CN116628396B - Underwater equipment sound ray bending correction method based on smooth interpolation - Google Patents
Underwater equipment sound ray bending correction method based on smooth interpolation Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000013528 artificial neural network Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000012549 training Methods 0.000 claims abstract description 7
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Abstract
The invention provides a smooth interpolation-based underwater equipment sound ray bending correction method, which comprises the following steps: s1, measuring the temperature, the salinity and the pressure from the water surface to the depth of the underwater equipment layer to obtain original hydrological measurement data [ ]T,S,P) WhereinTThe temperature is indicated as a function of the temperature,Sthe salinity is represented by the salinity,Prepresenting pressure; s2, calculating sound velocity profile data based on the original hydrological measurement data according to a sound velocity empirical formulaSVP(D,SV) WhereinDThe depth data is represented by a representation of the depth data,SVrepresenting sound velocity data; s3, constructing a radial basis function neural network; s4, using sound velocity profile dataSVPTraining the radial basis function neural network until convergence; s5, sub-dividing and generalizing the underwater full depth to obtain sound velocity data layer by layer; s6, calculating the linear distance between the water surface node and the underwater node according to the sound velocity data, wherein the method can accurately fit the sound velocity of any depth in the measuring range, so that distance measurement data with smaller error can be provided.
Description
Technical Field
The invention relates to the technical field of underwater equipment ranging, in particular to a method for correcting acoustic line bending of underwater equipment based on smooth interpolation.
Background
The current positioning algorithm for underwater sports equipment comprises two types of fixed sound velocity ranging and time-varying sound velocity ranging, and the positioning accuracy of the two positioning algorithms is limited by the distance accuracy between a water surface node and the underwater equipment. Due to the influence of different sea water temperature, salinity, depth and other conditions, the positioning accuracy is higher by adopting a time-varying sound velocity ranging method. In the related positioning method, a plurality of piecewise straight line modes are generally adopted for fitting to measure distance, and certain positioning errors exist when the sound velocity at a specific depth is finely differentiated.
Disclosure of Invention
In view of the above, the invention aims to provide a smooth interpolation-based underwater equipment sound ray bending correction method, which is used for accurately fitting sound velocity at any depth in a measurement range so as to provide distance measurement data with smaller error.
In order to achieve the above object, the present invention provides a method for correcting acoustic line bending of underwater equipment based on smooth interpolation, the method comprising the steps of:
s1, measuring the temperature, the salinity and the pressure from the water surface to the depth of the underwater equipment layer to obtain original hydrological measurement data [ ]T,S,P) WhereinTThe temperature is indicated as a function of the temperature,Sthe salinity is represented by the salinity,Prepresenting pressure;
s2, calculating sound velocity profile data based on the original hydrological measurement data according to a sound velocity empirical formulaSVP(D,SV) WhereinDThe depth data is represented by a representation of the depth data,SVrepresenting sound velocity data;
s3, constructing a radial basis function neural network;
s4, using sound velocity profile dataSVPTraining the radial basis function neural network until convergence;
s5, sub-dividing and generalizing the underwater full depth to obtain sound velocity data layer by layer;
s6, calculating the linear distance between the water surface node and the underwater node according to the sound velocity data.
Further, in step S2, the sound velocity empirical formula is expressed as:
wherein SV is sound velocity, T is temperature, T is more than or equal to-2 ℃ and less than or equal to 24.5 ℃, D is depth, D is more than or equal to 0 and less than or equal to 1000m, S is salinity, and S is more than or equal to 0.03 and less than or equal to 0.042.
Further, in step S3, a radial basis function neural network is definedWherein X is network input and corresponds to depth data D; y is network output and corresponds to sound speed data SV, < >>The number of neurons in the second and third layers of the network.
Further, toSVPTraining the radial basis function neural network, expressed as:
in the above-mentioned method, the step of,for network output, ++>For actually calculating the sound speed, +.>Initializing for errors.
Further, the underwater full depth is subdivided and generalized to obtain sound velocity data layer by layer, and the expression is:
wherein,for subdividing depth +.>To generalize the sound velocity.
Further, the step S6 specifically includes: assuming that the sea water between the water surface node and the underwater node is uniformly divided into n layers, the sound velocity of each layer isThe layer thickness of each layer is d, then for each layer:
wherein the method comprises the steps ofRepresents the sound velocity propagation distance of the i-th layer, propagation time +.>Total time of acoustic signal propagationtThe method comprises the following steps:
+/>+/>
refractive bending scaling coefficient of adjacent layersExpressed as:
based on the foregoing, the total time of propagation of the acoustic signaltThe expression of (2) translates into:
=+/>+/>+/>
for a pair ofSolving and then calculating the lateral distance of propagation of the acoustic signal in each layer +.>，/>The formula of (2) is as follows:
further calculating the linear distance L from the water surface node to the underwater node as follows:
。
compared with the prior art, the invention has the beneficial effects that:
according to the acoustic line bending correction method for the underwater equipment based on smooth interpolation, influences of underwater temperature, salinity and pressure at different depths on acoustic velocity propagation speed are considered, accurate acoustic velocity profile data is obtained through calculation, a radial basis function neural network is trained through the acoustic velocity profile data, acoustic velocity data of different layers under water are obtained through the trained neural network, and accurate straight line distance data from a water surface node to an underwater node is obtained through calculation according to the acoustic velocity data of the different layers.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only preferred embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic overall flow chart of an underwater equipment sound ray bending correction method based on smooth interpolation according to an embodiment of the invention.
