CN116106875A - Shore matrix coordinate joint calibration method, system, electronic equipment and storage medium - Google Patents
Shore matrix coordinate joint calibration method, system, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a shore matrix coordinate joint calibration method, a system, electronic equipment and a storage medium, belonging to the technical field of passive sonar detection, comprising the following steps: based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information; and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates. According to the method, the high-precision coordinate calibration of the arbitrary array-shaped bank matrix is realized by the joint calibration method based on long baseline positioning and the optimization and smoothness of the array element moving direction and the inherent distance, and the problems that accumulated errors exist in calibration by means of an attitude sensor and the array elements, the calibration elements are independent and have no relevance, the calibration precision is low and the like in the existing method can be effectively solved.
Description
Technical Field
The invention relates to the technical field of passive sonar detection, in particular to a shore-based matrix coordinate joint calibration method, a system, electronic equipment and a storage medium.
Background
In hydrophone shore array application, the shore array shape calibration is usually required, and the shore array achieves the purpose of noise suppression and signal to noise ratio improvement through array signal processing. The accurate array manifold vector needs to be known in the array signal processing, and the array popularity is closely related to the array element coordinates. If the array coordinates are inaccurate, larger errors exist, so that the performance of the beam patterns processed by the array is reduced, different beam forming methods are affected differently, and the high-resolution method is affected more seriously by the array popularity. The popular inaccuracy of the array directly leads to the decline of the direction finding precision, the widening of the main lobe, the rising of the side lobe and the influence on the detection performance of the array; even if the main peak of the target cannot be estimated in severe cases, the detection and direction finding capability is completely lost. In the case of deployment of a submarine array, particularly deep sea deployment, or non-linear array deployment, the array often cannot be deployed in the desired configuration, and thus calibration of the array coordinates is a necessary measure after deployment of the array.
Currently, matrix estimation methods are mainly divided into two categories: firstly, an acoustic calculation method is adopted, and signals received by an array are used for processing corresponding signals to estimate the shape of the array; the other type is a non-acoustic auxiliary measurement method, and mainly utilizes an attitude sensor arranged on an array to combine with a dynamic equation and a state space model to estimate the shape of the array.
For acoustic methods, sharpness extraction methods and feature vector methods are generally employed. The sharpness extraction method has the defects that the search algorithm is too complex and is not applicable to the situation of multiple array elements; feature vectors perform better than sharpness extraction, but this approach requires accurate sound source orientation and satisfies far field conditions. For large aperture arrays, far field conditions are often difficult to meet and far distances are in contradiction with the need for higher signal to noise ratios.
For the non-acoustic method, a matrix shape estimation method based on a torsion four-time spline approximate interpolation is adopted, and more sensors are needed for implementation; there are methods for estimating the matrix shape using a kinetic equation, and methods for estimating the matrix shape using Kalman filtering, which have a disadvantage in that the estimation effect is deteriorated when the tug is maneuvered. The adaptive array shape estimation method by utilizing the multi-mode segmentation filtering is suitable for array shape estimation under the condition of tug maneuver; and a matrix shape estimation method based on the matrix head sensor data and the acoustic data, neither a discrete plane wave model nor a determined reference sound source is needed. However, the operability of adding the attitude sensor to the land matrix in practical application is not strong.
Therefore, a new calibration method for the coordinates of the matrix array needs to be proposed for the existing calibration method for the coordinates of the matrix array.
Disclosure of Invention
The invention provides a method, a system, electronic equipment and a storage medium for joint calibration of a shore-based array coordinate, which are used for solving the defect that limitations exist in the prior art when an acoustic method and a non-acoustic method are adopted for the shore-based array coordinate.
In a first aspect, the present invention provides a method for joint calibration of shore-based matrix coordinates, including:
based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information;
and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
According to the method for jointly calibrating the coordinates of the shore matrix, which is provided by the invention, the method for jointly calibrating the coordinates of the shore matrix based on the long baseline positioning method, before obtaining the initial array element coordinates of the shore matrix by utilizing the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship, further comprises the following steps:
and determining basic information of the sound source ship and basic information of a shore matrix, and acquiring the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the basic information of the sound source ship and the basic information of the shore matrix.
