CN116840578B - An underwater electric field dynamic measurement fluid noise interference cancellation method and device - Google Patents
An underwater electric field dynamic measurement fluid noise interference cancellation method and device Download PDFInfo
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Abstract
本发明提供一种水下电场动态测量流体噪声干扰抵消方法及装置，包括航行器、电场传感器矩阵、测速模块和加速度测量模块，由电场传感器矩阵测得电场信号，由测速模块测得航行器的速度信号，由加速度测量模块测得航行器的加速度信号，还包括放大和滤波电场信号的信号调理模块，信号调理模块包括耦合连接的增益控制电路和滤波电路，电场传感器矩阵和测速模块电性连接在增益控制电路的信号输入端，加速度测量模块电性连接在滤波电路的信号输入端，本发明通过增益控制电路抵消匀速航行时产生的直流干扰信号，通过滤波电路滤除变速航行时产生的交流干扰信号，保证获取的水下电场空间分布特性的可靠性。
The invention provides an underwater electric field dynamic measurement fluid noise interference cancellation method and device, which includes an aircraft, an electric field sensor matrix, a speed measurement module and an acceleration measurement module. The electric field signal is measured by the electric field sensor matrix, and the speed of the aircraft is measured by the speed measurement module. The speed signal is the acceleration signal of the aircraft measured by the acceleration measurement module. It also includes a signal conditioning module that amplifies and filters the electric field signal. The signal conditioning module includes a coupled gain control circuit and a filter circuit. The electric field sensor matrix and the speed measurement module are electrically connected. At the signal input end of the gain control circuit, the acceleration measurement module is electrically connected to the signal input end of the filter circuit. The present invention uses the gain control circuit to offset the DC interference signal generated during constant speed navigation, and filters out the AC generated during variable speed navigation through the filter circuit. Interference signals ensure the reliability of the obtained underwater electric field spatial distribution characteristics.
Description
技术领域Technical field
本发明涉及水下电场信号处理技术领域，尤其涉及一种水下电场动态测量流体噪声干扰抵消方法及装置。The invention relates to the technical field of underwater electric field signal processing, and in particular to a method and device for canceling fluid noise interference in dynamic measurement of underwater electric fields.
背景技术Background technique
水中舰船、潜艇、以及各种水下航行器等水下目标在航行过程中，其自身水下金属部分的电化学腐蚀或牺牲阳极保护装置会产生水下电场信号（电场信号分为静电场和交变电场），并且可以被安装于水下航行器的电场传感器阵列被动接收，在接收过程中，电场传感器通过获取水下空间内的电势差测量得到水下电场信号。During the navigation of underwater targets such as ships, submarines, and various underwater vehicles, the electrochemical corrosion of their own underwater metal parts or the sacrificial anode protection device will generate underwater electric field signals (electric field signals are divided into electrostatic fields and alternating electric field), and can be passively received by the electric field sensor array installed on the underwater vehicle. During the reception process, the electric field sensor obtains the underwater electric field signal by obtaining the electric potential difference measurement in the underwater space.
水下航行器在航行过程中，其相对于海水运动，海水作为导电流体从电场传感器阵列的电极间流过，根据电磁感应原理，其在电极间会产生跟海水相对流速相关的感应电场，但产生的感应电场会对水中舰船、潜艇，以及各种水下航行器等水中目标电场信号的测量（包括静电场和交变电场）构成干扰，这种干扰会对测量的目标水下电场的真实空间分布特性产生不良影响。During the navigation process of the underwater vehicle, it moves relative to the seawater, and the seawater flows as a conductive fluid between the electrodes of the electric field sensor array. According to the principle of electromagnetic induction, it will generate an induced electric field between the electrodes related to the relative flow rate of the seawater. However, The generated induced electric field will interfere with the measurement of electric field signals (including electrostatic fields and alternating electric fields) of underwater targets such as ships, submarines, and various underwater vehicles. This interference will affect the measured underwater electric field of the target. Undesirable effects on real spatial distribution characteristics.
因此，有必要提供一种水下电场动态测量流体噪声干扰抵消方法及装置解决上述技术问题。Therefore, it is necessary to provide a fluid noise interference cancellation method and device for underwater electric field dynamic measurement to solve the above technical problems.
