CN116465399A - Underwater fusion communication positioning method for three-dimensional energy field - Google Patents
Underwater fusion communication positioning method for three-dimensional energy field Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H5/00—Measuring propagation velocity of ultrasonic, sonic or infrasonic waves, e.g. of pressure waves
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/10—Pre-processing; Data cleansing
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- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2131—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on a transform domain processing, e.g. wavelet transform
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/213—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods
- G06F18/2134—Feature extraction, e.g. by transforming the feature space; Summarisation; Mappings, e.g. subspace methods based on separation criteria, e.g. independent component analysis
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
- G06F2218/08—Feature extraction
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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
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Abstract
The invention discloses a three-dimensional energy field underwater fusion communication positioning method, which comprises the following steps of; s1, monitoring and acquiring underwater acoustic data of equipment in real time, primarily integrating the acquired data, transmitting the acoustic data of the surrounding area of the underwater equipment, and executing S2; s2, processing underwater sound wave data, filtering ocean noise, preprocessing collected sound information, filtering high-frequency noise and low-frequency ocean noise, performing blind source separation on sound source data, estimating the number of sound sources, and executing S3; s3, further carrying out fusion processing on the estimated quantity and the sound source model data. The invention solves the problems that once a ground base station stops working or fails, the underwater equipment loses positioning information and cannot be completely and independently communicated and positioned in the prior art by the communication positioning method.
Description
Technical Field
The invention relates to the technical field of underwater monitoring communication positioning, in particular to an underwater fusion communication positioning method of a three-dimensional energy field.
Background
Underwater acoustic navigation is a navigation technology developed on the basis of the comprehensive technology of sonar and radio navigation. The underwater sound localization system has a plurality of cells, typically receivers or transponders, and the inter-cell wiring is called a baseline, and can be classified into a long baseline system, a short baseline system, and an ultra-short baseline system according to the length of the baseline. All three systems are required to be arranged in advance in the sea area to realize acoustic navigation. The pulse emitted by the sound source (beacon or transponder) of the transducer (or transducer array) is received by one or more acoustic sensors arranged on the mother ship, and the received pulse signal is processed and calculated according to a preset mathematical model to obtain the position of the sound source.
The current underwater positioning application is a USBL ultra-short baseline positioning technology. The base station on the ship receives the sound source signals of the underwater equipment, and performs positioning of plane coordinates by calculating the arrival time of the sound source signal data, and the traditional USBL ultra-short baseline underwater sound positioning technology is a positioning system based on a fixed base station. The whole set of system has very high dependence on the ground base station. Once the ground base station stops working or fails, the underwater equipment loses positioning information.
Therefore, it is necessary to invent a three-dimensional energy field underwater fusion communication positioning method to solve the above problems.
Disclosure of Invention
The invention aims to provide a three-dimensional energy field underwater fusion communication positioning method, which is used for solving the problems that in the prior art, once a ground base station stops working or fails, underwater equipment can lose positioning information and the underwater equipment cannot be completely and independently communicated and positioned.
In order to achieve the above object, the present invention provides the following technical solutions: a three-dimensional energy field underwater fusion communication positioning method comprises the following steps of;
s1, monitoring and acquiring underwater acoustic wave data of target equipment in real time, primarily integrating the acquired data, transmitting the acoustic wave data of the surrounding area of the underwater target equipment, and executing S2;
s2, processing underwater sound wave data, filtering ocean noise, preprocessing collected sound information, filtering high-frequency noise and low-frequency ocean noise, performing blind source separation on sound source data, estimating the number of sound sources, and executing S3;
s3, further carrying out fusion processing on the estimated quantity and sound source model data, judging the similar part of the sound waveform as the same sound source by using a time windowing algorithm, and executing S4;
s4, after separating 6 sound sources, obtaining sound data of 6 channels, performing Fourier frequency domain transformation on the 6 sound channel data through a blind source separation module, establishing a sound energy field, performing energy weighting on a frequency domain diagram obtained through the frequency domain transformation to obtain a two-dimensional sound spectrum energy mapping field, and executing S5;
s5, establishing a three-dimensional energy field vector model, performing discrete division on the three-dimensional energy field into a grid image space taking one degree as a discrete unit, rotating a vector matrix of the two-dimensional energy field in a three-dimensional spherical space, and executing S6;
s6, when the S5 is executed, the space energy of each vector relative to the original point is calculated at the same time, the energy value output by each grid is compared to obtain a region with the largest energy in the three-dimensional space, a clustering algorithm is used in the region with the largest energy to obtain a minimum region with the largest energy finally, the minimum region is the coordinate position of the target equipment relative to the local equipment in the three-dimensional space, the coordinate of the sound source relative to the local equipment is output, and the S7 is executed;
s7, calculating the coordinates of the target equipment relative to the earth through inertial navigation, receiving the projection of the target equipment to the local equipment, combining the coordinate position of the target equipment relative to the earth coordinate system obtained in the S6, projecting the obtained coordinates of the target position to the earth coordinate system through the local equipment, namely obtaining the coordinate matrix of the target object relative to the local equipment, and establishing three-dimensional coordinate information of the position of the target object;
as a preferable scheme of the invention, the main content obtained in the step S1 is underwater sound wave data, inertial navigation data and water pressure and water temperature data.
