CN115951359A - Multi-base active sonar detection method - Google Patents

Multi-base active sonar detection method Download PDF

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Publication number
CN115951359A
CN115951359A CN202211637677.7A CN202211637677A CN115951359A CN 115951359 A CN115951359 A CN 115951359A CN 202211637677 A CN202211637677 A CN 202211637677A CN 115951359 A CN115951359 A CN 115951359A
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receiver
waveform
transmitter
sound source
target
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CN202211637677.7A
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王永丰
董雷
林晋美
张晨光
刘莹
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Avic Avionics Corp ltd
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Avic Avionics Corp ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Abstract

The invention discloses a multi-base active sonar detection method, which relates to the field of active sonar detection, and comprises the following steps: step 1: the transmitter S transmits sound source information; step 2: the receiver R receives the direct wave and the target echo; and step 3: judging that the target T is positioned at any point on an external ellipse taking the transmitter S and the receiver R as focuses; compared with the prior art, the invention has the beneficial effects that: the invention uses communication-detection composite waveform, the transmitting terminal encodes and modulates waveform parameters, sound source position and transmitting time and then embeds the modulated waveform into the detection waveform to be transmitted together, the receiver obtains the information by demodulation and decoding, simultaneously recovers the original transmitting waveform for echo detection, and utilizes the sound source space-time information to carry out target positioning calculation; the method does not depend on an external communication link to carry out sound source space-time information synchronization, so the method has wide adaptability and can fully utilize sound pulses emitted by different flat sound sources in the formation to carry out echo target detection.

