CN116973843A - Method and device for positioning pulse sound source on ice by using single vector hydrophone - Google Patents
Method and device for positioning pulse sound source on ice by using single vector hydrophone Download PDFInfo
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- CN116973843A CN116973843A CN202310875189.8A CN202310875189A CN116973843A CN 116973843 A CN116973843 A CN 116973843A CN 202310875189 A CN202310875189 A CN 202310875189A CN 116973843 A CN116973843 A CN 116973843A
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- 239000005457 ice water Substances 0.000 abstract description 7
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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
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The invention belongs to the technical field of polar region acoustics, and particularly relates to a method and a device for positioning an on-ice pulse sound source by utilizing a single vector hydrophone, wherein the method and the device are used for positioning an on-ice cross-layer under the sea area covered by polar region sea ice. The existing method can not well realize the construction of a three-dimensional observation platform in a polar region, and needs to develop a novel communication technology to overcome the problem and improve the information transmission capability between the submarine and other communication equipment. The method is based on polar region sound propagation theory, the mapping relation between the arrival time of wave fields of different modes and the spatial position of the sound source is mined, the characteristics that the vector hydrophone can simultaneously receive the speed amplitude and the direction information of the sound wave are utilized, and the estimation of the height and the distance of the air pulse sound source is realized based on single array elements. The signal attenuation in the complex ice water environment is reduced, and the signal propagation quality is improved. The cross-medium detection of the air sound source under water can be realized more hidden, and meanwhile, the cost and construction risk are reduced.
Description
Technical Field
The invention belongs to the technical field of polar region acoustics, and particularly relates to a method and a device for positioning an on-ice pulse sound source by utilizing a single vector hydrophone, wherein the method and the device are used for performing cross-ice-layer positioning under the sea area covered by polar region sea ice.
Background
The arctic region is a new space of a global treatment system, so that the realization of cross-medium aerial sound source underwater detection is significant for forming polar cross-domain perception.
Due to the influence of meteorological conditions, the obstruction of the ship by the arctic sea ice makes the water surface ship not easily enter the arctic core area, and the wide existence of the sea ice also limits the information exchange range between the atmosphere and the sea water, so that a more efficient communication mode is needed to realize effective information transmission.
The coverage capability of the air radar above the polar region is obviously limited due to the absorption of the electromagnetic waves by ice water. Particularly for a remote radar, a low-altitude blind area in a polar environment cannot accurately monitor an aerial target, and the low-altitude blind area brings great threat to safety guarantee, environment monitoring and aviation activities in a arctic region.
In addition, even if the radar detects an aerial target, the absorption attenuation of electromagnetic waves in ice water media can severely limit the transmission of information to underwater vehicles and other devices. In marine environments, acoustic observation is a common approach, but in polar regions more water is used under ice. If it is desired to achieve cross-layer detection of an airborne target, it is often necessary to arrange a relay device on the ice surface to receive the signal generated by the airborne target and transmit the signal to the underwater vehicle. However, this method has problems of poor concealment, increased cost burden and construction risk.
In summary, the existing method cannot well realize the construction of the stereoscopic observation platform in the polar region, so that a novel communication technology needs to be developed to overcome the difficulty and improve the information transmission capability between the submarine and other communication devices.
Disclosure of Invention
Aiming at the problems that the electromagnetic wave method in the prior art is limited in use and the ice-based detector is inconvenient to use, the invention provides a method and a device for positioning an on-ice pulse sound source by utilizing a single-vector hydrophone, and the accurate positioning of an air target in a polar region environment is realized.
Acoustic energy generated by an air pulse acoustic source can be transmitted into water across an ice layer by means of fluid-solid coupling boundaries, and acoustic energy propagates along multiple paths and at different speeds during the process, resulting in complexity of the underwater acoustic field. The method is based on polar sound propagation theory, the mapping relation between the arrival time of wave fields of different modes and the spatial position of the sound source is excavated, and the characteristics of pressure, speed and direction information of sound waves can be received simultaneously by utilizing the vector hydrophone, so that the height and distance of an air pulse sound source are evaluated based on single array elements.
The cross-medium acoustic propagation path utilized by the present invention includes an in-water direct wave path (path 1 in fig. 2) and an inter-ice sheet longitudinal wave path (path 2 in fig. 2).
Direct wave path in water: the air pulse sound source S excites a sound field, and the sound waves reach the ice layer directly below the sound source and cause the ice layer to vibrate, and the sound waves propagate in the water in a spherical diffusion form at the ice layer lower surface S'.
