CN115436953A - Sonar system based on split beam - Google Patents
Sonar system based on split beam Download PDFInfo
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- CN115436953A CN115436953A CN202211077416.4A CN202211077416A CN115436953A CN 115436953 A CN115436953 A CN 115436953A CN 202211077416 A CN202211077416 A CN 202211077416A CN 115436953 A CN115436953 A CN 115436953A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The application provides a sonar system based on split beam includes: host computer, signal preprocessing unit, transducer array, sonar emission unit and sonar receiving unit. The upper computer is used for sending sonar working parameters and emission instructions to the signal preprocessing unit; the signal preprocessing unit generates a transmitting signal source; the transmitting signals are converted into acoustic signals through a plurality of sub-arrays of the transducer array and transmitted underwater. The transducer array receives acoustic signals and converts the acoustic signals into received signals, the sonar receiving unit converts the received signals into amplified signals, and the signal preprocessing unit preprocesses the amplified signals and then inputs time delay information and envelope information into an upper computer to calculate position information of the underwater target object. The position information of the underwater target object can be calculated according to the time delay information of each subarray returned by the sonar reflected by the underwater target object. The underwater biological monitoring system can effectively reduce errors, thereby realizing real-time fixed monitoring of underwater organisms and long-term monitoring and evaluation.
Description
Technical Field
The present disclosure relates generally to the field of high-frequency sonar hardware design, and in particular, to a sonar system based on split beams.
Background
The marine resources play an important role in realizing the sustainable development of human beings, and meanwhile, the fishery resources also play an important role in the marine resources. From the early stage, the fish shoal can be positioned and the number can be estimated by using various auxiliary equipment such as fish finding sonar and the like. Blind fishing is not beneficial to development and sustainable utilization of fishery resources, so scientific and technical means need to be effectively applied to development and utilization of fishery resources. The scientific fish finding sonar is used for evaluating and detecting fishery resources, and is an important means for developing fishery resource scientific management, obtaining effective maintenance, ensuring marine resource sustainable development, protecting marine ecological environment and realizing marine comprehensive management.
At present, most scientific fish sounding sonars aiming at the evaluation of marine fishery resources are installed on survey ships, and fishery resources such as oceans and lakes or other organisms are investigated and evaluated in a sailing mode. However, with the needs of marine ecological environment monitoring, restoration and protection, the existing method has errors in the identification of underwater targets, so that effective monitoring and evaluation cannot be performed during the navigation survey data, and long-term and real-time fixed monitoring cannot be performed.
Disclosure of Invention
In view of the above-mentioned deficiencies or inadequacies in the prior art, it would be desirable to provide a split beam based sonar system.
The application provides a sonar system based on split beam includes:
the upper computer is used for sending sonar working parameters and transmitting instructions;
the signal preprocessing unit is connected with the upper computer and used for receiving the sonar working parameters and the emission instruction, adjusting the sonar working parameters according to the emission instruction and further generating an emission signal source;
the sonar emission unit is connected with the output end of the signal preprocessing unit at the input end and used for receiving the emission signal source and amplifying the power of the emission signal source step by step to obtain an emission signal;
the input end of the transducer array is connected with the output end of the sonar emission unit; the transducer array is provided with a plurality of sub-arrays arranged in an array manner; the transducer array is a receiving and transmitting combined energy-displacing device: the device is used for converting the transmitting signals into acoustic signals to be transmitted into water, or converting the acoustic signals received by each subarray into receiving signals respectively;
the sonar receiving unit is connected with the output end of the transducer array and used for receiving a plurality of receiving signals; amplifying the plurality of received signals respectively to obtain a plurality of amplified signals; thereby inputting a plurality of the amplified signals to the signal preprocessing unit;
the signal preprocessing unit is also configured to preprocess the plurality of amplified signals to obtain a plurality of delay information and envelope information;
the upper computer is also configured to: and calculating depth information and a phase angle according to the time delay information and the envelope information, calculating position information of the underwater target object according to the depth information and the phase angle, and displaying a calculation result.
According to the technical scheme that this application embodiment provided, sonar emission unit includes: the device comprises a driving circuit, a power amplifying circuit, a transformer amplifying circuit and a matching circuit;
the driving circuit, the power amplifying circuit and the transformer amplifying circuit are used for respectively carrying out power amplification on the transmitting signal source;
the matching circuit is used for carrying out line matching on a circuit between the sonar emission unit and the transducer array: the resistance and the capacitance of the transducer array are consistent with those of the sonar emission unit when emitting acoustic signals with variable frequency.
