CN202133774U - Track measure system of underwater high speed object - Google Patents

Track measure system of underwater high speed object Download PDF

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Publication number
CN202133774U
CN202133774U CN201120195351U CN201120195351U CN202133774U CN 202133774 U CN202133774 U CN 202133774U CN 201120195351 U CN201120195351 U CN 201120195351U CN 201120195351 U CN201120195351 U CN 201120195351U CN 202133774 U CN202133774 U CN 202133774U
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China
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module
signal
links
underwater
synchronizer
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Expired - Fee Related
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CN201120195351U
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Chinese (zh)
Inventor
孙大军
郑翠娥
张殿伦
李想
勇俊
卢逢春
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Harbin Engineering University
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Harbin Engineering University
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Abstract

The purpose of the utility model is to provide a track measure system of an underwater high speed object, comprising a water surface positioning unit, a synchronizer, and an acoustic beacon which are successively connected; the water surface positioning unit comprises a underwater transducer array, a signal pretreatment system, a digital signal processing unit and a computer which are successively connected; the synchronizer comprises a logic control module and a synchronization signal generation module which are connected; and the acoustic beacon comprises an emission control module, an emission power amplification module and an emission energy transducer which are successively connected. According to the utility model, the positioning capability of high precision is possessed; a motion track of an underwater object can be precisely tested; track measuring of a high speed motion object can be completed; the structure is simple; installation is convenient; operation and usage are convenient; and the motion condition of an underwater operating object can be observed, and especially track measuring of the high speed motion object can be realized for usage in research and analysis by a user.