Longitudinal wave path between ice plates: the air pulse sound source S excites a sound field, and the sound wave is excited at a specific incidence angle(/>In order to form an included angle between the propagation direction and the normal line of the ice surface), the ice layer is vibrated by the ice layer, longitudinal waves between the plates are excited in the ice, and part of sound energy continuously leaks into water at a specific leakage angle gamma (gamma is the included angle between the propagation direction and the normal line of the ice surface) through an ice water interface while the sound wave propagates in the ice layer. Specific incidence angle->Specific leakage angle gamma and air sound velocity c a Sound velocity c of longitudinal wave between ice layers p And sound velocity in water c w The angle value can be obtained according to the snell's law:
the invention provides a method for positioning a pulse sound source on ice by utilizing a single vector hydrophone, which comprises the following steps:
s1, receiving an acoustic wave signal S excited by an air pulse sound source S under water by utilizing a single vector hydrophone 0 ；
S2, signal S to be propagated along the direct wave path in the water 1 And a signal S propagating along a longitudinal wave path between ice sheets 2 From acoustic wave signal S 0 Separated out;
s3, extracting signal S 1 Vector medium particle velocity information of (2)Calculating an azimuth angle alpha of the air pulse sound source S relative to the underwater receiving point O and a pitch angle beta of the direct wave in water;
s4, calculating time delays of the vector hydrophone to receive signals of different paths through geometric relations;
s5, establishing a positioning equation of the air pulse sound source according to the propagation delay information;
and S6, solving a positioning equation so as to obtain the distance and height information of the air pulse sound source.
Advantageously, the vibration velocity information in S3Then:
α＝arctan(V y /V x )
advantageously, in S4, signal S 1 Is t 1 Signal S 2 Is t 2 ：
Wherein h is the underwater depth of the vector hydrophone, x is the height of the air pulse sound source S from the ice surface, and c a Sound velocity in air, c p Is the velocity of sound, c, of longitudinal waves between the ice plates w Is acoustic velocity in water,For a particular angle of incidence, γ is a particular leak angle.
Advantageously, in S5, the delay difference of the two signal paths is noted as Δt, Δt=t 1 -t 2 The localization equation of the air pulse sound source is:
advantageously, in S6, the height x of the air pulse sound source S from the ice surface is first determined, and the horizontal distance D, the vertical distance H of the air pulse sound source S with respect to the underwater receiving point O are determined based on the geometric relationship, thereby determining the coordinates of the air pulse sound source S as (Dcos α, dsin α, H).
The invention also provides a device for positioning the pulse sound source on ice by using the single vector hydrophone, which is used for executing the positioning method.
Advantageously, the apparatus comprises a processing module for receiving under water an acoustic signal S excited by an air pulse acoustic source S for a single vector hydrophone 0 Processing the signal S propagating along the direct wave path in the water 1 And a signal S propagating along a longitudinal wave path between ice sheets 2 From acoustic wave signal S 0 Separated out; extract signal S 1 Vector medium particle velocity information of (2)Calculation ofAn azimuth angle alpha of the air-out pulse sound source S relative to the underwater receiving point O and a pitch angle beta of the direct wave in water; calculating the time delay of the vector hydrophone for receiving signals of different paths through the geometric relationship; establishing a positioning equation of an air pulse sound source according to the propagation delay information; and solving a positioning equation to obtain the distance and height information of the air pulse sound source.
Advantageously, the vibration velocity informationThen:
α＝arctan(V y /V x )
advantageously, signal S 1 Is t 1 Signal S 2 Is t 2 ：
Wherein h is the underwater depth of the vector hydrophone, x is the height of the air pulse sound source S from the ice surface, and c a Sound velocity in air, c p Is the velocity of sound, c, of longitudinal waves between the ice plates w Is acoustic velocity in water,For a particular angle of incidence, γ is a particular leak angle.
Advantageously, the first and second fluid-pressure-sensitive devices,the delay difference between the two signal paths is noted as Δt, Δt=t 1 -t 2 The localization equation of the air pulse sound source is:
the beneficial effects are that: the invention is based on channel analysis of acoustic propagation across air-ice-water medium, using two natural independent channels of acoustic energy propagation across ice layers in polar ice region environments: the method realizes the cross-ice layer evaluation of the distance and the height of the air pulse sound source by using the single vector hydrophone, and has the following beneficial effects:
(1) High positioning accuracy
Compared with the traditional radar and electromagnetic wave technology, the invention adopts sound wave propagation, reduces signal attenuation in complex ice water environment, and improves signal propagation quality. This makes the positioning accuracy in the polar region more reliable and efficient.
(2) Long detection distance
The attenuation of sound waves in ice water media is weak compared to electromagnetic waves. This means that sound waves can propagate over longer distances, making detection of distant objects possible.
(3) High concealment
The relay equipment is not required to be distributed on the ice surface, the exposure risk of equipment such as underwater submarines is reduced, cross-medium detection of an air sound source under water can be realized more hidden, and meanwhile, the cost and the construction risk are reduced.