According to the technical scheme provided by the embodiment of the application, the transducer array is connected with a receiving-transmitting conversion circuit, and the receiving-transmitting conversion circuit is also connected with the sonar transmitting unit and the sonar receiving unit; the receiving and transmitting conversion circuit is used for controlling the sonar receiving unit to be grounded when transmitting acoustic signals.
According to the technical scheme that this application embodiment provided, sonar receiving element includes: the device comprises a fixed gain amplifying circuit, a controllable gain amplifying circuit and a band-pass filter circuit;
the band-pass filter circuit is used for filtering the received signals and reserving corresponding frequency bands;
the fixed gain amplifying circuit is used for amplifying the received signal after the frequency wave by fixed gain;
the controllable gain amplification circuit is used for: and performing TVG gain control, and further amplifying the received signals according to the amplification of the fixed gain, so that the received signals with different gains keep the same gain after being amplified twice.
According to the technical scheme provided by the embodiment of the application, the signal preprocessing unit is specifically configured to:
obtaining a plurality of said amplified signals;
performing pulse compression on the amplified signals to obtain compressed signals; performing peak separation on the plurality of compressed signals respectively; obtaining a plurality of peak positions;
phase calculation is carried out according to the phases of the peak positions to obtain phase angle information and time delay information of the underwater target object;
the upper computer is specifically configured to:
calculating depth information of the underwater target object according to the time delay information;
and calculating the position information of the underwater target object according to the depth information and the phase angle information.
According to the technical scheme provided by the embodiment of the application, the signal preprocessing unit, the sonar emission unit, the transducer array and the sonar receiving unit are respectively provided with a plurality of signal preprocessing units; the signal preprocessing units are connected with the same upper computer; the upper computer respectively sends out sonar working parameters of different frequency bands to the plurality of sonar devices;
each of the signal pre-processing units is further configured to:
performing multi-signal synthesis on the amplified signals of the corresponding frequency band to obtain a single-beam signal of the corresponding frequency band;
carrying out secondary preprocessing on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
the signal preprocessing units respectively transmit the envelope information to the upper computer;
the upper computer is also configured to:
fitting a plurality of said envelope information to a full-band acoustic reflection characteristic curve;
and judging the type of the underwater target object according to the full-frequency-band sound reflection characteristic curve.
According to the technical scheme provided by the embodiment of the application, the step of fitting the single-beam signals of a plurality of different frequency bands into a full-band acoustic reflection characteristic curve comprises the following steps:
acquiring a plurality of the single-beam signals;
carrying out time-varying gain adjustment and envelope detection calculation on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
and synthesizing a full-band acoustic reflection characteristic curve containing the intensities of the underwater target objects with different frequencies according to the envelope information of the plurality of different frequencies.
According to the technical scheme provided by the embodiment of the application, the method for judging the type of the underwater target comprises the following steps:
and performing comparison fitting according to the full-frequency-band sound reflection characteristic curve and the sound reflection characteristic curve of the underwater target object of known type, and determining the type of the underwater target object according to the fitting degree.