发明内容Contents of the invention
为解决上述技术问题，本发明提供一种水下电场动态测量流体噪声干扰抵消方法及装置，通过航行器上的测速模块测得速度信号，由速度信号反向控制信号调理模块的增益控制电路的增益倍数，以抵消匀速航行时海水流体产生的直流干扰信号；通过航行器的加速度测量模块测得的加速度信号，并将加速度信号输入锁相跟踪滤波电路，以滤除航行器变速航行时海水流体产生的交流干扰信号，排除海水流体在航行器航行时对电场信号产生的信号干扰。In order to solve the above technical problems, the present invention provides an underwater electric field dynamic measurement fluid noise interference cancellation method and device. The speed signal is measured through the speed measurement module on the aircraft, and the gain control circuit of the signal conditioning module is reversely controlled by the speed signal. Gain multiple to offset the DC interference signal generated by seawater fluid when sailing at a constant speed; measure the acceleration signal through the acceleration measurement module of the aircraft, and input the acceleration signal into the phase-locked tracking filter circuit to filter out seawater fluid when the aircraft sails at variable speeds The generated AC interference signal eliminates the signal interference caused by seawater fluid on the electric field signal when the aircraft is sailing.
本发明提供了一种水下电场动态测量流体噪声干扰抵消装置，包括航行器以及安装于所述航行器上的电场传感器矩阵、测速模块和加速度测量模块，由所述电场传感器矩阵测得电场信号，由所述测速模块测得所述航行器的速度信号，由所述加速度测量模块测得所述航行器的加速度信号；The invention provides an underwater electric field dynamic measurement fluid noise interference cancellation device, which includes an aircraft and an electric field sensor matrix, a speed measurement module and an acceleration measurement module installed on the aircraft. The electric field signal is measured by the electric field sensor matrix. , the speed signal of the aircraft is measured by the speed measurement module, and the acceleration signal of the aircraft is measured by the acceleration measurement module;
还包括信号调理模块，所述信号调理模块包括耦合连接的增益控制电路和滤波电路，所述电场传感器矩阵和所述测速模块电性连接在所述增益控制电路的信号输入端，所述加速度测量模块电性连接在所述滤波电路的信号输入端，It also includes a signal conditioning module. The signal conditioning module includes a coupled gain control circuit and a filter circuit. The electric field sensor matrix and the speed measurement module are electrically connected to the signal input end of the gain control circuit. The acceleration measurement The module is electrically connected to the signal input end of the filter circuit,
其中，所述增益控制电路用于根据输入的速度信号输出增益控制信号，通过所述增益控制信号抵消匀速航行时产生的直流电压干扰，所述增益控制电路包括电性连接的增益放大器和反相放大器；Wherein, the gain control circuit is used to output a gain control signal according to the input speed signal, and use the gain control signal to offset the DC voltage interference generated when sailing at a constant speed. The gain control circuit includes an electrically connected gain amplifier and an inverting amplifier;
所述滤波电路用于根据输入的加速度信号控制陷波频率，通过所述陷波频率滤除变速航行时产生的交流电压干扰，所述滤波电路包括电性连接的限幅放大器、整形电路、倍频电路和带阻滤波器。The filter circuit is used to control the notch frequency according to the input acceleration signal, and filter out the AC voltage interference generated during variable speed navigation through the notch frequency. The filter circuit includes an electrically connected limiting amplifier, a shaping circuit, and a multiplier. frequency circuit and band stop filter.
优选的，所述电场传感器矩阵包括沿X方向和沿Y方向排列的电场传感器。Preferably, the electric field sensor matrix includes electric field sensors arranged along the X direction and along the Y direction.
优选的，所述测速模块为安装在所述航行器底部的电磁测速模块。Preferably, the speed measurement module is an electromagnetic speed measurement module installed at the bottom of the aircraft.
优选的，所述加速度测量模块为安装在航行器底部的MEMS加速度计。Preferably, the acceleration measurement module is a MEMS accelerometer installed at the bottom of the aircraft.
优选的，所述反相放大器包括运算放大器以及与运算放大器电性连接在输出电阻R3和反馈电阻R4。Preferably, the inverting amplifier includes an operational amplifier and an output resistor R3 and a feedback resistor R4 electrically connected to the operational amplifier.
优选的，所述增益控制电路还包括与增益放大器电性连接在分压电阻R1和分压电阻R2。Preferably, the gain control circuit further includes a voltage dividing resistor R1 and a voltage dividing resistor R2 electrically connected to the gain amplifier.
优选的，所述滤波电路为锁相跟踪带阻滤波电路。Preferably, the filter circuit is a phase-locked tracking band-stop filter circuit.
优选的，所述整形电路包括电性连接的比较器和上拉电阻R4。Preferably, the shaping circuit includes an electrically connected comparator and a pull-up resistor R4.
