and through increasing the removal of target activity controller control sonar target 11, sonar target 11's removal can be moved according to the track of predetermineeing, also can be as required the position of artificial adjustment sonar target 11. In order to ensure that the movement of the sonar target 11 does not affect the effect of the imaging simulation, the position of the sonar target 11 is kept unchanged for a period of time during which the receiving hydrophone 10 moves in the vertical plane to form the imaging sonar receiving array. After the imaging sonar receiving array is formed to finish data acquisition of one state, the sonar target 11 can be moved, and the receiving hydrophone 10 is continuously moved to form the imaging sonar receiving array so as to finish data acquisition of the next state. Of course, the data acquired in two or more states (receiving the position information of the hydrophone 10 at all position points, receiving the signals acquired by the hydrophone 10) can be processed together for imaging simulation.
It should be emphasized that, the moving mode of sonar target 11 includes moving and rotating, through target removal and rotation for sonar target 11's acoustic reflection cross-section and position change to simulate the sonar formation of image of different gesture or different positions.
Based on the imaging sonar real object simulation device according to any one of the above embodiments, the present invention further provides a preferred embodiment of the imaging sonar real object simulation method:
as shown in fig. 2, the imaging sonar object simulation method according to the embodiment of the present invention includes the following steps:
and S100, controlling the motion platform to enable the receiving hydrophones to move to the position points.
And S200, controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophone.
And S300, controlling the motion platform to enable the receiving hydrophones to move to the next position point, continuously executing the step of controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophones until all the position points of the receiving hydrophones form an imaging sonar receiving array.
And S400, carrying out imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
Specifically, the sonar target can be a three-dimensional object, and the imaging sonar object simulation method can perform imaging simulation on the three-dimensional object. Make the position point that receives hydrophone and remove to formation of image sonar receiving array through control motion platform, then when control emission transducer predetermines the signal to sonar target transmission, gather the signal through receiving hydrophone, accomplish the data acquisition back of this position point, control motion platform makes the next position point that receives hydrophone motion to formation of image sonar receiving array to carry out the data acquisition of next position. After the data acquisition of all position points of imaging sonar receiving array is completed, imaging simulation can be performed on the sonar target according to the position information of all the position points and the acquired signals.
According to the requirements of an imaging sonar for transmitting signals, parameters such as signal form, pulse length, pulse width, bandwidth and the like of a signal source are set; according to the sampling requirement received by the imaging sonar, parameters such as sampling rate and sampling length of the acquisition card are set.
The position information of the position point in each imaging sonar receiving array and the acquired signals can be mapped, and the mapping is equivalent to real data acquired by the same array type sonar. The position information may be represented in three-dimensional coordinates. In order to ensure the accuracy of the acquisition of the receiving hydrophone, when the motion platform is controlled to enable the receiving hydrophone to move to the position points, the time for the receiving hydrophone to stay still can be preset, and the moving speed of the receiving hydrophone and the time for the receiving hydrophone to stay still at each position point can be set according to needs.
Step S200 specifically includes:
and S210, controlling the signal source to simultaneously output a waveform signal and a trigger signal so as to enable the transmitting transducer to transmit a preset signal to a sonar target according to the waveform signal, and enabling the acquisition card to acquire the signal of the receiving hydrophone according to the trigger signal.
Specifically, in order to avoid the influence of other sound waves, reduce noise and ensure the reliability of the acquired data, the signal source simultaneously outputs a waveform signal (specifically, an electrical signal) and a trigger signal to the transmitting transducer and the acquisition card, respectively, so that the transmitting transducer transmits a preset signal and the acquisition card can acquire a signal of the hydrophone.
The simulation method further comprises:
and S500, after all position points of the receiving hydrophones form an imaging sonar receiving array, controlling the sonar target motion through a target motion controller, and continuously controlling the motion platform to enable the receiving hydrophones to move to the position points until the signal acquisition is finished.
Specifically, accomplish the data acquisition of an imaging sonar receiving array after, can carry out the data acquisition of next imaging sonar receiving array, specifically can control sonar target activity through target activity controller to continue to control motion platform and make the position point that receives hydrophone motion to next imaging sonar receiving array. It is emphasized that the imaging sonar receiving arrays may or may not be identical. And finishing signal acquisition until the data acquisition of all the imaging sonar receiving arrays is finished. The procedure proceeds to step S400 for imaging simulation.
Detailed description of the preferred embodiment
Taking a simulated three-dimensional imaging sonar as an example, the parameters are as follows: the directivity of a transmitting transducer is taken to be 50 degrees multiplied by 50 degrees, a signal source is a single-frequency signal with the center frequency of F =375kHz, the pulse width is 30us, and the sampling rate of an acquisition card is set to be F s ＝2×10 6 The number of analog receiving array elements is 51 multiplied by 51, the array elements are arrayed at one time of wavelength, the array element spacing d =4mm, the transmitting transducer is positioned right above the receiving array, and the distance is L =15cm. The imaging target is two cubic cement blocks, the side length of the target 1 is 10cm, the side length of the target 2 is 16cm, the distance from the receiving hydrophone is about 0.85m, the imaging algorithm is near-field beam forming, and the final simulated imaging effect is shown in figure 4.