The beneficial effect of this application lies in:
because the upper computer is arranged, the upper computer is used for sending sonar working parameters and emission instructions to the signal preprocessing unit; the signal preprocessing unit adjusts the sonar working parameters according to the transmitting instruction so as to generate a transmitting signal source; and the transmitting signals are converted into acoustic signals through a plurality of sub-arrays of the transducer array, and then the acoustic signals are transmitted underwater. The system comprises a transducer array, a sonar receiving unit, a signal preprocessing unit and a signal processing unit, wherein the transducer array receives acoustic signals and converts the acoustic signals into received signals, the sonar receiving unit receives the signals and converts the received signals into amplified signals, and the signal preprocessing unit preprocesses the amplified signals and then inputs time delay information and envelope information into an upper computer; and the upper computer calculates phase angle and depth information according to the time delay information and the envelope information, and further calculates to obtain the position information of the underwater target object. The position information of the underwater target object can be calculated according to the time delay information of each subarray returned by the sonar reflected by the underwater target object. The underwater biological monitoring system can effectively reduce errors, thereby realizing real-time fixed monitoring of underwater organisms and long-term monitoring and evaluation.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a sonar system based on split beams provided by the present application;
fig. 2 is another schematic structural diagram of a sonar system based on split beams provided by the present application;
FIG. 3 is a schematic flow diagram of a sonar emission unit;
fig. 4 is a schematic flow diagram of a sonar receiving unit;
FIG. 5 is a schematic diagram of a signal preprocessing unit;
FIG. 6 is a block diagram of a power module;
FIG. 7 is a schematic diagram of a transducer array;
FIG. 8 is a circuit schematic diagram of a sonar emission unit;
FIG. 9 is a circuit schematic diagram of a sonar receiving unit;
wherein, 1, a first subarray; 2. a second sub-array; 3. a third sub-array; 4. a fourth sub-array; 5. an upper computer; 6. a sonar emission unit; 7. a transducer array; 8. a sonar receiving unit; 9. a signal preprocessing unit; 10. a first receiver channel; 11. a second receiver channel; 12. a third receiver channel; 13. a fourth receiver channel; 14. a drive circuit; 15. a power amplification circuit; 16. a band-pass filter circuit; 17. a transformer amplification circuit; 18. a matching circuit; 19. a transmit-receive conversion circuit; 20. a first fixed gain circuit; 21. a first filter circuit; 22. a first controllable gain circuit; 23. a second filter circuit; 24. a second controllable gain circuit; 25. a third filter circuit; 26. a second fixed gain circuit; 27. an A/D sampling module; 28. a D/A conversion module; 29. an FPGA; 30. a temperature acquisition module; 31. a serial port communication circuit; 32. a network port communication circuit; 33. serial port logic control; 34. network port logic control; 35. signal source logic control; 36. D/A logic control; 37. D/A logic control; 38. a direct current power supply; 39. a switching power supply conversion module; 40. the LDO voltage stabilizing module; 41. the analog receiving circuit supplies power; 42. supplying power to a vertical circuit; 43. the transmitting circuit is powered.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, a schematic diagram of a sonar system based on split beams provided in this embodiment includes:
the upper computer 5 is used for sending sonar working parameters and emission instructions;
the signal preprocessing unit 9 is connected with the upper computer 5 and is used for receiving the sonar working parameters and the emission instructions, adjusting the sonar working parameters according to the emission instructions and further generating an emission signal source;
the sonar emission unit 6, wherein the input end of the sonar emission unit 6 is connected with the output end of the signal preprocessing unit 9, and is used for receiving the emission signal source and performing power amplification step by step on the emission signal source to obtain an emission signal;
the input end of the transducer array 7 is connected with the output end of the sonar emission unit 6; the transducer array 7 is provided with a plurality of sub arrays arranged in an array; the transducer array 7 is a receiving and transmitting combined energy-displacing device: the device is used for converting the transmitting signals into acoustic signals to be transmitted into water, or converting the acoustic signals received by each subarray into receiving signals respectively;
a sonar receiving unit 8, which is connected with the output end of the transducer array 7 and is used for receiving a plurality of receiving signals; amplifying the plurality of received signals respectively to obtain a plurality of amplified signals; thereby inputting a plurality of the amplified signals to the signal preprocessing unit 9;
the signal preprocessing unit 9 is further configured to preprocess the plurality of amplified signals to obtain a plurality of delay information;
the upper computer 5 is also configured to: and calculating depth information and a phase angle according to the time delay information, calculating position information of the underwater target object according to the depth information and the phase angle, and displaying a calculation result.
In some embodiments, the sonar operating parameters sent by the upper computer include: frequency, bandwidth, pulse width, duty cycle, ping rate, TVG curve rate, sampling point number and sound speed information.
Specifically, the upper computer sends out sonar working parameters, the sonar working parameters pass through the signal preprocessing unit to obtain a transmitting signal source, and the transmitting signal is generated by the sonar transmitting unit; the sound signals are transmitted to the transducer array and converted into sound signals, a plurality of sub-arrays of the transducer array simultaneously emit the same sound signals, the sound signals are reflected by an underwater target and return to the transducer array, and the transducer array converts the sound signals into receiving signals and transmits the receiving signals to the sonar receiving unit; the sonar receiving unit amplifies the received signal to obtain the amplified signal, inputs the amplified signal to the signal preprocessing unit, and then preprocesses the amplified signal to obtain time delay information and envelope information.