Description

Multi-base active sonar detection method
Technical Field
The invention relates to the field of active sonar detection, in particular to a multi-base active sonar detection method.
Background
In the multi-base active sonar system, the space positions of a transmitting sound source and a receiver are separated: one or more sound sources sound and multiple receivers receive target reflected echoes at different orientations.
The need for a corresponding real-time communication means for remote synchronization between the transmitter and the receiver is one of the difficulties. The existing synchronization mode of the double-base sonar port channel water depth real-time monitoring system adopts the high-precision GPS time service module for providing time service information to realize the synchronous work of a transmitter and a receiver.
For application scenes such as among multiple anti-submersible helicopter hoisting sonars, among surface ship sonars and ship-borne anti-submersible helicopter hoisting sonars and the like, the links can exchange regional situation information such as platform positions and the like mutually, but the links are not specially designed for time synchronization, transmission control strategies such as verification and retransmission are usually adopted, delay is uncertain, and the links are difficult to be used for time synchronization. In addition, when the sonar receiver is located on an underwater mobile platform (submarine, UUV, etc.), it cannot be synchronized with the transmitting sound source by using an external wired or wireless link, and there is a need to improve the synchronization problem of the space-time information between the receiver and the transmitting sound source.
Disclosure of Invention
The present invention aims to provide a multi-base active sonar detection method to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-base active sonar detection method comprises the following steps:
step 1: the transmitter S transmits sound source information;
step 2: a receiver R receives the direct wave and the target echo;
and 3, step 3: the positions of the transmitter S and the receiver R are known, and the moving distance R of the target echo is calculated according to the sound velocity R +r S Judging that the target T is located with the transmitters S andthe receiver R is any point on an external ellipse (an isochronous ellipse) with a focus;
and 4, step 4: the receiver R can measure the direction to obtain an included angle theta = SRT between a target echo wave and a direct wave, and positioning of a target is completed;
and 5: the receiver R can not be used for direction finding, a plurality of receivers R are arranged, the transmitter S and the receivers R at different positions form different external ellipses, and the target T is positioned according to the superposed points of the external ellipses of the transmitter S and the receivers R;
and 6: a real-time link exists between the transmitter S and the receiver R, complete synchronization of space-time information is completed, and time for completing target T positioning is determined;
and 7: a real-time link does not exist between the transmitter S and the receiver R, the transmitter S encodes and modulates waveform parameters, sound source positions and transmitting time and then embeds the modulated waveform into a detection waveform to transmit, the receiver R obtains the information through demodulation and decoding, the original transmitting waveform is recovered to be used for echo detection, and the sound source space-time information is used for target positioning calculation.
As a still further scheme of the invention: the direct wave is the moving waveform of the transmitter S-receiver R; the target echo is the moving waveform of the transmitter S-target T-receiver R.
As a still further scheme of the invention: in the step 6: the application scene of the real-time link between the transmitter S and the receiver R comprises a fixed sonar system and a same-platform sonar system.
As a still further scheme of the invention: in step 7: application scenarios where no real-time link exists between the transmitter S and the receiver R include: between different ship sonars of a surface ship formation, between the surface ship sonar and a ship-based anti-submersible helicopter hoisting sonar, between a plurality of anti-submersible helicopter hoisting sonars, between the surface ship sonar and an aviation sonar buoy system receiver.
As a still further scheme of the invention: in step 7, the interior of the transmitter S obtains the transmitted waveform parameters through sound source control, the time position information is obtained through an external navigation system, the transmitted waveform parameters and the time position information are subjected to coding modulation, a detection waveform is obtained, and the detection waveform is transmitted after power amplification.
As a still further scheme of the invention: in step 7, the receiver R receives the sound source information, completes pulse extraction after beam forming, separates out the waveform parameters, the emission time and the sound source position through demodulation and decoding, and completes target positioning according to the waveform parameters, the emission time and the sound source position.
As a still further scheme of the invention: in step 7, the information sent by the transmitter S is modulated by OFDM + QPSK, including the start flag, the waveform code, the latitude of the transmitted sound source, the longitude of the transmitted sound source, the course of the sound source, the speed of the sound source, the transmission time, and the checksum.
Compared with the prior art, the invention has the beneficial effects that: the invention uses communication-detection composite waveform, the transmitting terminal encodes and modulates waveform parameters, sound source position and transmitting time and then embeds the modulated waveform into the detection waveform to transmit, the receiver obtains the information through demodulation and decoding, and simultaneously recovers the original transmitting waveform for echo detection, and utilizes the sound source space-time information to carry out target positioning calculation; the method does not depend on an external communication link to carry out sound source space-time information synchronization, so the method has wide adaptability and can fully utilize sound pulses emitted by different flat sound sources in the formation to carry out echo target detection.
Drawings
FIG. 1 is a schematic illustration of target location.
Fig. 2 is a schematic diagram of time-space information synchronization of a multi-base active sonar detection method.
Fig. 3 is a schematic diagram of a communication-sounding composite waveform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1 and fig. 2, a multi-base active sonar detection method includes:
step 1: the transmitter S transmits sound source information;
step 2: a receiver R receives the direct wave and the target echo;
and step 3: the positions of the transmitter S and the receiver R are known, and the moving distance R of the target echo is calculated according to the sound velocity R +r S Judging that the target T is positioned at any point on an external ellipse (isochronous ellipse) taking the transmitter S and the receiver R as focuses;
and 4, step 4: the receiver R can measure the direction to obtain an included angle theta = SRT between a target echo wave and a direct wave, and positioning of a target is completed;
and 5: the receiver R can not be used for direction finding, a plurality of receivers R are arranged, the transmitter S and the receivers R at different positions form different external ellipses, and the target T is positioned according to the superposed points of the external ellipses of the transmitter S and the receivers R;
step 6: a real-time link exists between the transmitter S and the receiver R, complete synchronization of space-time information is completed, and time for completing target T positioning is determined;
and 7: a real-time link does not exist between the transmitter S and the receiver R, the transmitter S encodes and modulates waveform parameters, sound source positions and transmitting time and then embeds the modulated waveform into a detection waveform to transmit, the receiver R obtains the information through demodulation and decoding, the original transmitting waveform is recovered to be used for echo detection, and the sound source space-time information is used for target positioning calculation.
In this embodiment: referring to FIG. 2, the direct wave is the moving waveform of the transmitter S-receiver R; the target echo is the moving waveform of the transmitter S-target T-receiver R.
The direct wave is the wave which is not refracted and transmitted by the transmitter S and is transmitted to the receiver R; the target echo is a wave transmitted by the transmitter S and transmitted to the receiver R after being refracted by the target T.
In this embodiment: referring to fig. 2, in step 6: the application scene that a real-time link exists between the transmitter S and the receiver R comprises a fixed sonar system and a same-platform sonar system.
A fixed sonar system, wherein the receiver and the sound source do not change positions after the construction is completed, and the receiver and the sound source can be connected through a wire (or processed by the same shore station); the sound source emission time and the waveform parameters can be sent to a receiver in real time.
The same-platform sonar system comprises a bistatic system consisting of a ship bow sonar and a towing sonar, a multistatic system consisting of an aviation sonar and a sonobuoy, an active sound source buoy and a passive sonobuoy and the like. At the moment, the receiver and the transmitting sound source (remote control end) can communicate through a bus network between the platform devices, so that time and parameter synchronization is realized.
In this embodiment: referring to fig. 2, in step 7: application scenarios where no real-time link exists between the transmitter S and the receiver R include: the system comprises a plurality of sets of surface ship sonar systems, a plurality of sets of surface ship sonar systems and a plurality of sets of shipboard anti-submarine helicopter sonar system receivers.
In the above scenario, the transmitting end and the receiving end may communicate via a wireless command data link, such links may exchange region situation information such as platform location and the like, but they are not specially designed for time synchronization, generally adopt transmission control strategies such as checksum retransmission and the like, have uncertain delay, and are difficult to use for time synchronization. In addition, the sonar belongs to a sensor system, is traditionally positioned at the next level of a command control system, has no direct connection interface with a data chain and a navigation system, and communication needs to be forwarded through a command control system, so that the change of the interface relationship coordination between different professional manufacturers of a platform task system is difficult.
When the sonar receiver is located on an underwater mobile platform (submarine, UUV, etc.), it cannot be synchronized with the transmitting sound source using an external wired or wireless link.
In this embodiment: referring to fig. 2, in step 7, the interior of the transmitter S obtains the parameters of the transmitted waveform through sound source control, obtains the time and position information through an external navigation system, performs coding modulation on the parameters of the transmitted waveform and the time and position information, obtains the detected waveform, and transmits the detected waveform after power amplification.
In this embodiment: referring to fig. 2, in step 7, the receiver R receives the sound source information, completes pulse extraction after beam forming, separates out the waveform parameter, the transmission time, and the sound source position by demodulation and decoding, and completes target positioning according to the waveform parameter, the transmission time, and the sound source position.
In this embodiment: referring to fig. 2 and 3, in step 7, the information sent by the transmitter S is modulated by OFDM + QPSK, and includes a start flag, a waveform code, a latitude of a transmitting sound source, a longitude of the transmitting sound source, a heading of the sound source, a speed of the sound source, a transmitting time, and a checksum.
The embedded spatio-temporal data of the emission sound source waveform are shown in the following table:
Figure BDA0004004714730000051
the data is modulated by OFDM + QPSK, the number of data subcarriers is 80, the interval of the subcarriers is 3.125Hz, the number of IFFT points is 128, the symbol time of an effective data part is 400ms, the cyclic prefix is 100ms, and the length of an embedded waveform is 500ms.
A communication-sounding composite waveform is illustrated in fig. 3, in which the embedded waveform is 500ms (consisting of a valid data portion symbol and a cyclic prefix).
Determining the position of the transmitter S through the latitude and longitude of the transmitting sound source; determining the time for sending sound source information by a transmitter S through the transmitting time; determining to send out waveform data according to the course of the sound source and the navigation speed of the sound source; the type of transmit waveform is determined by the waveform code.
The invention does not depend on an external communication link to carry out sound source space-time information synchronization, thereby having wide adaptability and being capable of fully utilizing sound pulses emitted by different flat sound sources in formation to carry out echo target detection.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.