According to the method for jointly calibrating the shore matrix coordinates, which is provided by the invention, the basic information of the sound source ship and the basic information of the shore matrix are determined, and the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship are obtained based on the basic information of the sound source ship and the basic information of the shore matrix, and the method comprises the following steps:
according to the initial arrangement information of the shore matrix, determining a sound source ship running route, and transmitting a periodic frequency modulation pulse signal to the shore matrix by the sound source ship;
acquiring global positioning system information of the sound source ship, determining longitude and latitude information corresponding to the global positioning system information of the sound source ship based on the initial deployment information of the shore matrix, and converting the longitude and latitude information into rectangular coordinates of the sound source ship;
acquiring a sound velocity gradient of a position of the sound source ship transmitting the periodic frequency modulation pulse signal, and determining the sound velocity meter based on the sound velocity gradient and a sound field model;
performing matched filtering operation on a transmitting signal and a receiving signal in a single period in the periodic frequency modulation pulse signals to obtain initial time delay; and determining a delay change threshold by utilizing the front and rear position information of the sound source ship, and performing smooth filtering on the initial delay to obtain the corrected delay.
According to the shore matrix coordinate joint calibration method provided by the invention, the transmission signal and the receiving signal in a single period in the periodic frequency modulation pulse signal are subjected to matched filtering operation to obtain initial time delay; determining a delay change threshold by utilizing the front and rear position information of the sound source ship to carry out smooth filtering on the initial delay to obtain the corrected delay, wherein the method comprises the following steps:
taking the transmitting time of the transmitting signal in the single period as a reference to acquire the receiving signal;
performing matched filtering processing on the sending signal and the receiving signal by utilizing a matched filtering algorithm, performing interference suppression on a matched and filtered result based on a time deconvolution algorithm, and performing direct wave screening on the interference suppressed result by utilizing a wide discriminator to obtain initial propagation delay between the sending signal and the receiving signal;
and carrying out smoothing processing and jump point removal on the initial propagation delay in the time dimension to obtain the corrected delay.
According to the method for jointly calibrating the coordinates of the shore matrix, which is provided by the invention, the initial array element coordinates of the shore matrix are obtained by utilizing the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the long baseline positioning method, and the method comprises the following steps:
and combining the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship, and adopting a spherical intersection positioning algorithm and an optimized positioning algorithm to obtain the initial array element coordinates.
According to the method for jointly calibrating the array coordinates of the shore-based array, provided by the invention, the initial array coordinates are jointly calibrated by utilizing the array element movement direction and the inherent spacing between the array elements to obtain the array calibration coordinates, and the method comprises the following steps:
establishing an array element spacing objective function by utilizing the ideal spacing of any two array elements, and optimizing the array element coordinates by utilizing the array element spacing objective function by utilizing a target genetic algorithm to obtain array element optimized coordinates;
performing non-equidistant smoothing on the array element optimization coordinates to obtain array element smoothing coordinates;
and acquiring an array element direction vector by using the array element smooth coordinate, and determining the array element calibration coordinate based on the array element direction vector.
According to the method for jointly calibrating the shore-based array coordinates, which is provided by the invention, the array element direction vector is obtained by utilizing the array element smooth coordinates, and the array element calibration coordinates are determined based on the array element direction vector, and the method comprises the following steps:
calculating the array element smooth coordinates to obtain array element direction vectors of all the array elements;
based on the array element direction vector and the spacing between any two array elements, obtaining a plurality of groups of array element basic coordinate vectors by taking any one array element initial coordinate as a reference element;
and averaging the basic coordinate vectors of the array elements to obtain the calibration coordinates of the array elements.
In a second aspect, the present invention further provides a joint calibration system for shore-based matrix coordinates, including:
the initial calibration module is used for obtaining initial array element coordinates of the shore matrix by utilizing the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on a long baseline positioning method;
and the accurate calibration module is used for carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
In a third aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements any one of the above-mentioned joint calibration methods for land-based array coordinates when executing the program.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of joint calibration of land-based array coordinates as described in any of the above.
In a fifth aspect, the invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of joint calibration of land-based array coordinates as described in any of the above.