And after the time delay information and the envelope information are transmitted to the upper computer, the upper computer calculates according to a plurality of time delay information to obtain depth information and phase angles, and calculates according to the depth information and the phase angles to obtain the position information of the underwater target object.
The position information of the underwater target object can be calculated according to the time delay information of each subarray returned by the sonar reflected by the underwater target object. The underwater biological monitoring system can effectively reduce errors, thereby realizing real-time fixed monitoring of underwater organisms and long-term monitoring and evaluation.
In some embodiments, referring to fig. 2, the transducer array has 4 sub-arrays, including: the device comprises a first sub-array 1, a second sub-array 2, a third sub-array 3 and a fourth sub-array 4. The first sub-array 1, the second sub-array 2, the third sub-array 3 and the fourth sub-array 4 are respectively connected with a first receiver channel 10; a second receiver channel 11; a third receiver channel 12; a fourth receiver channel 13;
the fixed gain amplification circuit includes: a first fixed gain circuit 20 and a second fixed gain circuit 26. The controllable gain amplification circuit comprises: a first controllable-gain circuit 22 and a second controllable-gain circuit 24.
The sonar receiving unit 8 includes: a first receiver channel 10; a second receiver channel 11; a third receiver channel 12; a fourth receiver path 13.
The first receiver channel 10; a second receiver channel 11; a third receiver channel 12; the fourth receiver channels 13 each comprise: the device comprises a transceiving conversion circuit 19, a first fixed gain circuit 20, a first filter circuit 21, a first controllable gain circuit 22, a second filter circuit 23, a second controllable gain circuit 24, a third filter circuit 25, a second fixed gain circuit 26 and an A/D acquisition module 27.
The sonar emission unit 6 includes: a driving circuit 14, a power amplifying circuit 15, a band-pass filter circuit 16, a transformer amplifying circuit 17 and a matching circuit 18.
Further, referring to fig. 3, the sonar emission unit 6 includes: a drive circuit 14, a power amplification circuit 15, a transformer amplification circuit 17, and a matching circuit 18;
the driving circuit 14, the power amplifying circuit 15 and the transformer amplifying circuit 17 are used for respectively performing power amplification on the transmitting signal source;
the matching circuit 18 is used for performing line matching on the circuit between the sonar emission unit 6 and the transducer array 7: the resistance and capacitance of the transducer array 7 are made to coincide with those of the sonar emission unit 6 when emitting acoustic signals of varying frequencies.
In some embodiments, referring to fig. 8, it is a schematic diagram of a circuit connection relationship of the sonar emission unit. The output end of the signal preprocessing unit is sequentially connected with: the drive circuit, the power amplifying circuit, the band-pass filter circuit, the transformer amplifying circuit and the matching circuit are finally connected with the transceiving switching circuit.
Specifically, the capacitance and the resistance of the sonar emission unit are fixed values; the transducer array receives and converts emission signals containing a set frequency band generated by the signal preprocessing unit according to the sonar working parameters, and emits acoustic signals with different frequencies in the same frequency band; as the transmit frequency changes, the capacitance and resistance of the transducer array also change. The matching circuit is used for adjusting the capacitance and the resistance of the sonar emission unit to match with the capacitance and the resistance of the transducer array, so that the resistance and the capacitance of the transducer array are consistent with the resistance and the capacitance of the sonar emission unit when emitting acoustic signals with variable frequencies. The transmission efficiency of the signal can be improved, and the transmission efficiency can be kept consistent when the transmission frequency is changed. Energy loss is reduced, and transmitting power is improved.
In some embodiments, the driving circuit adopts an ADuM3224 driving chip, which can increase the load-carrying capacity of an output signal of an FPGA29 (Field-Programmable Gate Array). The power amplifying circuit adopts a D-type power amplifying circuit and a full-bridge circuit structure, and IRFH5015PbF is used as a power tube of the power amplifying circuit. The transformer adopts manganese zinc ferrite as magnetic material, adopts the magnetic core structure of G (jar type), adopts 5 turns ratio, selects the enameled wire transformer of diameter 0.4mm x 4P and secondary selection diameter 0.3mm x 3P at the transformer primary and winds. The matching circuit adopts a matching mode of a broadband serial-parallel matching network.