优选的，所述倍频电路的倍数为五十倍，包括电性连接的锁相环和计数器。Preferably, the frequency multiplier circuit has a multiple of fifty times and includes an electrically connected phase-locked loop and a counter.
本发明还公开了一种水下电场动态测量流体噪声干扰抵消方法，应用于前述的一种水下电场动态测量流体噪声干扰抵消装置，所述抵消方法包括以下步骤：The invention also discloses an underwater electric field dynamic measurement fluid noise interference cancellation method, which is applied to the aforementioned underwater electric field dynamic measurement fluid noise interference cancellation device. The cancellation method includes the following steps:
由所述电场传感器矩阵生成电场信号；Generate an electric field signal from the electric field sensor matrix;
由所述测速模块测量水下航行器的航行速度，并生成速度信号；The speed measurement module measures the sailing speed of the underwater vehicle and generates a speed signal;
由所述加速度测量模块测量水下航行器的加速度，并生成加速度信号；The acceleration measurement module measures the acceleration of the underwater vehicle and generates an acceleration signal;
将所述速度信号输入所述增益控制电路，并由所述增益控制电路输出增益控制信号，通过所述增益控制信号抵消匀速航行时产生的直流电压干扰；The speed signal is input into the gain control circuit, and the gain control circuit outputs a gain control signal, and the DC voltage interference generated during constant speed navigation is offset by the gain control signal;
将所述加速度信号输入所述滤波电路，由所述滤波电路输出陷波频率，通过所述陷波频率滤除变速航行时产生的交流电压干扰。The acceleration signal is input to the filter circuit, and the filter circuit outputs a notch frequency. The AC voltage interference generated during variable speed navigation is filtered out by the notch frequency.
与相关技术相比较，本发明提供的一种水下电场动态测量流体噪声干扰抵消方法及装置具有如下有益效果：Compared with related technologies, the underwater electric field dynamic measurement fluid noise interference cancellation method and device provided by the present invention have the following beneficial effects:
本发明通过航行器上的测速模块测得速度信号，由速度信号反向控制信号调理模块的增益控制电路的增益倍数，以抵消匀速航行时海水流体产生的直流电压干扰信号，保证获取的水下电场空间分布特性的可靠性。The invention measures the speed signal through the speed measurement module on the aircraft, and uses the speed signal to reversely control the gain multiple of the gain control circuit of the signal conditioning module to offset the DC voltage interference signal generated by seawater fluid during constant speed navigation, ensuring that the obtained underwater Reliability of electric field spatial distribution characteristics.
本发明通过航行器的加速度测量模块测得的加速度信号，并将加速度信号输入锁相跟踪滤波电路，通过控制滤波电路的陷波频率来滤除航行器变速航行时海水流体产生的交流电压干扰信号，保证获取的水下电场空间分布特性的可靠性。The invention measures the acceleration signal through the acceleration measurement module of the aircraft, inputs the acceleration signal into the phase-locked tracking filter circuit, and controls the notch frequency of the filter circuit to filter out the AC voltage interference signal generated by seawater fluid when the aircraft sails at variable speeds. , ensuring the reliability of the obtained underwater electric field spatial distribution characteristics.
附图说明Description of the drawings
图1为本发明提供的一种水下电场动态测量流体噪声干扰抵消装置的结构示意图；Figure 1 is a schematic structural diagram of an underwater electric field dynamic measurement fluid noise interference cancellation device provided by the present invention;
图2为本发明提供的一种水下电场动态测量流体噪声干扰抵消装置的增益控制电路示意图；Figure 2 is a schematic diagram of the gain control circuit of an underwater electric field dynamic measurement fluid noise interference cancellation device provided by the present invention;
图3为本发明提供的一种水下电场动态测量流体噪声干扰抵消装置的滤波电路示意图；Figure 3 is a schematic diagram of a filter circuit of an underwater electric field dynamic measurement fluid noise interference cancellation device provided by the present invention;
图4为本发明提供的一种水下电场动态测量流体噪声干扰抵消方法的流程示意图；Figure 4 is a schematic flow chart of a fluid noise interference cancellation method for underwater electric field dynamic measurement provided by the present invention;
图5为本发明提供的一种水下电场动态测量流体噪声干扰抵消装置的电场传感器矩阵分布示意图；Figure 5 is a schematic diagram of the electric field sensor matrix distribution of an underwater electric field dynamic measurement fluid noise interference cancellation device provided by the present invention;
图中标号：1、电场传感器a；2、电场传感器b；3、电场传感器c；4、信号调理模块；5、加速度测量模块；6、测速模块。Numbers in the figure: 1. Electric field sensor a; 2. Electric field sensor b; 3. Electric field sensor c; 4. Signal conditioning module; 5. Acceleration measurement module; 6. Speed measurement module.