According to the bank matrix coordinate joint calibration method, the system, the electronic equipment and the storage medium, the high-precision coordinate calibration of any array bank matrix is realized by the bank matrix coordinate joint calibration method based on long baseline positioning and optimization smoothing by utilizing the array element moving direction and the inherent distance, and the problems that accumulated errors exist in the calibration of the array elements by means of an attitude sensor and the array elements, independence among calibration array elements is not related, the calibration precision is low and the like in the existing method can be effectively solved.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for joint calibration of the coordinates of a shore matrix according to the present invention;
FIG. 2 is a second flow chart of the method for joint calibration of the coordinates of a shore-based matrix according to the present invention;
FIG. 3 is a schematic diagram of a joint calibration system for the coordinates of a shore-based matrix according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Aiming at the problems existing in the prior art, the invention provides a method for jointly calibrating arbitrary array-shaped bank matrix coordinates based on long baseline positioning and optimization smoothing by utilizing the array element moving direction and the array element inherent distance, and fig. 1 is one of flow diagrams of the bank matrix coordinate jointly calibrating method provided by the invention, as shown in fig. 1, and comprises the following steps:
step 100: based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information;
step 200: and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
Specifically, after the array is laid, a global positioning system (Global Positioning System, GPS) is installed on a sound source ship, the sound source ship runs around the array for one circle and transmits frequency modulation pulse signals, a sound velocity meter for acquiring the position of the sound source ship transmitting the frequency modulation pulse signals is calculated and measured, the time delay of the transmitted signals and the received signals is corrected, corrected time delay is obtained, and the initial array element coordinates of the shore matrix are calculated and obtained by combining the GPS information of the sound source ship.
Further, the obtained initial array element coordinates are only independent coordinates of each coordinate, and further calibration is needed, and as the distance between every two array elements is fixed and the error between the initial position and the preset ideal position does not exceed a certain value, the direction vector of each array element is obtained, and combined calibration is carried out by combining with the inherent distance, so that the final array element calibration coordinates are obtained.
The method can finish the coordinate calibration of any array-shaped bank matrix under the condition that the array does not need to additionally install an attitude sensor and the sound source emits signals while moving, the average error of the calibrated coordinates is about 0.5m, and the direction of the target can be measured after calibration under the condition that the target cannot be measured before calibration, and the direction measurement precision is within 1 degree.
According to the method, the high-precision coordinate calibration of the arbitrary array-shaped bank matrix is realized by the joint calibration method based on long baseline positioning and the optimization and smoothness of the array element moving direction and the inherent distance, and the problems that accumulated errors exist in calibration by means of an attitude sensor and the array elements, the calibration elements are independent and have no relevance, the calibration precision is low and the like in the existing method can be effectively solved.
Based on the above embodiment, before obtaining the initial array element coordinates of the shore matrix by using the sonic velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the long baseline positioning method, the method further includes:
and determining basic information of the sound source ship and basic information of a shore matrix, and acquiring the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the basic information of the sound source ship and the basic information of the shore matrix.
The determining the basic information of the sound source ship and the basic information of the shore array, and acquiring the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the basic information of the sound source ship and the basic information of the shore array, comprises the following steps:
according to the initial arrangement information of the shore matrix, determining a sound source ship running route, and transmitting a periodic frequency modulation pulse signal to the shore matrix by the sound source ship;
acquiring global positioning system information of the sound source ship, determining longitude and latitude information corresponding to the global positioning system information of the sound source ship based on the initial deployment information of the shore matrix, and converting the longitude and latitude information into rectangular coordinates of the sound source ship;
acquiring a sound velocity gradient of a position of the sound source ship transmitting the periodic frequency modulation pulse signal, and determining the sound velocity meter based on the sound velocity gradient and a sound field model;
performing matched filtering operation on a transmitting signal and a receiving signal in a single period in the periodic frequency modulation pulse signals to obtain initial time delay; and determining a time delay change threshold by utilizing the front and rear position information of the source ship, and performing smooth filtering on the initial time delay to obtain the corrected time delay.