As a preferable scheme of the invention, inertial navigation data are acquired, acceleration is filtered, angular acceleration data are filtered, and data are primarily integrated.
As a preferable scheme of the invention, the recorded coordinate historical data is used for predicting the motion trail of the target equipment relative to the earth coordinate system by using a Kalman filtering algorithm.
As a preferred embodiment of the present invention, the depth and temperature data of the current position of the target device and the coordinate position of the target object generated in S6 are acquired.
As a preferred scheme of the invention, the calculated sound speed is transmitted to the blind source separation module of S4 by combining the sound speed of the target position and the water depth and water temperature data of the current device.
As a preferred embodiment of the invention, the calculated sound velocity is transmitted to the sound energy field of S4, and the data is updated every 50 ms.
As a preferable mode of the present invention, the relative coordinates of the target position obtained in S7 with respect to the device are combined with the relative coordinates of the device obtained in the prior art with respect to the earth.
As a preferred embodiment of the present invention, the projection calculates an absolute coordinate position of the target position with respect to the earth coordinate system.
In the technical scheme, compared with the prior art, the invention has the following technical effects and advantages:
1. by establishing the arrangement on each ship, the equipment can mutually receive equipment information of the target positions, acquire water sound wave data and other data of the target positions, and perform a series of analysis and calculation processing on the sound wave data and other numerical control, so that three-dimensional coordinate information of the target object positions is established, the mutual positioning of the underwater positioning equipment can be realized under the condition that a ground base station is not needed, and the calibration positioning error is compensated in real time;
2. the corresponding sound velocity is calculated by iterating the target position continuously for the earth coordinates. After a plurality of loops are iterated, the sound speed which is relatively accurate and is generated by sound at the target position is obtained, the sound speed is updated by the current water depth and water temperature data, and the sound speed of the target position is continuously corrected, so that the data correction is carried out on the algorithm module of the whole system, the separation error caused by different sound speeds is corrected, and the energy field coordinate error caused by different sound speeds is corrected.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of an underwater acoustic data integration structure according to the present invention;
FIG. 3 is a schematic diagram of a device coordinate prediction structure according to the present invention;
fig. 4 is a schematic diagram of the apparatus coordinate correcting structure of the present invention.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
The invention provides a three-dimensional energy field underwater fusion communication positioning method as shown in fig. 1-4, which comprises the steps of S1, monitoring and acquiring underwater sound wave data of target equipment in real time, primarily integrating the acquired data, transmitting the sound wave data of the surrounding area of the underwater target equipment, and executing S2;
s2, processing underwater sound wave data, filtering ocean noise, preprocessing collected sound information, filtering high-frequency noise and low-frequency ocean noise, performing blind source separation on sound source data, estimating the number of sound sources, and executing S3;
s3, further carrying out fusion processing on the estimated quantity and sound source model data, judging the similar part of the sound waveform as the same sound source by using a time windowing algorithm, and executing S4;
s4, after separating 6 sound sources, obtaining sound data of 6 channels, performing Fourier frequency domain transformation on the 6 sound channel data through a blind source separation module, establishing a sound energy field, performing energy weighting on a frequency domain diagram obtained through the frequency domain transformation to obtain a two-dimensional sound spectrum energy mapping field, and executing S5;
s5, establishing a three-dimensional energy field vector model, performing discrete division on the three-dimensional energy field into a grid image space taking one degree as a discrete unit, rotating a vector matrix of the two-dimensional energy field in a three-dimensional spherical space, and executing S6;
s6, when the S5 is executed, the space energy of each vector relative to the original point is calculated at the same time, the energy value output by each grid is compared to obtain a region with the largest energy in the three-dimensional space, a clustering algorithm is used in the region with the largest energy to obtain a minimum region with the largest energy finally, the minimum region is the coordinate position of the target equipment relative to the local equipment in the three-dimensional space, the coordinate of the sound source relative to the local equipment is output, and the S7 is executed;
and S7, calculating the coordinates of the target equipment relative to the earth through inertial navigation, receiving the projection of the target equipment to the local equipment, combining the coordinate position of the target equipment relative to the earth coordinate system obtained in the S6, projecting the obtained target position coordinates to the earth coordinate system through the local equipment, namely obtaining the coordinate matrix of the target object relative to the local equipment, and establishing the three-dimensional coordinate information of the position of the target object.