具体实施方式Detailed ways
航行器在航行过程中是相对于海水运动，而海水作为导电流体从航行器底部安装的电场传感器矩阵的电极间流过，那么，根据电磁感应原理，在电场传感器矩阵的电极间会产生跟海水相对流速相关的感应电场，具体的，根据电磁感应公式E=BLV，当航行器在匀速运动时，电场传感器矩阵之间会产生与速度V相关的直流电压干扰；当航行器在变速运动时，电场传感器矩阵之间会产生与加速度相关的交流电压干扰。The aircraft moves relative to the seawater during navigation, and seawater flows as a conductive fluid between the electrodes of the electric field sensor matrix installed at the bottom of the aircraft. Then, according to the principle of electromagnetic induction, seawater will be generated between the electrodes of the electric field sensor matrix. The induced electric field related to the relative flow speed. Specifically, according to the electromagnetic induction formula E=BLV, when the aircraft is moving at a constant speed, DC voltage interference related to the speed V will be generated between the electric field sensor matrices; when the aircraft is moving at a variable speed, Acceleration-related AC voltage interference occurs between the electric field sensor matrices.
而在对水中舰船、潜艇，以及各种水下航行器等水中目标电场信号（包括静电场和交变电场）的测量过程中，产生的直流电压干扰和交流电压干扰均会对测量结果产生干扰，这种干扰会使得测量的目标水下电场的空间分布特性失真，因此，需要采用本申请提出的一种水下电场动态测量流体噪声干扰抵消装置及方法来解决。In the process of measuring electric field signals (including electrostatic fields and alternating electric fields) of underwater targets such as ships, submarines, and various underwater vehicles, the DC voltage interference and AC voltage interference generated will affect the measurement results. This interference will distort the spatial distribution characteristics of the measured target underwater electric field. Therefore, it is necessary to use the underwater electric field dynamic measurement fluid noise interference cancellation device and method proposed in this application to solve the problem.
下面结合附图和实施方式对本发明提供的一种水下电场动态测量流体噪声干扰抵消装置及方法做详细说明。An underwater electric field dynamic measurement fluid noise interference cancellation device and method provided by the present invention will be described in detail below with reference to the accompanying drawings and embodiments.
实施例一Embodiment 1
参考图1和图4所示，本发明提供了一种水下电场动态测量流体噪声干扰抵消装置，包括航行器、电场传感器矩阵、测速模块和加速度测量模块，其中，电场传感器矩阵、测速模块和加速度测量模块均安装在航行器的底部，并分别由电场传感器矩阵测得电场信号，由测速模块测得航行器的速度信号，由加速度测量模块测得航行器的加速度信号。Referring to Figures 1 and 4, the present invention provides an underwater electric field dynamic measurement fluid noise interference cancellation device, which includes an aircraft, an electric field sensor matrix, a speed measurement module and an acceleration measurement module, wherein the electric field sensor matrix, speed measurement module and The acceleration measurement modules are installed at the bottom of the aircraft, and the electric field signal is measured by the electric field sensor matrix, the speed signal of the aircraft is measured by the speed measurement module, and the acceleration signal of the aircraft is measured by the acceleration measurement module.
在本实施例中，参考图5所示，电场传感器矩阵以X轴和Y轴矩阵分布于在航行器的底部，电场传感器主要由银-氯化银传感器或碳纤维传感器构成。In this embodiment, as shown in Figure 5, the electric field sensor matrix is distributed on the bottom of the aircraft in an X-axis and Y-axis matrix. The electric field sensor is mainly composed of a silver-silver chloride sensor or a carbon fiber sensor.
例如，航行器上安装有位于X轴方向的电场传感器a和电场传感器b，从而构成X方向上的电场传感器对；航行器上安装有位于Y轴方向的电场传感器a和电场传感器c，从而构成Y方向上的电场传感器对，最终电场传感器a、电场传感器b和电场传感器c构成电场传感器矩阵，可以测量水下X、Y两轴方向上的水下电场分布。For example, an electric field sensor a and an electric field sensor b located in the X-axis direction are installed on the aircraft to form an electric field sensor pair in the X-axis; an electric field sensor a and an electric field sensor c located in the Y-axis direction are installed on the aircraft to form an electric field sensor pair. The pair of electric field sensors in the Y direction, and finally the electric field sensor a, the electric field sensor b and the electric field sensor c form an electric field sensor matrix, which can measure the underwater electric field distribution in the underwater X and Y axis directions.