The features, functions, and advantages that have been discussed can be achieved independently in various examples or may be combined in yet other examples.
Drawings
The examples, as well as preferred modes of use, further objectives of the machine description, will best be understood by reference to the following detailed description of an example of the invention when read in conjunction with the accompanying drawings, wherein:
FIG. 1 is a flow chart of a method for locating a pulse sound source according to the present invention;
FIG. 2 is a schematic diagram of a two-dimensional scene of the positioning principle of the present invention;
fig. 3 is a schematic view of pitch and azimuth angles.
Detailed Description
The disclosed examples will be described more fully with reference to the accompanying drawings, in which some, but not all of the disclosed examples are shown. Indeed, many different examples may be described and should not be construed as limited to the examples set forth herein. Rather, these examples are described so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to the flow chart shown in fig. 1, the method for positioning the pulse sound source on ice of the invention comprises the following steps:
step one, receiving an acoustic wave signal excited by an air pulse sound source S under water by utilizing a single vector hydrophone, and marking the acoustic wave signal as S 0 。
As shown in FIG. 2, the sound waves excited by the air pulse sound source S simultaneously propagate along a path 1 and a path 2, and a mixed sound wave signal which is mixed together through the path 1 and the path 2 is received at an underwater receiving point O by utilizing a single vector hydrophone and is marked as S 0 The delay difference is Δt.
Step two, using signal processing technique to make the signal S propagated along path 1 1 And signal S propagating along path 2 2 From the received mixed acoustic signal S 0 Separated out.
Step three, extracting a signal S 1 Vector medium particle velocity information of (2)And calculating the azimuth angle alpha of the air pulse sound source S relative to the underwater receiving point O and the pitch angle beta of the underwater direct wave.
Vector medium particle velocity information of direct wave in water at underwater receiving point O is obtained by using single vector hydrophone
As shown in fig. 3, the air pulse sound source S has an azimuth angle α in the horizontal plane with respect to the vector hydrophone, and as shown in fig. 2, the in-water direct wave has a pitch angle β:
α＝arctan(V y /V x )
and step four, calculating time delay of the vector hydrophone for receiving signals of different paths.
The vector hydrophone receives the signal S at the underwater receiving point O 1 Sum signal S 2 Signal S 1 The propagation delay from the air pulse sound source S to the underwater receiving point O via the path 1 is t 1 Signal S 2 The propagation delay from the air pulse sound source S to the underwater receiving point O via the path 2 is t 2 。
As shown in fig. 2, h is the underwater depth of the vector hydrophone, and x is the height of the air pulse sound source S from the ice surface. Knowing the speed of sound c in the air a Sound velocity c of longitudinal wave between ice layers p And sound velocity in water c w 。x/c a The time delay of vertical incidence propagation to the upper surface of the ice layer after the sound wave is excited by the air pulse sound source S; the time delay of the sound wave propagating from the upper surface of the ice layer to the lower surface of the ice layer is short and is ignored;the time delay of the propagation of the direct wave in the water from the point S' on the lower surface of the ice layer to the underwater receiving point O of the single-vector hydrophone is provided. The time delay relation of the direct wave in the water received by the single vector hydrophone can be obtained:
after excitation of sound for an air pulse sound source, & lt, a specific angle of incidence>Incident to iceTime delay required by the upper surface of the layer; />The time delay is needed for the propagation of the longitudinal wave between the plates in the ice layer for a certain distance; />The time delay required for the propagation of the plate-to-plate longitudinal wave from the lower surface of the ice layer to the underwater receiving point O at a specific leakage angle γ. The time delay relation of the longitudinal wave among the ice plates received by the single-vector hydrophone can be obtained:
step five: and establishing a positioning equation of the air pulse sound source according to the propagation delay information.
The delay difference between the two signal paths is noted as Δt, Δt=t 1 -t 2 The positioning equation of the air pulse sound source is as follows:
step six: and solving a positioning equation to obtain the distance and height information of the air pulse sound source.
Specifically, the sound velocity c in the air a Sound velocity c of longitudinal wave in ice p Sound velocity c in water w Angle of incidenceThe leakage angle gamma, the pitch angle beta of the direct wave in water, the underwater depth h of the vector hydrophone and the propagation delay difference delta t of the longitudinal wave between the direct wave in water and the ice sheet received by the vector hydrophone are all known quantities, and the height x of the air pulse sound source S from the ice surface can be obtained.
As shown in fig. 3, there is a geometric relationship:
wherein, psi is the pitch angle of air pulse sound source relative to underwater receiving point O.