The method comprises the steps of carrying out matched filtering operation on a sending signal and a receiving signal in a single period in the periodic frequency modulation pulse signals to obtain initial time delay; determining a delay change threshold by utilizing front and rear position information of the sound source ship to carry out smooth filtering on the initial delay to obtain the corrected delay, wherein the method comprises the following steps:
taking the transmitting time of the transmitting signal in the single period as a reference to acquire the receiving signal;
performing matched filtering processing on the sending signal and the receiving signal by utilizing a matched filtering algorithm, performing interference suppression on a matched and filtered result based on a time deconvolution algorithm, and performing direct wave screening on the interference suppressed result by utilizing a wide discriminator to obtain initial propagation delay between the sending signal and the receiving signal;
and carrying out smoothing processing and jump point removal on the initial propagation delay in the time dimension to obtain the corrected delay.
Specifically, as shown in fig. 2, a GPS is installed on a sound source ship, so that the transmission and the reception are synchronized through a time synchronization system, the sound source ship carries the sound source to transmit periodic frequency modulation pulse signals while walking, the sound source is wound around an array, and an acquisition system continuously acquires data transmitted by the sound source.
Preprocessing the position information of the sound source ship, extracting longitude and latitude information of the sound source ship from a GPS original data format, and converting the longitude and latitude information into rectangular coordinates of the sound source ship under a rectangular coordinate system by taking an array water falling point GPS as a reference point.
Then, sound velocity gradient measurement is performed, and a sound velocity meter is calculated according to the sound velocity gradient and the BELLHOP model (namely a sound field model). The BELLHOP model is a model for predicting sound pressure in a marine environment according to ray tracing, and the proposed ray tracing structure makes an algorithm very simple, and can realize various types of rays including Gaussian beams, hat beams and the like based on geometric and physical propagation rules. BELLHOP can produce a variety of useful output information including transmission loss, eigen-acoustic line, time series of arrival and reception, etc. The experimental data of the BELLHOP model in the frequency range of 600Hz-30kHz is consistent with the theoretical model, and the data and the working performance of the channel can be effectively predicted by using the BELLHOP model to simulate the underwater acoustic channel.
The invention uses signal processing methods such as time alignment, matched filtering, time anti-interference suppression, direct wave delay estimation of a wide discriminator and the like to correct, optimizes and smoothes the estimated time in a time dimension, and removes jump points.
The method and the device provide accurate data sources for estimating the initial coordinates of the shore matrix by acquiring the sound velocity meter, correcting the signal receiving time delay and combining the sound source ship position information.
Based on the above embodiment, the method for obtaining the initial array element coordinates of the shore matrix based on the long baseline positioning method by using the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship includes:
and combining the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship, and adopting a spherical intersection positioning algorithm and an optimized positioning algorithm to obtain the initial array element coordinates.
Specifically, after the corrected time delay, the GPS information of the sound source ship and the sound velocity meter are obtained, the invention further adopts a spherical intersection positioning algorithm and an optimized positioning algorithm to calculate and obtain the initial array element coordinates of each array element.
The spherical intersection positioning algorithm is based on the three-sphere intersection positioning principle, and according to the distance measurement signals transmitted by the satellites and the navigation message, the navigation message contains the position information of the satellites. The user receiver receives more than three satellite signals at a certain moment, measures the distance from a measuring station (user receiver) to three satellites, calculates the space coordinates of the satellites, and then utilizes a distance intersection method, wherein the distance from two known points to a certain point to be measured is measured, and then the point to be measured is determined according to the intersection point of the two distances. The position of the survey site can be resolved. The whole process is the implementation of the three-ball intersection positioning principle in the satellite navigation field.
According to the invention, by using a long baseline positioning method, the initial array element coordinates in a certain error range are obtained by using the sound velocity meter, the correction time delay and the sound source ship global positioning system information, and the independent calibration process does not need to independently install an attitude sensor or rely on a specific array form, so that the method has a wider application prospect.
Based on the above embodiment, the performing joint calibration on the initial array element coordinate by using the array element movement direction and the inherent spacing between the array elements to obtain an array element calibration coordinate includes:
establishing an array element spacing objective function by utilizing the ideal spacing of any two array elements, and optimizing the array element coordinates by utilizing the array element spacing objective function by utilizing a target genetic algorithm to obtain array element optimized coordinates;
performing non-equidistant smoothing on the array element optimization coordinates to obtain array element smoothing coordinates;
and acquiring an array element direction vector by using the array element smooth coordinate, and determining the array element calibration coordinate based on the array element direction vector.