Because the resistance and the capacitance of the transducer array can change along with the change of the transmitting frequency, the matching circuit is required to perform line matching on the resistance and the capacitance of the transducer array and the signal preprocessing unit, so that the transmitting efficiency is improved, and the consistency of the front efficiency and the rear efficiency in the transmitting process is ensured.
Furthermore, the transducer array 7 is connected with a transmit-receive conversion circuit 19, and the transmit-receive conversion circuit 19 is further connected with the sonar emission unit 6 and the sonar receiving unit 8; the transceiving conversion circuit 19 is used for controlling the sonar receiving unit 8 to be grounded when transmitting acoustic signals.
In some embodiments, a transceiving conversion circuit is arranged to isolate an output interface of the sonar transmitting unit circuit from an input interface of the sonar receiving unit circuit, so that the sonar receiving unit circuit is not affected in the signal transmitting process. The chip of the receiving circuit can be prevented from being burnt by the high-voltage signal output by the transmitting circuit.
Further, referring to fig. 4, the sonar receiving unit 8 includes: a fixed gain amplification circuit, a controllable gain amplification circuit and a band-pass filter circuit 16;
the band-pass filter circuit 16 is configured to filter the received signal and reserve a corresponding frequency band;
the fixed gain amplifying circuit is used for amplifying the received signal after the frequency wave by fixed gain;
the controllable gain amplification circuit is used for: and performing TVG gain control, and further amplifying the received signals according to the amplification of the fixed gain, so that the received signals with different gains keep the same gain after being amplified twice.
In some embodiments, referring to fig. 9, a schematic diagram of a circuit connection relationship of the sonar receiving unit is shown. The output end of the transducer array is sequentially connected with: the receiving and transmitting conversion circuit, the fixed amplifying circuit, the second filter circuit, the first controllable gain circuit, the third filter circuit, the second controllable gain circuit, the fourth filter circuit, the second fixed gain circuit and the emitter follower circuit are finally connected with the input end of the signal preprocessing unit.
In some embodiments, referring to fig. 5, the signal preprocessing unit includes: the FPGA29, the A/D acquisition module 27 and the D/A conversion module 28; in the process of emitting sonar, the FPGA29 generates an initial signal with sonar working parameters according to the sonar working parameters; the FPGA29 controls the D/a conversion module 28 to perform digital-to-analog conversion on the initial signal, and converts a digital signal into an analog signal; obtaining the emission signal source; inputting the transmitting signal source into the sonar transmitting unit; in the process of receiving sonar, the FPGA29 controls the a/D acquisition module 27 to perform analog-to-digital conversion on the amplified signal, and converts an analog signal into a digital signal to obtain an acquired signal; the FPGA29 preprocesses the acquired signal to obtain the time delay information; and inputting the time delay information into the upper computer.
In some embodiments, the signal preprocessing unit further comprises: a temperature acquisition module 30, a serial port communication 31 and a network port communication circuit 32.
Wherein, the communication circuit 32 is a W5300 ethernet communication; the FPGA29 is a 5CGXFC9D6F27C7N type FPGA29 of an Altera corporation Cyclone V series, and can provide strong processing capacity and enrich on-chip resources. The A/D acquisition circuit selects a working mode of band-pass sampling, so that the sampling rate is effectively reduced, the selection range of the ADC chip is wider, and the miniaturized and low-power-consumption multichannel analog signal acquisition circuit plays a key role. An AD7657 chip which has 6 channels and can synchronously convert and maximally support 250Kbps and 14 bits is selected as an analog-to-digital conversion chip. The D/A conversion circuit firstly selects MAX5442 to perform digital-to-analog conversion, configures the MAX5442 into bipolar output, performs low-pass filtering once, performs single-end difference by adopting an ADA4932 differential operational amplifier, and controls AD8336 by the follower circuit after performing low-pass filtering once. One serial port communication 31 adopts TTL interface standard for receiving system synchronization signals, and the other adopts RS422 interface standard for receiving serial port instructions issued by upper computer display control software in real time and auxiliary information issued by auxiliary equipment; the Ethernet communication circuit adopts a W5300 network port chip for circuit design, selects a TCP (transmission control protocol) protocol for data transmission, selects a UDP (user datagram protocol) protocol for data transmission in a working state for debugging, uses the FPGA29 to drive the W5300 to carry out Ethernet communication, and realizes the Ethernet communication by building a Qsys project and using a Nios II processor; the temperature acquisition module 30 employs a DS18B20 temperature sensor for real-time monitoring of the temperature within the electronic cabin.