在本实施例中，测速模块为通用的水下航速测量装置，可以是电磁测速、惯性导航或者声学测速装置，将测量的航速近似等效为航行器与海水间的相对速度，即海水流体在电场传感器间的相对速度，利用电磁感应定律得到感应电动势与相对速度之间的对应关系，将此对应关系用传递函数表示出来，能够给出与相对速度对应的模拟电压V1。In this embodiment, the speed measurement module is a general underwater speed measurement device, which can be an electromagnetic speed measurement, inertial navigation or acoustic speed measurement device. The measured speed is approximately equivalent to the relative speed between the aircraft and seawater, that is, the seawater fluid in For the relative speed between electric field sensors, the corresponding relationship between the induced electromotive force and the relative speed is obtained using the law of electromagnetic induction. This corresponding relationship is expressed by a transfer function, which can give the analog voltage V 1 corresponding to the relative speed.
在本实施例中，加速度测速模块为电容加速度计或MEMS加速度计，用于测量航行器的速度变化量，能够给出与航行器加速度对应的模拟电压V2。In this embodiment, the acceleration and speed measurement module is a capacitive accelerometer or a MEMS accelerometer, which is used to measure the speed change of the aircraft and can provide an analog voltage V 2 corresponding to the acceleration of the aircraft.
参考图1所示，还包括信号调理模块，信号调理模块包括耦合连接的增益控制电路和滤波电路，电场传感器矩阵电性连接在增益控制电路的信号输入端，电场传感器测量的电场信号需要经过信号调理电路处理，可以获得更加真实的水下电场分布特性；Referring to Figure 1, it also includes a signal conditioning module. The signal conditioning module includes a coupled gain control circuit and a filter circuit. The electric field sensor matrix is electrically connected to the signal input end of the gain control circuit. The electric field signal measured by the electric field sensor needs to pass through the signal Adjust circuit processing to obtain more realistic underwater electric field distribution characteristics;
测速模块电性连接在增益控制电路的信号输入端，将测速模块测量得到的速度信号对应的模拟电压V1输入增益控制电路，可以抵消匀速航行时海水流体产生的直流电压干扰信号，保证获取的水下电场空间分布特性的可靠性。The speed measuring module is electrically connected to the signal input end of the gain control circuit. The analog voltage V 1 corresponding to the speed signal measured by the speed measuring module is input into the gain control circuit, which can offset the DC voltage interference signal generated by seawater fluid during constant speed sailing, ensuring that the obtained Reliability of underwater electric field spatial distribution characteristics.
加速度测量模块电性连接在滤波电路的信号输入端，将加速度信号对应的模拟电压V2输入滤波电路，通过控制滤波电路的陷波频率来滤除航行器变速航行时海水流体产生的交流电压干扰信号，保证获取的水下电场空间分布特性的可靠性。The acceleration measurement module is electrically connected to the signal input end of the filter circuit, inputs the analog voltage V 2 corresponding to the acceleration signal into the filter circuit, and controls the notch frequency of the filter circuit to filter out the AC voltage interference generated by seawater fluid when the aircraft is sailing at variable speeds. signal to ensure the reliability of the acquired underwater electric field spatial distribution characteristics.
在本实施例中，参考图2所示，增益控制电路用于根据输入的速度信号输出增益控制信号，通过增益控制信号抵消匀速航行时产生的直流电压干扰，增益控制电路包括电性连接的增益放大器和反相放大器。In this embodiment, with reference to Figure 2, the gain control circuit is used to output a gain control signal according to the input speed signal, and use the gain control signal to offset the DC voltage interference generated when sailing at a constant speed. The gain control circuit includes an electrically connected gain amplifiers and inverting amplifiers.
其中，增益放大器为N2压控增益放大器，型号为VCA810，N2压控增益放大器的反相输入端接前级输入的电场信号，正相输入端接地，对电场信号进行反相放大。Among them, the gain amplifier is an N2 voltage-controlled gain amplifier, model VCA810. The inverting input terminal of the N2 voltage-controlled gain amplifier is connected to the electric field signal input by the previous stage, and the non-inverting input terminal is connected to ground to invert the electric field signal.
反相放大器主要由运算放大器（型号为OPA698）、输出电阻R3和反馈R4构成，且输出电阻R3和反馈R4的阻值相等，则该反相放大器的增益为-1倍，即只进行了反相变换。The inverting amplifier is mainly composed of an operational amplifier (model OPA698), output resistor R3 and feedback R4, and the resistances of the output resistor R3 and feedback R4 are equal, then the gain of the inverting amplifier is -1 times, that is, only inversion is performed. Phase transformation.