Description

Underwater high-speed target trajectory measuring system
Technical field
The utility model relates to a kind of fixed sonar device.
Background technology
In recent years the demand of underwater high-speed moving target location demonstrates the trend of growth.In biological study, usually want observational record whale, dolphin or other under water the travel tracks of large-scale fish to study the rule that it is cruised.Usually, miniature acoustic marker realizes real-time monitoring on one's body in the research to goal in research through being installed at them; And dolphin etc. under water the highest movement speed of macro-organism can reach 50 kms/time; Even be higher than common ship, thereby need the support of high-speed moving object location technology to investigate to accomplish to be correlated with.In recent years along with the maturation of underwater hiding-machine technology, private submarine rises gradually.At present the fastest " super falcon " number private submarine highest speed 20 kms in the world/time, need equally in actual use to use the underwater movement objective location technology to guarantee personnel's in the submarine life security, and can carry out assisting navigation the device of diving.
This shows, carry out the research of high precision underwater high-speed moving target location technology and not only can satisfy existing civilian demand, more can be following underwater prospecting, ocean development provides technical support.
Summary of the invention
The purpose of the utility model be to provide system architecture simple, be convenient to install, underwater high-speed target trajectory measuring system easy for operation.
The purpose of the utility model is achieved in that
The utility model underwater high-speed target trajectory measuring system; Comprise the water surface positioning unit, synchronizer, the acoustic marker that link to each other successively; It is characterized in that: described water surface positioning unit comprises underwater transducer array, signal and disposal system, digital signal processing unit, the computing machine that links to each other successively; Signal comprises signal filtering module, signal amplification module and the controllable gain module that links to each other successively with disposal system; Digital signal processing unit comprises Logic control module, signal acquisition module, GPS attitude appearance data message receiver module, network communication module; Logic control module links to each other with signal acquisition module, GPS attitude appearance data message receiver module, network communication module respectively, and network communication module also links to each other with signal acquisition module, GPS attitude appearance data message receiver module; Synchronizer comprises continuous Logic control module and synchronizing signal generation module; Acoustic marker comprises emission control module, emissive power amplification module and the transmitting transducer that links to each other successively.
The utility model can also comprise:
1, underwater transducer array links to each other with signal filtering module in the signal pre-processing system; Signal pre-processing system links to each other with signal acquisition module through the controllable gain module with digital signal processing unit, and computing machine links to each other with the network communication module of digital signal processing unit.
2, water surface positioning unit links to each other with the synchronizing signal generation module through Logic control module with synchronizer, and synchronizer links to each other with the emission control module through the synchronizing signal generation module with acoustic marker.
The advantage of the utility model is: the utlity model has the high-precision location ability, measure the underwater movement locus of target exactly, can accomplish the trajectory measurement of high-speed moving object.This system architecture is simple, is convenient to install, and is easy for operation.Utilize this system can observe the moving situation of underwater operation target, especially can realize the trajectory measurement of high-speed moving object, supply the user to research and analyse use.
Description of drawings
Fig. 1 is the structural principle block diagram of the utility model;
Fig. 2 is the subsystem structured flowchart of the utility model;
Fig. 3 is the positioning calculation software workflow block diagram of the utility model.
Embodiment
For example the utility model is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～3; The utility model underwater high-speed target trajectory measuring system comprises water surface positioning unit 1, synchronizer 3, the acoustic marker 2 that links to each other successively; Water surface positioning unit 1 comprises underwater transducer array 5, signal pre-processing system 9, digital signal processing unit 8, the computing machine 7 that links to each other successively; Signal pre-processing system 9 comprises signal filtering module 15, signal amplification module 16 and the controllable gain module 17 that links to each other successively; Digital signal processing unit 8 comprises Logic control module 11, signal acquisition module 12, GPS attitude appearance data message receiver module 13, network communication module 14; Logic control module 11 links to each other with signal acquisition module 12, GPS attitude appearance data message receiver module 13, network communication module 14 respectively, and network communication module 14 also links to each other 13 with signal acquisition module 12, GPS attitude appearance data message receiver module; Synchronizer 3 comprises continuous Logic control module 21 and synchronizing signal generation module 22; Acoustic marker 2 comprises emission control module 18, emissive power amplification module 19 and the transmitting transducer 20 that links to each other successively.
Underwater transducer array 5 links to each other with signal filtering module 15 in the signal pre-processing system 9; Signal pre-processing system 9 links to each other with signal acquisition module 12 through controllable gain module 17 with digital signal processing unit 8, and computing machine 7 links to each other with the network communication module 14 of digital signal processing unit 8.
Water surface positioning unit 1 links to each other with synchronizing signal generation module 22 through Logic control module 11 with synchronizer 3, and synchronizer 3 links to each other with emission control module 18 through synchronizing signal generation module 22 with acoustic marker 2.
Acquisition software and the data processing and the software for display of this system are housed on the computing machine 7.Acquisition software is mainly accomplished collection demonstration and command configuration of data etc.The data acquisition demonstration comprises that data waveform shows, GPS and attitude appearance information show, data storage etc., and can be through selecting to observe the signal waveform of different passages.The control command that can accomplish mainly comprises: system start-up with stop, the acoustic marker power-on and power-off, the acoustic marker electric weight detects, acoustic marker is synchronous, the configuration of acoustic marker mode of operation, the pretreatment system gain amplifier changes, drainage pattern selection etc.
Network communication module 11 in the digital signal processing unit 8 is accomplished the reception of uploading and ordering of image data.Logic control module 12 is accomplished corresponding function according to the order that receives, the for example adjustment of gain, the pattern configurations of acoustic marker etc.After acquisition is assigned, signal data acquisition module 13 beginning image data, GPS, attitude appearance information receiving module 14 receive corresponding information simultaneously.Digital signal processing unit 8 is sent to data message through network communication module 11 and supplies demonstration and storage to resolve use in the computing machine.
9 of Signal Pretreatment unit are after acquisition system starts, and the signal that transducer array is uploaded carries out filtering, amplification, regulation and control to be handled.The a part of noise and the interference filtering of aliasing in the signal are fallen, and realize the amplification of signal according to control command.