In some embodiments, the logic control of the FPGA29 includes: serial port logic control 33, network port logic control 34, signal source logic control 35, D/A conversion module 36 and A/D logic control 37.
In some embodiments, referring to fig. 6, the signal preprocessing unit further includes: and a switching power supply module. The switching power supply module includes: the device comprises a direct current power supply 38, a switching power supply conversion module 39, an LOD voltage stabilization module 40, an analog receiving circuit power supply 41, a digital circuit power supply 42 and a transmitting circuit power supply 43. And for the switching power supply module, two switching power supply modules of CCG30-48-05S and CCG30-48-12D of TDK-Lambda are respectively selected for voltage conversion. For the LDO voltage stabilizing module, positive LDO is TPS7A8500ARGRT of TI company, and negative LDO is LT3091EFE # PBF of ADI company. The power supply is stabilized, and the stable operation of the circuit is ensured.
In some embodiments, the sub-array has 4 sub-arrays respectively located in four quadrants, and the amplified signal corresponding to the sub-array located in the first quadrant is taken as the first signal; the amplified signal corresponding to the sub-array in the second quadrant is taken as a second signal; the amplified signal corresponding to the subarray in the third quadrant is used as a third signal; the amplified signal corresponding to the sub-array in the fourth quadrant is taken as a fourth signal.
The first signal is synthesized with the second signal, the second signal is synthesized with the third signal, the third signal is synthesized with the fourth signal, and the fourth signal is synthesized with the first signal. A total of 4 composite signals are generated.
In some embodiments, the sonar receiving unit includes: the device comprises a preposed fixed gain amplifying circuit, a two-stage controllable gain amplifying circuit, a three-stage band-pass filter circuit and a post-stage amplifying circuit. The front fixed gain amplifying circuit adopts an AD8429 instrument amplifier, and the gain of the circuit is 23.8dB; the controllable gain amplifying circuit adopts AD8336, generates a gain code through the FPGA29, performs TVG (variation of gain along with time) gain control after D/A conversion, and can provide a gain adjusting range of 120dB in total. The band-pass filter circuit adopts a multi-path negative feedback type circuit structure; the amplifier of the later stage adopts an ADA4807-1 operational amplifier, and the gain of the circuit is set to be 14dB.
Further, the signal preprocessing unit 9 is specifically configured to:
obtaining a plurality of said amplified signals;
performing pulse compression on the amplified signals to obtain compressed signals; performing peak separation on the plurality of compressed signals respectively; obtaining a plurality of peak positions;
phase calculation is carried out according to the phases of the peak positions to obtain phase angle information and time delay information of the underwater target object;
the upper computer 5 is specifically configured to:
calculating depth information of the underwater target object according to the time delay information;
and calculating the position information of the underwater target object according to the depth information and the phase angle information.
In some embodiments, referring to fig. 7, the first sub-array 1, the second sub-array 2, the third sub-array 3, and the fourth sub-array 4 are respectively associated with a first receiver channel 10; a second receiver channel 11; a third receiver channel 12; a fourth receiver channel 13;
the sub-arrays are respectively positioned in four quadrants of the transducer array, and each sub-array receives an acoustic signal to generate a receiving signal and generates 4 receiving signals in total. And the received signals generated by each subarray are converted into a plurality of amplified signals after being filtered, amplified and gain-controlled by the sonar receiving unit, and then are subjected to analog-to-digital conversion to obtain a plurality of acquired signals. And carrying out multi-signal synthesis on the acquired signals corresponding to every two adjacent sub-arrays to obtain 4 synthesized signals. And (4) pulse compression and peak value separation are carried out on the 4 synthesized signals in sequence respectively to obtain 4 peak value positions, and then time delay information is obtained through calculation. And the upper computer calculates the position information of the underwater target object according to the time delay information of each subarray returned by the sonar reflected by the underwater target object. The underwater biological monitoring system can effectively reduce errors, thereby realizing real-time fixed monitoring of underwater organisms and long-term monitoring and evaluation.
In some embodiments, the neighboring signal synthesis represents: and synthesizing the two amplified signals corresponding to every two adjacent sub-arrays to obtain four synthesized signals.