Specifically, the horizontal distance D, the vertical distance H, the pitch angle ψ and the azimuth angle α of the air pulse sound source S relative to the underwater receiving point O can be obtained, a cartesian space coordinate system is further established by taking the point O where the vector hydrophone is located as the origin, and the coordinates of the air pulse sound source S are (Dcos α, dsin α, H) as known from the geometric relationship.
The examples and descriptions have been presented for purposes of illustrating a description of various advantageous arrangements, but are not intended to be exhaustive or limited to the examples in the form disclosed. Many modifications and variations will be apparent to those skilled in the art. Additionally, the different advantageous examples may describe different advantages compared to other advantageous examples. The example or examples selected are chosen and described in order to best explain the principles of the examples, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various examples with various modifications as are suited to the particular use contemplated.
Claims (10)
1. A method for locating a pulse sound source on ice by using a single vector hydrophone, which is characterized by comprising the following steps:
s1, receiving an acoustic wave signal S excited by an air pulse sound source S under water by utilizing a single vector hydrophone 0 ；
S2, signal S to be propagated along the direct wave path in the water 1 And a signal S propagating along a longitudinal wave path between ice sheets 2 From acoustic wave signal S 0 Separated out;
s3, extracting signal S 1 Vector medium particle velocity information of (2)Calculating an azimuth angle alpha of the air pulse sound source S relative to the underwater receiving point O and a pitch angle beta of the direct wave in water;
s4, calculating time delays of the vector hydrophone to receive signals of different paths through geometric relations;
s5, establishing a positioning equation of the air pulse sound source according to the propagation delay information;
and S6, solving a positioning equation so as to obtain the distance and height information of the air pulse sound source.
2. The method for locating a pulse sound source on ice using a single vector hydrophone as recited in claim 1, wherein: vibration speed information in S3Then:
α＝arctan(V y /V x )
3. the method for locating a pulse sound source on ice using a single vector hydrophone as recited in claim 2, wherein: s4, signal S 1 Is t 1 Signal S 2 Is t 2 ：
Wherein h is the underwater depth of the vector hydrophone, and x is the air pulseThe height of the sound source S from the ice surface is c a Sound velocity in air, c p Is the velocity of sound, c, of longitudinal waves between the ice plates w Is acoustic velocity in water,For a particular angle of incidence, γ is a particular leak angle.
4. A method of on-ice pulse sound source localization using single vector hydrophones as recited in claim 3, wherein: in S5, the delay difference between the two signal paths is denoted as Δt, Δt=t 1 -t 2 The localization equation of the air pulse sound source is:
5. the method for locating a pulse sound source on ice using a single vector hydrophone as recited in claim 4, wherein: in S6, the height x of the air pulse sound source S from the ice surface is first obtained, and the horizontal distance D and the vertical distance H of the air pulse sound source S from the underwater receiving point O are obtained based on the geometric relationship, so that the coordinates of the air pulse sound source S are determined as (Dcos α, dsin α, H).
6. An apparatus for locating a pulse sound source on ice using a single vector hydrophone, characterized in that: the apparatus being adapted to perform the positioning method according to any of claims 1-5.
7. The apparatus for locating a pulse source on ice using a single vector hydrophone as recited in claim 6, wherein: the device comprises a processing module, wherein the processing module is used for receiving an acoustic wave signal S excited by an air pulse sound source S under water for a single vector hydrophone 0 Processing the signal S propagating along the direct wave path in the water 1 And a signal S propagating along a longitudinal wave path between ice sheets 2 From acoustic wave signal S 0 Separated out; lifting handleTake signal S 1 Vector medium particle velocity information of (2)Calculating an azimuth angle alpha of the air pulse sound source S relative to the underwater receiving point O and a pitch angle beta of the direct wave in water; calculating the time delay of the vector hydrophone for receiving signals of different paths through the geometric relationship; establishing a positioning equation of an air pulse sound source according to the propagation delay information; and solving a positioning equation to obtain the distance and height information of the air pulse sound source.
8. The apparatus for locating a pulse source on ice using a single vector hydrophone as recited in claim 7, wherein: the vibration speed informationThen:
α＝arctan(V y /V x )
9. the apparatus for locating a pulse source on ice using a single vector hydrophone as recited in claim 8, wherein: signal S 1 Is t 1 Signal S 2 Is t 2 ：
Wherein h is the underwater depth of the vector hydrophone, x is the height of the air pulse sound source S from the ice surface, and c a Sound velocity in air, c p Is the velocity of sound, c, of longitudinal waves between the ice plates w Is acoustic velocity in water,For a particular angle of incidence, γ is a particular leak angle.
10. The apparatus for locating a pulse source on ice using a single vector hydrophone as recited in claim 9, wherein: the delay difference between the two signal paths is noted as Δt, Δt=t 1 -t 2 The localization equation of the air pulse sound source is:
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