The obtaining the array element direction vector by using the array element smooth coordinate, determining the array element calibration coordinate based on the array element direction vector, includes:
calculating the array element smooth coordinates to obtain array element direction vectors of all the array elements;
based on the array element direction vector and the spacing between any two array elements, obtaining a plurality of groups of array element basic coordinate vectors by taking any one array element initial coordinate as a reference element;
and averaging the basic coordinate vectors of the array elements to obtain the calibration coordinates of the array elements.
It can be appreciated that after the initial array element coordinates are obtained, the estimated error of each array element coordinate can be as small as 5m or less, and the error is smaller for a large-pitch array. However, since the coordinates of each array element are independently calibrated and the errors are random, the array shape formed by the coordinates of each array element is random and disordered, and cannot be formed into a regular array shape, the requirement of array signal processing cannot be met, the coordinates are utilized for beam forming, and the main peak of the target cannot be estimated.
Further, a plurality of objective functions can be set by utilizing the fixed interval between every two array elements and simultaneously according to the information that the maximum error between the coordinates of the array elements and the ideal coordinates after initial positioning is not more than 5m, and the coordinates of each array element are integrally optimized by utilizing a multi-objective genetic algorithm. And (3) further smoothing the optimized array element coordinates, and calculating the direction vectors of the front array element and the rear array element by using the smoothed coordinates.
And finally, respectively taking each array element as a reference, and calculating the coordinate of the next array element according to the direction vector and the inherent distance between the array elements. And averaging the obtained multiple groups of coordinates to obtain final array element calibration coordinates.
According to the invention, the distributed array shape does not need to be assumed in independent calibration, the independent calibration is used as a reference, the coordinates are optimized by utilizing a multi-target genetic algorithm, the movement direction of the array is obtained, the relative calibration is performed by utilizing the information of unchanged array spacing, and the independent calibration and the relative calibration are effectively combined, so that the relatively accurate array element calibration coordinates are obtained.
Based on the above embodiments, the present invention is described in terms of a specific embodiment.
In this embodiment, it is assumed that 1 circular array with radius 323m is calibrated with 128-element non-equidistant space. The following describes the specific embodiment of the present invention by way of example with reference to the calibration of the circular array, but the technical content of the present invention is not limited to the described scope, as shown in the steps of fig. 2:
step (1): after the array is laid out, it is unknown whether the array is laid out in an ideal circular array. Firstly, a route of a sound source ship is designed according to GPS information of array water falling points recorded during arrangement, and frequency modulation pulse signals are emitted around the array for one circle. The frequency of the signal is determined according to the receiving bandwidth of the array and the frequency response of the transmitting transducer, and in the embodiment, a frequency modulation pulse signal of 7k-8k is adopted;
step (2): preprocessing GPS data of the sound source ship to obtain longitude and latitude information in a calibration time;
step (3): measuring a sound velocity profile by using a salt temperature depth (Conductivity Temperature Depth, CTD), inputting the sound velocity profile into a BELLHOP model, and calculating a sound velocity meter for target positioning; the salt temperature depth measuring instrument is an instrument for measuring and recording the salinity (or conductivity) and the temperature change along with the depth of the seawater on site, is also called a salt temperature depth profile instrument, and is generally composed of an underwater probe, an on-water data processing device and a hanging device, and comprises a self-contained type device, a transmission type device or a direct-reading type device, which are respectively suitable for a ship, an underwater towed body, a buoy or a submerged buoy which are used for sailing or fixed-point investigation, and a throwing device for a ship or an airplane;
step (4) original data of the signal are read, one period of data is taken out to be related to the copy signal from the signal transmitting moment according to time synchronization information, and in order to restrain the influence of multi-path and noise fluctuation, a deconvolution algorithm is added to perform interference suppression, and meanwhile, a wide discriminator is utilized to perform direct wave screening, so that the propagation delay between a sound source and a receiving point is obtained;
step (5) normally, the sound source ship advances at the speed of 1-2 knots during calibration, the period of the transmitted signal is generally less than or equal to 5s, so the time delay difference calculated in the front and back periods is generally not more than 3.5ms, but due to the fluctuation of noise, certain fluctuation and even jump occur in the time delay calculated in each period, and then the calculated time delay is smoothed in time and the wild points are removed by utilizing median filtering;