Further, a plurality of signal preprocessing units 9, sonar emission units 6, transducer arrays 7 and sonar receiving units 8 are respectively arranged; the signal preprocessing units 9 are all connected with the same upper computer 5; the upper computer 5 respectively sends out sonar working parameters of different frequency bands to the plurality of sonar devices;
each of the signal preprocessing units 9 is further configured to:
performing multi-signal synthesis on the amplified signals of the corresponding frequency band to obtain a single-beam signal of the corresponding frequency band;
carrying out secondary pretreatment on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
the signal preprocessing units 9 respectively transmit the envelope information to the upper computer 5;
the upper computer 5 is also configured to:
fitting a plurality of said envelope information to a full-band acoustic reflection characteristic curve;
and judging the type of the underwater target object according to the full-frequency-band sound reflection characteristic curve.
Specifically, the upper computer transmits the sonar working parameters containing different frequency band information to each signal preprocessing unit; each signal preprocessing unit generates a transmitting signal of a corresponding frequency band according to the sonar working parameters containing corresponding frequency band information; each transducer array converts the transmitting signals of the corresponding frequency band into sonar of the corresponding frequency band and transmits the sonar to the underwater; according to the sonar of each transducer array reflected back by the underwater target, each transducer array converts the sonar of the corresponding frequency band into a plurality of receiving signals of the corresponding frequency band; each signal receiving device preprocesses the received signals of a plurality of corresponding frequency bands to obtain the time delay information and transmits the time delay information to the upper computer.
And the upper computer synthesizes the single-beam signals to obtain a full-frequency-band sound reflection characteristic curve, then performs comparison fitting according to the sound reflection characteristic curve of the underwater target object of a known type, and determines the type of the underwater target object according to the fitting degree.
Further, the step of fitting the single-beam signals of a plurality of different frequency bands to a full-band acoustic reflection characteristic curve comprises:
acquiring a plurality of the single beam signals;
performing time-varying gain adjustment and envelope detection calculation on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
and synthesizing a full-band acoustic reflection characteristic curve containing the intensity of the underwater target object with different frequencies according to the envelope information of the plurality of different frequencies.
In some embodiments, the secondary pretreatment comprises: time-varying gain adjustment and envelope detection calculation.
Specifically, signal synthesis is carried out on a plurality of acquired signals, and time-varying gain adjustment and envelope detection calculation are carried out to obtain envelope information and time delay information under corresponding frequencies; and synthesizing a full-band sound reflection characteristic curve containing the intensity of the underwater target object under different frequencies, performing comparison fitting on the full-band sound reflection characteristic curve and the sound reflection characteristic curve of the underwater target object of known type, and determining the type of the underwater target object according to the fitting degree.
Further, the method for judging the underwater target species comprises the following steps:
and performing comparison fitting according to the full-frequency-band sound reflection characteristic curve and the sound reflection characteristic curve of the underwater target object of known type, and determining the type of the underwater target object according to the fitting degree.
Specifically, the full-band acoustic reflection characteristic curve comprises a characteristic curve of an underwater target object reflecting full-frequency acoustic signals, and the type of the underwater target object to be detected with the highest fitting degree is selected by fitting the full-band acoustic reflection characteristic curve with a known acoustic reflection characteristic curve of the underwater target object type.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. A split beam based sonar system, comprising:
the upper computer (5), the said upper computer (5) is used for sending out sonar working parameter and launching the order;
the signal preprocessing unit (9), the signal preprocessing unit (9) is connected with the upper computer (5), and is used for receiving the sonar working parameters and the emission instruction, adjusting the sonar working parameters according to the emission instruction, and further generating an emission signal source;
the sonar emission unit (6), the input end of the sonar emission unit (6) is connected with the output end of the signal preprocessing unit (9) and is used for receiving the emission signal source and amplifying the power of the emission signal source step by step to obtain an emission signal;
the input end of the transducer array (7) is connected with the output end of the sonar emission unit (6); the transducer array (7) is provided with a plurality of sub-arrays arranged in an array; the transducer array (7) is a receiving and transmitting combined transducer: the device is used for converting the transmitting signals into acoustic signals to be transmitted into water, or converting the acoustic signals received by each subarray into receiving signals respectively;
a sonar receiving unit (8) which is connected with the output end of the transducer array (7) and is used for receiving a plurality of receiving signals; amplifying the plurality of received signals respectively to obtain a plurality of amplified signals; -further inputting a plurality of said amplified signals to said signal pre-processing unit (9);
the signal preprocessing unit (9) is further configured to preprocess the plurality of amplified signals to obtain a plurality of time delay information;
the upper computer (5) is also configured to: and calculating depth information and a phase angle according to the time delay information, calculating position information of the underwater target object according to the depth information and the phase angle, and displaying a calculation result.