Based on the imaging sonar object simulation method according to any one of the embodiments, the invention further provides a preferred embodiment of computer equipment:
the computer device of the embodiment of the invention comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the following steps:
controlling the motion platform to enable the receiving hydrophone to move to the position point;
controlling a transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophone;
controlling the motion platform to enable the receiving hydrophones to move to the next position point, continuously executing the step of controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophones until all the position points of the receiving hydrophones form an imaging sonar receiving array;
and carrying out imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
Based on the imaging sonar object simulation method according to any one of the embodiments, the present invention further provides a preferred embodiment of a computer-readable storage medium:
a computer-device-readable storage medium of an embodiment of the present invention has a computer program stored thereon, which, when executed by a processor, implements the steps of:
controlling the motion platform to enable the receiving hydrophone to move to the position point;
controlling a transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophone;
controlling the motion platform to enable the receiving hydrophones to move to the next position point, continuously executing the step of controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophones until all the position points of the receiving hydrophones form an imaging sonar receiving array;
and carrying out imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
It will be understood that the invention is not limited to the examples described above, but that modifications and variations will occur to those skilled in the art in light of the above teachings, and that all such modifications and variations are considered to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an image sonar analogue means in kind which characterized in that includes:
a motion platform;
the transmitting transducer is fixed in water and used for transmitting a preset signal to a sonar target in the water;
the hydrophone is connected with the motion platform and is positioned in the water;
the control assembly is respectively connected with the motion platform, the transmitting transducer and the receiving hydrophone;
the moving platform is used for driving the receiving hydrophones to move to various position points in a vertical plane so as to form an imaging sonar receiving array, and the transmitting transducer is located in the vertical plane;
and the control component performs imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
2. The imaging sonar object simulation device according to claim 1, wherein the sonar target is located in a sound field irradiation area of the emission transducer and in a directivity range of the receiving hydrophone, and the sonar target is located in a position range of:
Wherein X, Y and Z respectively represent the coordinates of an X axis, a Y axis and a Z axis of a sonar target in a three-dimensional coordinate system, the vertical direction is taken as the X axis, the direction which is perpendicular to the X axis in a vertical plane where a receiving hydrophone moves is taken as the Y axis, the direction which is perpendicular to the X axis and the Y axis and faces the sonar target is taken as the Z axis, the position where the receiving hydrophone is located is taken as the origin of the three-dimensional coordinate system, L represents the distance between the center of a transmitting transducer and the receiving hydrophone in the X axis direction, M represents the distance between the center of the transmitting transducer and the receiving hydrophone in the Y axis direction, and theta represents the open angle of the transmitting transducer,
representing the open angle of the receiving hydrophone.
3. The imaging sonar object simulation apparatus according to any one of claims 1 to 2, wherein the control unit includes:
the motion controller is electrically connected with the motion platform;
a power amplifier electrically connected to the transmitting transducer;
the signal source is electrically connected with the power amplifier;
the preamplifier is electrically connected with the receiving hydrophone;
the acquisition card is electrically connected with the signal source and the preamplifier;
and the computer is electrically connected with the signal source, the acquisition card and the motion controller.
4. The imaging sonar real object simulation apparatus of claim 3, characterized in that it further comprises:
and the target activity controller is electrically connected with the computer to control the sonar target activity.
5. An imaging sonar real object simulation method, which is applied to the imaging sonar real object simulation apparatus according to any one of claims 1 to 4, the simulation method comprising the steps of:
controlling the motion platform to enable the receiving hydrophone to move to the position point;
controlling a transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophone;
controlling the motion platform to enable the receiving hydrophones to move to the next position point, continuously executing the step of controlling the transmitting transducer to transmit a preset signal to a sonar target in water, and acquiring the signal through the receiving hydrophones until all the position points of the receiving hydrophones form an imaging sonar receiving array;
and carrying out imaging simulation on the sonar target according to the position information of the receiving hydrophones at all position points and the signals acquired by the receiving hydrophones.
6. The imaging sonar object simulation method according to claim 4, wherein the control unit comprises:
the motion controller is electrically connected with the motion platform;
a power amplifier electrically connected to the transmitting transducer;
the signal source is electrically connected with the power amplifier;
the preamplifier is electrically connected with the receiving hydrophone;
the acquisition card is electrically connected with the signal source and the preamplifier;
the computer is electrically connected with the signal source, the acquisition card and the motion controller;
control transmitting transducer is to sonar target transmission of aquatic and is predetermine the signal to through receive hydrophone acquisition signal, include:
and controlling the signal source to simultaneously output a waveform signal and a trigger signal so as to enable the transmitting transducer to transmit a preset signal to a sonar target according to the waveform signal and enable the acquisition card to acquire the signal of the receiving hydrophone according to the trigger signal.
7. The imaging sonar real object simulation method according to claim 6, wherein the imaging sonar real object simulation apparatus further comprises:
the target activity controller is electrically connected with the computer to control the sonar target activity;
the simulation method further comprises the steps of:
and after all position points of the receiving hydrophones form an imaging sonar receiving array, controlling the sonar target motion through a target motion controller, and continuously controlling the motion platform to enable the receiving hydrophones to move to the position points until the signal acquisition is finished.
8. The imaging sonar object simulation method according to claim 5, wherein the sonar target is a three-dimensional stereo target; and/or
And when the motion platform is controlled to enable the receiving hydrophone to move to the position point, the receiving hydrophone is static for a preset time.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 5 to 8 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 8.
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