Computing machine 7, digital signal processing unit 8 and signal pre-processing system 9 are formed disposal system 4 waterborne.
Acoustic marker 2 is loaded on the tested moving target, is fixedly connected.When being synchronized with the mode of operation configuration, completion can come into operation.With the cycle transponder pulse signal of regulation, water supply face unit is gathered under water for it.Wherein emission control module 18 main completion synchronously and the reception of configuration order are accomplished the selection that transmits.Transmit through after 19 amplifications of emissive power amplification module, accomplish the emission of acoustical signals by transmitting transducer 20.This transducer is that annulus is banded, can guarantee that like this 360 ° of scopes can both receive signal, and not receive the influence of submarine target attitude.
Synchronizer 3 mainly is to accomplish synchronousing working of data acquisition system (DAS) and acoustic marker, after acoustic marker is loaded on the target, moves under the inconvenient situation, then can use synchronizer to accomplish the synchronous of the two.And synchronizer employing powered battery, not influenced by extraneous power supply, when data acquisition system (DAS) loses synchronizing signal owing to extraneous sudden power, can be subsynchronous again with synchronizer, and do not influence operate as normal.
Basic matrix 5 utilizes rigid structure to be fixed in ship side, and transducer should be positioned under water about 2 meters, to guarantee the good signal quality of reception.When installing, basic matrix avoid the interference of propeller noise as far as possible away from the screw propeller position.
Transducer array 5 links to each other through cable 6 with signal filtering module 15 in the Signal Pretreatment unit 9.In the Signal Pretreatment unit 9, signal filtering module 15, signal amplification module 16 and controllable gain module (17) electric signal successively are connected.Adopt electric signal isolation outstanding effect optocoupler to be connected between controllable gain module 17 and the signal acquisition module 12, suppressed two-part effectively and interfered with each other.Signal acquisition module 12 links to each other with Logic control module 11 electric signal, is connected through data bus with network communication interface module 14.In addition, Logic control module 11 is connected with network communication module 14 electric signal with GPS attitude appearance data message receiver module 13 respectively.Adopt data transmission bus to link to each other between GPS attitude appearance data message receiver module 13 and the network communication module 14.Network communication module 14 is connected with computing machine 7 through netting twine 10.
In the synchronizer 3, electric signal is connected between Logic control module 21 and the synchronizing signal generation module 22, and the Logic control module 11 in synchronizing signal generation module 22 and the digital signal processing unit 8 adopts pluggable data line to be connected.Synchronizing signal generation module 22 also adopts pluggable data line to be connected with emission control module 18 in the acoustic marker 2.Behind the control command end of transmission, extract data line, seal.Emission control module 18, emissive power amplification module 19 links to each other through electric signal with transmitting transducer 20 successively.
The utility model principle of work is:
The water surface unit 1 of underwater high-speed target measurement system is installed on the surface measurement ship, and acoustic marker is loaded on the tested moving target.When system works, log-on data acquisition system power supply also powers on to synchronizer and acoustic marker.Use synchronizer that data acquisition system and acoustic marker are carried out synchronous operation, acoustic marker is carried out the mode of operation configuration, just can work then.When target was carried acoustic marker and moved under water, acoustic marker was accomplished corresponding signal emission according to configuration.Acoustical signal is sent to transducer array 5 through propagating under water, and acoustical signal is converted into electric signal.Electric signal is sent into digital signal processing unit 8 through cable 6 entering signal pretreatment units 8 after filter amplifying processing.Through digital to analog converter, analog signal conversion is a digital signal, and the final GPS that receives with digital signal processing unit 8 together sends into the apparent software of controlling with attitude appearance data and shows.Operating personnel can come the gain amplifier of manual control signal pretreatment unit 9 according to the size of signal amplitude.When preparation positions target, begin to keep data to finish up to the target travel test.The data solver of utilize gathering goes out information such as movement locus and the target speed of target.
Transducer array 5 rigidity are installed on ship side, keep basic matrix vertically to install as far as possible, are consistent with boat-carrying attitude appearance.The basic matrix entry gets final product for about 2 meters, should not be too shallow.In order to guarantee good positioning performance, basic matrix is installed and is tried one's best away from places such as screw propeller and fores, in case propeller noise, bubble layer is to the influence of acoustical signal.Total system is installed connection successively as shown in Figure 1, and GPS and attitude sensor interface are connected on the digital signal processing unit 8, and the speed and the form that the data baud rate are set at appointment get final product.What adopt in the digital signal processing unit 8 is the circuit structure pattern of DPS and FPGA combination.That dsp processor adopts is the C6416 of TI company, and that FPGA adopts is the EP2C8Q208I8 of ALTERA company, and that the AD modulus conversion chip is selected for use is AD7655, supports the four-way conversion of signals.
Data acquisition system adopted 24V DC power supply, system is furnished with the transformer that 220V AC changes 24V DC, can directly use the 220V alternating current.After system powered on, DSP on the digital signal processing unit 8 and FPGA loaded the program curing among the Flash respectively, got into the stand-by operation state.Open the switch of acoustic marker 2 and synchronizer 3 simultaneously.After the preheating 15 minutes, use synchronizer 3 respectively digital signal processing unit 8 and acoustic marker 2 to be carried out synchronously.Start the acquisition software on the computing machine 7, carry out parameter configuration, the log-on data collection.The signal waveform that collects can be presented in the software screen in real time, and operating personnel can adjust pretreatment unit 9 gain amplifiers through the window that is provided with that shows in the control software according to actual conditions.Gain is divided into three gear: 40dB, 50dB, 60dB.When beacon 2 was connected to digital signal processing unit 8, the pressure data that can detect the dump energy of acoustic marker 2 and read its storage inside obtained the depth information in acoustic marker 2 motion processes.
After accomplishing parameter configuration and testing in early stage, can let the target entry campaign to be measured that has acoustic marker 2.What acoustic marker 2 adopted is pressure-activated, after hydraulic pressure reaches the setting thresholding, begins to launch position pulse.The data pulse of transmit cycle and emission is by emission control module 18 control, data pulse driving power amplification module 19) obtain the analog drive signal of amplifying, this signal is launched through transmitting transducer 20.When target is prepared down water, can press the store button that shows control software, system can store data with filename by the path of operating personnel's appointment.In the whole process that target is moved under water like this, the position pulse signal of acoustic marker 2 emissions is gathered to be preserved.Show the wave file of control process software, calculate the movement locus of target, and the result is preserved according to storage.