2. The split-beam based sonar system according to claim 1, wherein the sonar emission unit (6) comprises: a drive circuit (14), a power amplification circuit (15), a transformer amplification circuit (17), and a matching circuit (18);
the driving circuit (14), the power amplifying circuit (15) and the transformer amplifying circuit (17) are used for respectively carrying out power amplification on the transmitting signal source;
the matching circuit (18) is used for carrying out line matching on the circuit between the sonar emission unit (6) and the transducer array (7): the resistance and the capacitance of the transducer array (7) are consistent with those of the sonar emission unit (6) when emitting acoustic signals with variable frequency.
3. The split-beam-based sonar system according to claim 2, wherein the transducer array (7) is connected with a transmit-receive conversion circuit (19), and the sonar transmitting unit (6) and the sonar receiving unit (8) are further connected with the transmit-receive conversion circuit (19); the transmitting-receiving conversion circuit (19) is used for controlling the sonar receiving unit (8) to be grounded when transmitting acoustic signals.
4. The split-beam based sonar system according to claim 3, wherein the sonar receiving unit (8) includes: a fixed gain amplification circuit, a controllable gain amplification circuit and a band-pass filter circuit (16);
the band-pass filter circuit (16) is used for filtering the received signals and reserving corresponding frequency bands;
the fixed gain amplifying circuit is used for amplifying the received signal after the frequency wave by fixed gain;
the controllable gain amplifying circuit is used for: and performing TVG gain control, and further amplifying the received signals according to the fixed gain after amplification, so that the received signals with different gains keep the same gain after being amplified twice.
5. The split-beam based sonar system according to claim 4, wherein the signal pre-processing unit (9) is specifically configured to:
obtaining a plurality of said amplified signals;
performing pulse compression on the amplified signals to obtain compressed signals; performing peak separation on the plurality of compressed signals respectively; obtaining a plurality of peak positions;
phase calculation is carried out according to the phases of the peak positions to obtain phase angle information and time delay information of the underwater target object;
the upper computer (5) is specifically configured to:
according to the time delay information, calculating depth information of the underwater target object;
and calculating the position information of the underwater target object according to the depth information and the phase angle information.
6. The split-beam-based sonar system according to any one of claims 1 to 4, wherein the signal preprocessing unit (9), the sonar emission unit (6), the transducer array (7) and the sonar receiving unit (8) are provided in plurality; the signal preprocessing units (9) are all connected with the same upper computer (5); the upper computer (5) respectively sends out sonar working parameters of different frequency bands to the sonar devices;
each of the signal pre-processing units (9) is further configured to:
performing multi-signal synthesis on the amplified signal of the corresponding frequency band to obtain a single-beam signal of the corresponding frequency band;
carrying out secondary preprocessing on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
the signal preprocessing units (9) respectively transmit the envelope information to the upper computer (5);
the upper computer (5) is also configured to:
fitting a plurality of said envelope information to a full-band acoustic reflection characteristic curve;
and judging the type of the underwater target object according to the full-frequency-band sound reflection characteristic curve.
7. The split-beam-based sonar system according to claim 6, wherein the step of fitting the single-beam signals of a plurality of different frequency bands to a full-band acoustic reflection characteristic curve comprises:
acquiring a plurality of the single beam signals;
carrying out time-varying gain adjustment and envelope detection calculation on the single-beam signal to obtain envelope information and time delay information under corresponding frequency;
and synthesizing a full-band acoustic reflection characteristic curve containing the intensity of the underwater target object with different frequencies according to the envelope information of the plurality of different frequencies.
8. The split-beam-based sonar system according to claim 7, wherein the method for determining the type of the underwater target comprises:
and performing comparison fitting on the full-band acoustic reflection characteristic curve and the acoustic reflection characteristic curve of the underwater target object of known type, and determining the type of the underwater target object according to the fitting degree.
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| CN116299493A (en) * | 2023-02-17 | 2023-06-23 | 南京元厚电气有限公司 | Section foreign matter early warning sonar system and early warning method |
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