The device receives sound wave data of the surrounding area of the underwater device, performs noise filtering treatment, performs sound source blind source separation treatment on the received sound wave, performs number estimation, performs Fourier frequency domain transformation on sound channel data, establishes a three-dimensional energy field vector model, and obtains the coordinate position of a target object in a three-dimensional space relative to the device through device calculation, so that the coordinate matrix of the target object relative to the device can be obtained.
In the further optimization of the above embodiment, the main content acquired in step S1 is underwater acoustic data, inertial navigation data, water pressure and water temperature data.
The underwater sound wave, inertial navigation, water pressure, water temperature and other data are collected, so that equipment calculation is more accurate, and errors are reduced.
As a further optimization of the present invention, in the above structure, the velocity data is primarily integrated with the data.
The collected data is integrated, so that the device can calculate and analyze the collected data better.
As a further optimization of the invention, the coordinate history data is recorded, and a Kalman filtering algorithm is used for predicting the motion trail of the target equipment relative to the earth coordinate system.
And correcting the coordinates of the current equipment relative to the earth coordinate system by combining the motion trail historical data to obtain the actual coordinates of the equipment relative to the earth coordinate system.
As a further optimization of the present invention, the water depth and water temperature data of the current position of the target device and the coordinate position of the target object generated by S6 are acquired.
Wherein the resulting target coordinates are used primarily to continuously correct the sound velocity of the target location.
As a further optimization of the invention, the calculated sound speed is transmitted to the blind source separation module of S4 in combination with the sound speed of the target location and the water depth and water temperature data of the current device.
The sound speed is updated through the current water depth and water temperature data, so that the data correction is performed on the algorithm module of the whole system, the sound speed of the target position is continuously changed because the depth of the target position is continuously changed, the target position is required to be iterated continuously to calculate the corresponding sound speed, the relatively accurate sound speed of the target position which emits sound is obtained after a plurality of loops are iterated, and the separation error caused by different sound speeds is corrected.
As a further optimization of the invention, the calculated sound velocity is transmitted to the sound energy field of S4, the data being updated every 50 ms.
Wherein the energy field coordinate error due to the difference in sound velocity is corrected.
As a further optimization of the present invention, the relative coordinates of the target position relative to the device obtained in S7 are combined with the relative coordinates of the device relative to the earth obtained in the prior art.
The absolute coordinate position of the target position calculated by projection is relatively accurate by combining the target position and the relative coordinate and repeatedly measuring for a plurality of times, so that the error of the finally obtained position is reduced.
As a further optimization of the invention, the projection calculates the absolute coordinate position of the target position relative to the earth coordinate system.
And performing scale transformation on the absolute coordinate position to obtain target position coordinate information which can be normally used.
In a further optimization of the above embodiment, in order to save resources, reduce processing costs,
as shown in fig. 1-4, first, each ship may construct the device, the device may obtain water sound wave data and other necessary data at a target location by receiving device information at another target location, then, perform filtering processing of ocean noise on the obtained sound source data, perform blind source separation on the sound source data, that is, perform quantity estimation on the sound sources without knowing the quantity of the sound sources, further perform fusion processing on the estimated quantity and the sound source model data, determine a part with similar sound waveforms as the same sound source by using a time windowing algorithm, obtain sound data of 6 channels after separating 6 sound sources, perform fourier frequency domain transformation on the 6 sound channel data, perform energy weighting on a frequency domain map obtained by the frequency domain transformation to obtain a two-dimensional sound spectrum energy mapping field, and then establish a three-dimensional energy field vector model. The three-dimensional energy field is discretely divided into raster pattern spaces in discrete units of one degree. And rotating the vector matrix of the two-dimensional energy field in the three-dimensional spherical space. The spatial energy of each vector relative to the origin is calculated while the vectors are rotated. And comparing the energy value output by each grid to obtain the area with the largest energy in the three-dimensional space. The clustering algorithm is used in this energy maximum region to obtain the minimum region of the final energy maximum. The minimum area is the coordinate position of the target object relative to the equipment in three-dimensional space, and finally, the coordinates of the target object relative to the equipment are projected to the earth coordinate system, so that the ships can mutually position each other.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.