step (6): the coordinates of 128 array elements can be obtained by combining the sound velocity meter, the correction time delay and the GPS information of the sound source ship and utilizing the spherical intersection and the optimized positioning algorithm thereof, and the coordinates can be considered as initial coordinates obtained based on a long baseline positioning method. Because each array element is independently calibrated, the randomness is strong, and the error of each array element is assumed to be 5m, the maximum error of the interval estimation between any two array elements can reach 10m, so that the relative calibration is further needed;
step (7), according to the fixed interval between every two array elements and the obtained prior information that the error between the initial position and the ideal position is not more than 5m, two objective functions can be established, one of which minimizes the error between the distance between the optimized array elements and the actual array element interval, and the other of which minimizes the error value between the optimized array element coordinates and the initial array element coordinates of the long baseline calibration to 5m, the array element coordinates are further optimized by utilizing a multi-objective genetic algorithm, and the optimization process is a relatively optimized process;
step (8) further carrying out non-equidistant smoothing on the optimized coordinates;
and (9) calculating the direction vectors of 128 array elements according to the obtained array element coordinates, respectively taking 128 elements as initial array elements, obtaining the coordinates of each array element by utilizing the distance between the direction vector and the array element, and finally averaging the 128 element coordinate vectors to obtain the final array element calibration coordinates.
It can be seen that the initial coordinates of the optimized array element after the calibration of the baseline with longer array element coordinate precision are greatly improved. Assuming that the average value of the coordinate errors after the calibration of the long base line is 2m, the average value of the coordinate errors after the calibration of the invention is 0.5m. The real array element coordinates are used for manufacturing 400Hz single-frequency signals, the single-frequency signals are incident to the array from the 60-degree direction, and the source level is 60dB. And carrying out beam forming processing by using the coordinates of the long baseline calibration, wherein the obtained target peak value appears at 58 degrees, and the source level is 47dB, which indicates that the in-phase superposition among the array elements is not achieved. After the beam forming processing is carried out on the array element coordinates calibrated by the method, the obtained target peak value appears at 60 degrees, the source level is 58dB, and the error is only 2dB compared with the true source level, and the direction finding is accurate.
The present invention is described below with reference to a joint calibration system for co-ordinate of a shore matrix, which is described below, and a joint calibration method for co-ordinate of a shore matrix, which is described above, which may be referred to correspondingly.
Fig. 3 is a schematic structural diagram of a joint calibration system for shore-based matrix coordinates, as shown in fig. 3, including: an initial calibration module 31 and a precision calibration module 32, wherein:
the initial calibration module 31 is used for obtaining initial array element coordinates of the shore matrix based on a long baseline positioning method by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information; the precise calibration module 32 is configured to perform joint calibration on the initial array element coordinates by using the array element movement direction and the inherent spacing between array elements, so as to obtain array element calibration coordinates.
According to the method, the high-precision coordinate calibration of the arbitrary array-shaped bank matrix is realized by the joint calibration method based on long baseline positioning and the optimization and smoothness of the array element moving direction and the inherent distance, and the problems that accumulated errors exist in calibration by means of an attitude sensor and the array elements, the calibration elements are independent and have no relevance, the calibration precision is low and the like in the existing method can be effectively solved.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform a bank matrix coordinate joint calibration method comprising: based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information; and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for joint calibration of land-based matrix coordinates provided by the above methods, the method comprising: based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information; and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for joint calibration of land-based matrix coordinates provided by the above methods, the method comprising: based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information; and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The bank matrix coordinate joint calibration method is characterized by comprising the following steps of:
based on a long baseline positioning method, obtaining initial array element coordinates of the shore matrix by utilizing a sound velocity meter, a correction time delay and sound source ship global positioning system information;
and carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
2. The method for jointly calibrating the coordinates of the shore matrix according to claim 1, wherein the method for jointly calibrating the coordinates of the shore matrix based on the long baseline positioning method, before obtaining the initial array element coordinates of the shore matrix by utilizing the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship, further comprises:
and determining basic information of the sound source ship and basic information of a shore matrix, and acquiring the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on the basic information of the sound source ship and the basic information of the shore matrix.