Claims (7)

1. A multi-base active sonar detection method is characterized by comprising the following steps:
the multi-base active sonar detection method comprises the following steps:
step 1: the transmitter S transmits sound source information;
step 2: a receiver R receives the direct wave and the target echo;
and step 3: the positions of the transmitter S and the receiver R are known, and the moving distance R of the target echo is calculated according to the sound velocity R +r S Judging that the target T is positioned at any point on an external ellipse taking the transmitter S and the receiver R as focuses;
and 4, step 4: the receiver R can measure the direction to obtain an included angle theta = & lt SRT between a target echo and a direct wave, and positioning of a target is completed;
and 5: the receiver R can not be used for direction finding, a plurality of receivers R are arranged, different external ellipses are formed by the transmitter S and the receivers R at different positions, and the target T is positioned according to the superposed points of the external ellipses of the transmitter S and the receivers R;
step 6: a real-time link exists between the transmitter S and the receiver R, complete synchronization of space-time information is completed, and time for completing target T positioning is determined;
and 7: a real-time link does not exist between the transmitter S and the receiver R, the transmitter S encodes and modulates waveform parameters, sound source positions and transmitting time and then embeds the modulated waveform into a detection waveform to transmit, the receiver R obtains the information through demodulation and decoding, the original transmitting waveform is recovered to be used for echo detection, and the sound source space-time information is used for target positioning calculation.
2. The multi-base active sonar detection method according to claim 1, wherein the direct wave is a moving waveform of a transmitter S-receiver R; the target echo is the moving waveform of the transmitter S-target T-receiver R.
3. The multi-base active sonar detection method according to claim 1, wherein in step 6: the application scene of the real-time link between the transmitter S and the receiver R comprises a fixed sonar system and a same-platform sonar system.
4. The multi-base active sonar detection method according to claim 1, wherein in step 7: application scenarios where no real-time link exists between the transmitter S and the receiver R include: between different ship sonars of a surface ship formation, between the surface ship sonar and a ship-based anti-submersible helicopter hoisting sonar, between a plurality of anti-submersible helicopter hoisting sonars, between the surface ship sonar and an aviation sonar buoy system receiver.
5. The multi-base active sonar detection method according to claim 1, wherein in step 7, the transmitter S obtains transmission waveform parameters through sound source control, obtains time position information through an external navigation system, and performs coded modulation on the transmission waveform parameters and the time position information to obtain a detection waveform, and transmits the detection waveform after power amplification.
6. The multi-base active sonar detection method according to claim 1, wherein in step 7, the receiver R receives the sound source information, performs pulse extraction after beamforming, separates a waveform parameter, a transmission time and a sound source position by demodulation and decoding, and performs target localization according to the waveform parameter, the transmission time and the sound source position.
7. A multi-base active sonar detection method according to any one of claims 1, 4, 5, and 6, wherein in step 7, the transmitter S sends out information modulated by OFDM + QPSK, including start flag, waveform code, latitude of the transmitted sound source, longitude of the transmitted sound source, heading of the sound source, speed of the sound source, transmission time, checksum.
CN202211637677.7A 2022-12-17 2022-12-17 Multi-base active sonar detection method Pending CN115951359A (en)

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