Claims (9)
1. A three-dimensional energy field underwater fusion communication positioning method is characterized in that: comprises the following steps of;
s1, monitoring and acquiring underwater acoustic wave data of target equipment in real time, primarily integrating the acquired data, transmitting the acoustic wave data of the surrounding area of the underwater target equipment, and executing S2;
s2, processing underwater sound wave data, filtering ocean noise, preprocessing collected sound information, filtering high-frequency noise and low-frequency ocean noise, performing blind source separation on sound source data, estimating the number of sound sources, and executing S3;
s3, further carrying out fusion processing on the estimated quantity and sound source model data, judging the similar part of the sound waveform as the same sound source by using a time windowing algorithm, and executing S4;
s4, after separating 6 sound sources, obtaining sound data of 6 channels, performing Fourier frequency domain transformation on the 6 sound channel data through a blind source separation module, establishing a sound energy field, performing energy weighting on a frequency domain diagram obtained through the frequency domain transformation to obtain a two-dimensional sound spectrum energy mapping field, and executing S5;
s5, establishing a three-dimensional energy field vector model, performing discrete division on the three-dimensional energy field into a grid image space taking one degree as a discrete unit, rotating a vector matrix of the two-dimensional energy field in a three-dimensional spherical space, and executing S6;
s6, when the S5 is executed, the space energy of each vector relative to the original point is calculated at the same time, the energy value output by each grid is compared to obtain a region with the largest energy in the three-dimensional space, a clustering algorithm is used in the region with the largest energy to obtain a minimum region with the largest energy finally, the minimum region is the coordinate position of the target equipment relative to the local equipment in the three-dimensional space, the coordinate of the sound source relative to the local equipment is output, and the S7 is executed;
and S7, calculating the coordinates of the target equipment relative to the earth through inertial navigation, receiving the projection of the target equipment to the local equipment, combining the coordinate position of the target equipment relative to the earth coordinate system obtained in the S6, projecting the obtained target position coordinates to the earth coordinate system through the local equipment, namely obtaining the coordinate matrix of the target object relative to the local equipment, and establishing the three-dimensional coordinate information of the position of the target object.
2. The three-dimensional energy field underwater fusion communication positioning method according to claim 1, wherein the method comprises the following steps: in the step S1, underwater sound wave data is acquired as main content, inertial navigation data is acquired, and water pressure and water temperature data are acquired.
3. The three-dimensional energy field underwater fusion communication positioning method according to claim 2, wherein the method comprises the following steps: and acquiring inertial navigation data, filtering acceleration and angular acceleration data, and primarily integrating the data.
4. A three-dimensional energy field underwater fusion communication positioning method according to claim 3, characterized in that: and the recorded coordinate historical data predicts the motion trail of the target equipment relative to the earth coordinate system by using a Kalman filtering algorithm.
5. The three-dimensional energy field underwater fusion communication positioning method according to claim 4, wherein the method comprises the following steps: and (6) acquiring the water depth and water temperature data of the current position of the target equipment and the coordinate position of the target object generated by the step (S6).
6. The three-dimensional energy field underwater fusion communication positioning method according to claim 5, wherein the method comprises the following steps: and transmitting the calculated sound speed to a blind source separation module of the S4 by combining the sound speed of the target position and the water depth and water temperature data of the current equipment.
7. The three-dimensional energy field underwater fusion communication positioning method according to claim 6, wherein the method comprises the following steps: the calculated sound velocity is transmitted to the sound energy field of S4, and the data is updated every 50 ms.
8. The three-dimensional energy field underwater fusion communication positioning method according to claim 7, wherein the method comprises the following steps: and combining the relative coordinates of the target position obtained in the step S7 and the equipment with the relative coordinates of the equipment obtained in the prior art and the earth.
9. The three-dimensional energy field underwater fusion communication positioning method according to claim 8, wherein the method comprises the following steps: the projection calculates an absolute coordinate position of the target position relative to the earth coordinate system.
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