此外，反相放大器包括运算放大器以及与运算放大器电性连接在输出电阻R3和反馈电阻R4。In addition, the inverting amplifier includes an operational amplifier and an output resistor R3 and a feedback resistor R4 electrically connected to the operational amplifier.
N2压控增益放大器的增益调整端接增益控制电压，而增益控制电压是由包含航速信息的模拟电压V1经过反相变换后，再经过分压电阻R1和分压R2分压后得到，则整个增益控制电路的增益为：The gain adjustment terminal of the N2 voltage-controlled gain amplifier is connected to the gain control voltage, and the gain control voltage is obtained by inverting the analog voltage V 1 containing the speed information, and then dividing it through the voltage dividing resistor R1 and the voltage dividing R2, then The gain of the entire gain control circuit is:
； ;
其中，Vin等同于V1。where V in is equal to V 1 .
可见，Vin越大，整个增益控制电路环路的放大倍数越小。It can be seen that the larger the V in , the smaller the amplification factor of the entire gain control circuit loop.
由此，包含水下航行体航速信息的模拟电压Vin形成了负反馈：水下航行体航速越高，在电场传感器间形成的感应直流电压越大；而航速越高，给出的与航行器航速对应的模拟电压V1越大，模拟电压信号Vin相应也越大，整个电路环路的直流放大倍数越小，这样，对水下流体产生的直流电压干扰起到抑制与抵消作用。As a result, the analog voltage V in containing the speed information of the underwater vehicle forms a negative feedback: the higher the speed of the underwater vehicle, the greater the induced DC voltage formed between the electric field sensors; and the higher the speed, the greater the induced DC voltage formed between the electric field sensors. The greater the analog voltage V 1 corresponding to the aircraft speed, the corresponding greater the analog voltage signal V in , and the smaller the DC amplification factor of the entire circuit loop. In this way, the DC voltage interference generated by the underwater fluid is suppressed and offset.
在本实施例中，参考图3所示，滤波电路为锁相跟踪带阻滤波电路，用于根据输入的加速度信号控制陷波频率，通过陷波频率滤除变速航行时产生的交流电压干扰，滤波电路包括电性连接的限幅放大器、整形电路、倍频电路和带阻滤波器。In this embodiment, as shown in Figure 3, the filter circuit is a phase-locked tracking band-stop filter circuit, which is used to control the notch frequency according to the input acceleration signal, and filter out the AC voltage interference generated during variable speed navigation through the notch frequency. The filter circuit includes an electrically connected limiting amplifier, a shaping circuit, a frequency multiplier circuit and a band-stop filter.
更为具体的，锁相跟踪带阻滤波电路以开关电容滤波器（型号为LTC1068-50）为核心，并具有自动跟踪输入信号的带阻滤波器，其中，开关电容滤波器的滤波频率为：More specifically, the phase-locked tracking band-stop filter circuit takes a switched capacitor filter (model LTC1068-50) as the core and has a band-stop filter that automatically tracks the input signal. Among them, the filtering frequency of the switched capacitor filter is:
； ;
开关电容滤波器与外围阻容器件按照芯片手册典型电路的结构构成带阻滤波器，带阻滤波器阻带的中心频率为控制时钟信号频率的五十分之一。The switched capacitor filter and peripheral resistor components form a band-stop filter according to the structure of the typical circuit in the chip manual. The center frequency of the stop band of the band-stop filter is one-fiftieth of the frequency of the control clock signal.
限幅放大器主要由运算放大器（型号为OPA698）与外围电阻构成，在加速度信号进入限幅放大器后，由于限幅放大器的闭环增益极大，即便是微弱的加速度信号，也被放大为满幅输出，此时，加速度测量模块测得加速度信号的频率信息被提取出来。The limiting amplifier is mainly composed of an operational amplifier (model OPA698) and peripheral resistors. After the acceleration signal enters the limiting amplifier, due to the extremely large closed-loop gain of the limiting amplifier, even a weak acceleration signal is amplified to a full-scale output. , at this time, the frequency information of the acceleration signal measured by the acceleration measurement module is extracted.