Claims (3)

1. underwater high-speed target trajectory measuring system; Comprise the water surface positioning unit, synchronizer, the acoustic marker that link to each other successively; It is characterized in that: described water surface positioning unit comprises underwater transducer array, signal pre-processing system, digital signal processing unit, the computing machine that links to each other successively; Signal pre-processing system comprises signal filtering module, signal amplification module and the controllable gain module that links to each other successively; Digital signal processing unit comprises Logic control module, signal acquisition module, GPS attitude appearance data message receiver module, network communication module; Logic control module links to each other with signal acquisition module, GPS attitude appearance data message receiver module, network communication module respectively, and network communication module also links to each other with signal acquisition module, GPS attitude appearance data message receiver module; Synchronizer comprises continuous Logic control module and synchronizing signal generation module; Acoustic marker comprises emission control module, emissive power amplification module and the transmitting transducer that links to each other successively.
2. underwater high-speed target trajectory measuring system according to claim 1; It is characterized in that: underwater transducer array links to each other with signal filtering module in the signal pre-processing system; Signal pre-processing system links to each other with signal acquisition module through the controllable gain module with digital signal processing unit, and computing machine links to each other with the network communication module of digital signal processing unit.
3. underwater high-speed target trajectory measuring system according to claim 1 and 2; It is characterized in that: water surface positioning unit links to each other with the synchronizing signal generation module through Logic control module with synchronizer, and synchronizer links to each other with the emission control module through the synchronizing signal generation module with acoustic marker.
CN201120195351U 2011-06-10 2011-06-10 Track measure system of underwater high speed object Expired - Fee Related CN202133774U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102353959A (en) * 2011-06-10 2012-02-15 哈尔滨工程大学 Underwater high-speed target track measurement system
CN106569178A (en) * 2016-11-09 2017-04-19 哈尔滨工程大学 Reverse ultra-short baseline positioning system
CN109541969A (en) * 2018-10-24 2019-03-29 深圳市亿兆互联技术有限公司 Cetacean monitoring system and method based on lora
CN109901174A (en) * 2019-02-21 2019-06-18 哈尔滨工程大学 High-speed moving object enters the estimation method at water moment
CN109917326A (en) * 2019-01-05 2019-06-21 天津大学 A kind of method and device for extending the underwater sound and searching and rescuing beacon working life

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102353959A (en) * 2011-06-10 2012-02-15 哈尔滨工程大学 Underwater high-speed target track measurement system
CN106569178A (en) * 2016-11-09 2017-04-19 哈尔滨工程大学 Reverse ultra-short baseline positioning system
CN106569178B (en) * 2016-11-09 2019-05-21 哈尔滨工程大学 A kind of anti-ultra short baseline locating system
CN109541969A (en) * 2018-10-24 2019-03-29 深圳市亿兆互联技术有限公司 Cetacean monitoring system and method based on lora
CN109917326A (en) * 2019-01-05 2019-06-21 天津大学 A kind of method and device for extending the underwater sound and searching and rescuing beacon working life
CN109917326B (en) * 2019-01-05 2023-01-06 天津大学 Method and device for prolonging service life of underwater sound search and rescue beacon
CN109901174A (en) * 2019-02-21 2019-06-18 哈尔滨工程大学 High-speed moving object enters the estimation method at water moment
CN109901174B (en) * 2019-02-21 2023-02-03 哈尔滨工程大学 Method for estimating water entry time of high-speed moving target

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Granted publication date: 20120201

Termination date: 20140610