3. The shore matrix coordinate joint calibration method according to claim 2, wherein said determining of said sound source ship basic information and said shore matrix basic information, obtaining said sound velocity meter, said correction delay, and said sound source ship global positioning system information based on said sound source ship basic information and said shore matrix basic information, comprises:
according to the initial arrangement information of the shore matrix, determining a sound source ship running route, and transmitting a periodic frequency modulation pulse signal to the shore matrix by the sound source ship;
acquiring global positioning system information of the sound source ship, determining longitude and latitude information corresponding to the global positioning system information of the sound source ship based on the initial deployment information of the shore matrix, and converting the longitude and latitude information into rectangular coordinates of the sound source ship;
acquiring a sound velocity gradient of a position of the sound source ship transmitting the periodic frequency modulation pulse signal, and determining the sound velocity meter based on the sound velocity gradient and a sound field model;
performing matched filtering operation on a transmitting signal and a receiving signal in a single period in the periodic frequency modulation pulse signals to obtain initial time delay; and utilizing the front and rear position information of the sound source ship to determine a time delay change threshold to carry out smooth filtering on the initial time delay, so as to obtain the corrected time delay.
4. The method for joint calibration of matrix coordinates according to claim 3, wherein the initial delay is obtained by performing matched filtering operation on a transmission signal and a reception signal in a single period in the periodic fm pulse signal; and determining a delay change threshold by utilizing the front and rear position information of the sound source ship to carry out smooth filtering on the initial delay to obtain the corrected delay, wherein the method comprises the following steps:
taking the transmitting time of the transmitting signal in the single period as a reference to acquire the receiving signal;
performing matched filtering processing on the sending signal and the receiving signal by utilizing a matched filtering algorithm, performing interference suppression on a matched and filtered result based on a time deconvolution algorithm, and performing direct wave screening on the interference suppressed result by utilizing a wide discriminator to obtain initial propagation delay between the sending signal and the receiving signal;
and carrying out smoothing processing and jump point removal on the initial propagation delay in the time dimension to obtain the corrected delay.
5. The method for jointly calibrating the coordinates of the shore matrix according to claim 1, wherein the obtaining the initial array element coordinates of the shore matrix based on the long baseline positioning method by using a sound velocity meter, a correction time delay and global positioning system information of a sound source ship comprises the following steps:
and combining the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship, and adopting a spherical intersection positioning algorithm and an optimized positioning algorithm to obtain the initial array element coordinates.
6. The method for joint calibration of land-based array coordinates according to claim 1, wherein said performing joint calibration on said initial array coordinates using the array movement direction and the inter-array natural spacing to obtain array calibration coordinates comprises:
establishing an array element spacing objective function by utilizing the ideal spacing of any two array elements, and optimizing initial array element coordinates by utilizing the array element spacing objective function by utilizing a target genetic algorithm to obtain array element optimized coordinates;
performing non-equidistant smoothing on the array element optimization coordinates to obtain array element smoothing coordinates;
and acquiring an array element direction vector by using the array element smooth coordinate, and determining the array element calibration coordinate based on the array element direction vector.
7. The method for joint calibration of matrix coordinates according to claim 6, wherein the obtaining an element direction vector using the element smoothing coordinates, and determining the element calibration coordinates based on the element direction vector, comprises:
calculating the array element smooth coordinates to obtain array element direction vectors of all the array elements;
based on the array element direction vector and the ideal distance between any two array elements, taking any one initial array element coordinate as a reference element to obtain a plurality of groups of array element basic coordinate vectors;
and averaging the basic coordinate vectors of the array elements to obtain the calibration coordinates of the array elements.
8. A shore-based matrix coordinate joint calibration system, comprising:
the initial calibration module is used for obtaining initial array element coordinates of the shore matrix by utilizing the sound velocity meter, the correction time delay and the global positioning system information of the sound source ship based on a long baseline positioning method;
and the accurate calibration module is used for carrying out joint calibration on the initial array element coordinates by utilizing the array element movement direction and the inherent spacing between the array elements to obtain array element calibration coordinates.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the joint calibration method of land-based array coordinates as defined in any one of claims 1 to 7 when the program is executed by the processor.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the joint calibration method of land-based array coordinates according to any one of claims 1 to 7.
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