整形电路主要由高速比较器（型号为LM311）与外围上拉电阻R4构成，信号进入高速比较器的正向输入端，与负向输入端的低电平比较，比较器发生翻转，信号变为更加规整的矩形波，得到整形，此时，前级限幅放大器的满幅输出的加速度信号进入整形电路，被整形为规整的方波，而频率信息继续得到保留。The shaping circuit is mainly composed of a high-speed comparator (model LM311) and a peripheral pull-up resistor R4. The signal enters the positive input terminal of the high-speed comparator and is compared with the low level of the negative input terminal. The comparator flips and the signal becomes more The regular rectangular wave is shaped. At this time, the full-amplitude output acceleration signal of the front-stage limiting amplifier enters the shaping circuit and is shaped into a regular square wave, while the frequency information continues to be retained.
倍频电路主要由锁相环（型号为74HC4046）和计数器（型号为74HC390）两级电路构成，整形电路输出的方波信号进入倍频电路后，频率提高了50倍。The frequency multiplier circuit is mainly composed of two-stage circuits: a phase-locked loop (model 74HC4046) and a counter (model 74HC390). After the square wave signal output by the shaping circuit enters the frequency multiplier circuit, the frequency increases by 50 times.
而加速度测量模块感知的加速度信号经过限幅放大器限幅放大后，经过高速比较器后整形为方波，则加速度测量模块测得的频率信号被提取出来；锁相环和计数器构成的倍频电路将频率信号提高50倍，由于，开关电容滤波器芯片的滤波频率为，这就使带阻滤波器阻带的中心陷波频率自动保持与加速度测量模块测得的航行器速度变化的频率始终一致，使阻带陷波频率始终跟踪加速度测量模块的信号频率，以滤除航行器相对海水流体变速运动产生的交流电压干扰。After the acceleration signal sensed by the acceleration measurement module is limited and amplified by a limiting amplifier, it is shaped into a square wave through a high-speed comparator, and then the frequency signal measured by the acceleration measurement module is extracted; a frequency multiplier circuit composed of a phase-locked loop and a counter Increase the frequency signal by 50 times, because the filtering frequency of the switched capacitor filter chip is , this makes the center notch frequency of the stop band of the band stop filter automatically keep consistent with the frequency of the aircraft speed change measured by the acceleration measurement module, so that the stop band notch frequency always tracks the signal frequency of the acceleration measurement module to filter In addition to the AC voltage interference caused by the variable speed movement of the aircraft relative to the seawater fluid.
本发明提供的一种水下电场动态测量流体噪声干扰抵消方法及装置的工作原理如下：航行器运动时接收水下目标的电场信号，经过信号调理模块的处理后进入后级数据记录，而由于海水流体在电场传感器矩阵间的相对运动，会产生直流电压和交流电压干扰信号。The working principle of an underwater electric field dynamic measurement fluid noise interference cancellation method and device provided by the present invention is as follows: when the aircraft is moving, it receives the electric field signal of the underwater target, and after processing by the signal conditioning module, it enters the subsequent stage data recording, and because The relative movement of seawater fluid between the electric field sensor matrices will generate DC voltage and AC voltage interference signals.
因此，航行器的测速模块测得的航行器的速度信号，并转变为控制电压（等同于模拟电压V1），反向控制信号调理模块的增益控制电路的增益倍数，以抵消海水流体感应电压产生的直流电压干扰信号。Therefore, the speed measurement module of the aircraft measures the speed signal of the aircraft and converts it into a control voltage (equal to the analog voltage V 1 ), and reversely controls the gain multiple of the gain control circuit of the signal conditioning module to offset the seawater fluid induced voltage. The generated DC voltage interferes with the signal.
同时，由航行器上的加速度测量模块测得航行器的加速度信号，经过锁相跟踪滤波器提取到加速度频率信息后，将该频带加速度的干扰信号带阻滤波，抑制交流电压干扰信号，最终，电场信号经过增益调整和跟踪带阻滤波，使得直流电压干扰信号和交流电压干扰信号被抑制，保证获取的水下电场空间分布特性的可靠性。At the same time, the acceleration signal of the aircraft is measured by the acceleration measurement module on the aircraft. After the acceleration frequency information is extracted through the phase-locked tracking filter, the interference signal of the acceleration in this frequency band is band-stop filtered to suppress the AC voltage interference signal. Finally, The electric field signal undergoes gain adjustment and tracking band-stop filtering, so that the DC voltage interference signal and AC voltage interference signal are suppressed, ensuring the reliability of the obtained underwater electric field spatial distribution characteristics.