Fig. 2 is a schematic diagram of analysis of a distance from a water surface node to an underwater node according to an embodiment of the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the illustrated embodiments are provided for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1, the present embodiment provides a method for correcting acoustic line bending of underwater equipment based on smooth interpolation, the method comprising the steps of:
s1, measuring the temperature, the salinity and the pressure from the water surface to the depth of the underwater equipment layer to obtain original hydrological measurement data [ ]T, S, P) WhereinTThe temperature is indicated as a function of the temperature,Sthe salinity is represented by the salinity,Prepresenting the pressure.
S2, calculating sound velocity profile data based on the original hydrological measurement data according to a sound velocity empirical formulaSVP(D,SV) WhereinDThe depth data is represented by a representation of the depth data,SVrepresenting sound velocity data.
In the present embodiment, the sound velocity empirical formula is expressed as:
wherein SV is sound velocity, T is temperature, T is more than or equal to-2 ℃ and less than or equal to 24.5 ℃, D is depth, D is more than or equal to 0 and less than or equal to 1000m, S is salinity, and S is more than or equal to 0.03 and less than or equal to 0.042.
S3, constructing a radial basis function neural network.
The radial basis function neural network is defined as in this embodimentWherein X is network input and corresponds to depth data D; y is network output and corresponds to sound velocity data SV; />The number of the neurons of the second layer and the third layer of the network can be increased or decreased according to the computing power or the energy of the lower computer.
S4, using sound velocity profile dataSVPTraining the radial basis function neural network until convergence, wherein the radial basis function neural network is as shown in the following formula:
in the above-mentioned method, the step of,for network output, ++>For actually calculating the sound speed, +.>Initializing for errors.
S5, sub-dividing and generalizing the underwater full depth to obtain sound velocity data layer by layer, wherein the depth of each layer can be 1 meter, 0.1 meter and the like, and the expression is as follows:
wherein,for subdividing depth +.>To generalize the sound velocity.
S6, calculating the linear distance between the water surface node and the underwater node according to the sound velocity data.
Referring to fig. 2, point a is a water surface node, point D is an underwater node, that is, a position where underwater equipment is located, a curve ABCD is a sound ray propagation path, and the curve can be smoothed according to fine depth division, so that a linear distance between two points AD is solved. Assuming that the sea water between the water surface node and the underwater node is uniformly divided into n layers, the sound velocity of each layer isThe layer thickness of each layer is d, then for each layer:
wherein the method comprises the steps ofRepresents the sound velocity propagation distance of the i-th layer, propagation time +.>Total time of acoustic signal propagationtThe method comprises the following steps:
+/> +/>
refractive bending scaling coefficient of adjacent layersExpressed as:
determining the lateral distance based on the previous method, and transmitting the acoustic signal to the total timetThe expression of (2) translates into:
= +/> +/> +/>
due toDetermining from the layer raw hydrographic measurement data; />Determining from the layer raw hydrographic measurement data;tit is known that the variable to be solved is only +.>. For->Solving and then calculating the lateral distance of propagation of the acoustic signal in each layer +.>，/>The formula of (2) is as follows:
further calculating the linear distance from the water surface node to the underwater nodeLThe method comprises the following steps:
。
the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (2)
1. A method for modifying the acoustic line bending of an underwater device based on smooth interpolation, the method comprising the steps of:
s1, measuring the temperature, the salinity and the pressure from the water surface to the depth of the underwater equipment layer to obtain original hydrological measurement data [ ]T, S, P) WhereinTThe temperature is indicated as a function of the temperature,Sthe salinity is represented by the salinity,Prepresenting pressure;
s2, calculating sound velocity profile data based on hydrological measurement data according to a sound velocity empirical formulaSVP (D, SV) WhereinDThe depth data is represented by a representation of the depth data,SVrepresenting sound velocity data;
s3, constructing a radial basis function neural network, and defining the radial basis function neural networkWherein X is network input and corresponds to depth data D; y is network output and corresponds to sound speed data SV, < >>The number of neurons of the second layer and the third layer of the network;
s4, using sound velocity profile dataSVPTraining the radial basis function neural network until convergence, and training the radial basis function neural network by SVP, wherein the training is expressed as:
in the above-mentioned method, the step of,for network output, ++>For actually calculating the sound speed, +.>Initializing an error;
s5, sub-dividing and generalizing the underwater full depth, acquiring sound velocity data layer by layer through the trained radial basis function neural network, wherein the expression is as follows:
wherein,for subdividing depth +.>Is the generalized sound velocity;
s6, calculating the linear distance between the water surface node and the underwater node according to sound velocity data, wherein the method specifically comprises the following steps: assume that sea water between water surface node and underwater node is uniformly divided intonLayers, each layer having a sound velocity ofEach layer has a layer thickness ofdThen for each layer there is:
wherein the method comprises the steps ofRepresent the firstiAcoustic propagation distance of layer,/">Representing the refraction angle of sound wave from crossing the water surface node to the ith seawater layering between the underwater nodes, and the propagation time is +.>Total time of acoustic signal propagationtThe method comprises the following steps:
+/>+/>
refractive bending scaling coefficient of adjacent layersExpressed as:
based on the foregoing, the total time of propagation of the acoustic signaltThe expression of (2) translates into:
=/> +/> +/> +/>
for a pair ofSolving and then calculating the lateral distance of propagation of the acoustic signal in each layer +.>，/>The formula of (2) is as follows:
further calculating the linear distance from the water surface node to the underwater nodeLThe method comprises the following steps:
。
2. the method for correcting the acoustic line bending of an underwater equipment based on smooth interpolation according to claim 1, wherein in step S2, the sound velocity empirical formula is expressed as:
wherein,Tthe temperature is minus 2 ℃ less than or equal toT≤24.5℃，DDepth is 0 to less than or equal toDLess than or equal to 1000m, S is salinity, less than or equal to 0.03S≤0.042。
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