实施例二Embodiment 2
本发明还公开了一种水下电场动态测量流体噪声干扰抵消方法，应用于前述的一种水下电场动态测量流体噪声干扰抵消装置，抵消方法包括以下步骤：The invention also discloses an underwater electric field dynamic measurement fluid noise interference cancellation method, which is applied to the aforementioned underwater electric field dynamic measurement fluid noise interference cancellation device. The cancellation method includes the following steps:
由电场传感器矩阵生成电场信号；The electric field signal is generated by the electric field sensor matrix;
由测速模块测量水下航行器的航行速度，并生成速度信号；The speed measurement module measures the sailing speed of the underwater vehicle and generates a speed signal;
由加速度测量模块测量水下航行器的加速度，并生成加速度信号；The acceleration measurement module measures the acceleration of the underwater vehicle and generates an acceleration signal;
将速度信号输入增益控制电路，并由增益控制电路输出增益控制信号，通过增益控制信号抵消匀速航行时产生的直流电压干扰；Input the speed signal into the gain control circuit, and the gain control circuit outputs the gain control signal. The gain control signal is used to offset the DC voltage interference generated when sailing at a constant speed;
将加速度信号输入滤波电路，由滤波电路输出陷波频率，通过陷波频率滤除变速航行时产生的交流电压干扰。The acceleration signal is input into the filter circuit, and the filter circuit outputs the notch frequency. The AC voltage interference generated during variable speed navigation is filtered out through the notch frequency.
本发明还公开了一种水下电场动态测量流体噪声干扰抵消方法，具体原理如下：由航行器的测速模块测得的航行器的速度信号，并转变为控制电压（等同于模拟电压V1），反向控制信号调理模块的增益控制电路的增益倍数，以抵消海水流体感应电压产生的直流电压干扰信号。The invention also discloses a fluid noise interference cancellation method for underwater electric field dynamic measurement. The specific principle is as follows: the speed signal of the aircraft is measured by the speed measurement module of the aircraft and converted into a control voltage (equal to the analog voltage V1). Reversely control the gain multiple of the gain control circuit of the signal conditioning module to offset the DC voltage interference signal generated by the seawater fluid induced voltage.
同时，由航行器上的加速度测量模块测得航行器的加速度信号，经过锁相跟踪滤波器提取到加速度频率信息后，将该频带加速度的干扰信号带阻滤波，抑制交流电压干扰信号，最终，电场信号经过增益调整和跟踪带阻滤波，使得直流电压干扰信号和交流电压干扰信号被抑制，保证获取的水下电场空间分布特性的可靠性。At the same time, the acceleration signal of the aircraft is measured by the acceleration measurement module on the aircraft. After the acceleration frequency information is extracted through the phase-locked tracking filter, the interference signal of the acceleration in this frequency band is band-stop filtered to suppress the AC voltage interference signal. Finally, The electric field signal undergoes gain adjustment and tracking band-stop filtering, so that the DC voltage interference signal and AC voltage interference signal are suppressed, ensuring the reliability of the obtained underwater electric field spatial distribution characteristics.
本申请是参照根据本申请实施例的方法、设备（系统）和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框，以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一种计算机可读存储介质中，存储介质包括只读存储器（ROM）、随机存储器（RAM）、可编程只读存储器（PROM）、可擦除可编程只读存储器（EPROM）、一次可编程只读存储器（OTPROM）、电子抹除式可复写只读存储器（EEPROM）、只读光盘（CD-ROM）或其他光盘存储器、磁盘存储器、磁带存储器，或者能够用于携带或存储数据的计算机可读的任何其他介质。Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium includes only Read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electronically erasable rewritable memory Read-only memory (EEPROM), compact disc read-only (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.
还需要说明的是，术语“包括”“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes none. Other elements expressly listed, or elements inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.
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| CN219201859U (en) * | 2022-10-12 | 2023-06-16 | 北方工业大学 | Seawater fuel cell discharge service performance testing device |
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| NO20200698A1 (en) * | 2020-06-12 | 2021-12-13 | Roxar Flow Measurement As | Flow meter for measuring flow velocity in oil continuous flows |
| WO2022237043A1 (en) * | 2021-05-13 | 2022-11-17 | 宁波水表(集团)股份有限公司 | Converter measurement circuit of electromagnetic water meter |
| CN113834950A (en) * | 2021-08-30 | 2021-12-24 | 中经建研设计有限公司 | Hydrology multi-index comprehensive measurement device |
| CN115308815A (en) * | 2022-10-11 | 2022-11-08 | 中国海洋大学 | A method and device for automatic monitoring of accidental water leakage of a submarine electromagnetic exploration device |
| CN219201859U (en) * | 2022-10-12 | 2023-06-16 | 北方工业大学 | Seawater fuel cell discharge service performance testing device |
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