CN207623508U - Ultra-short baseline device suitable for shallow water positioning - Google Patents
Ultra-short baseline device suitable for shallow water positioning Download PDFInfo
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- CN207623508U CN207623508U CN201721621711.6U CN201721621711U CN207623508U CN 207623508 U CN207623508 U CN 207623508U CN 201721621711 U CN201721621711 U CN 201721621711U CN 207623508 U CN207623508 U CN 207623508U
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Abstract
The utility model discloses the ultra-short baseline devices positioned suitable for shallow water.The ultra-short baseline device suitable for shallow water positioning includes positioning basic matrix, deck unit and ancillary equipment, while being controlled by main control software.There are the reception basic matrix several array elements, each array element to be in same plane, and each array element receives acoustic signal simultaneously.The transmitting transducer is arranged for emitting request signal under response mode in the centre for the array element for receiving basic matrix.The signal-processing board is equipped with processor, and above-mentioned processor uses FPGA and DSP combo architectures.Ultra-short baseline device disclosed by the utility model suitable for shallow water positioning carries out accurate track and localization using pulse selection techniques and delay inequality phase only pupil filter technology to target trajectory, and the smooth stabilization of positioning track, open country point is few, and positioning accuracy is high.
Description
Technical field
The utility model belongs to underwater real time positioning technology field, and in particular to a kind of ultrashort base suitable for shallow water positioning
Line apparatus, suitable for the ocean engineerings such as offshore oil exploration and exploitation, underwater salvage, search and rescue, can to underwater sailing body (ROV,
AUV, UUV etc.), towfish, subsurface buoy, diver and other submarine targets be accurately positioned and track.
Background technology
With the development of marine cause, in marine exploration research, ocean engineering, oceanic mineral resources, underwater archaeology, ocean
National defense construction etc. all be unable to do without underwater positioning system and provides high-precision, the location data of high quality for it.
Ultra-short baseline positioning is a kind of under-water acoustic locating technology, baseline length generally at several centimetres to tens centimetres,
It is widely applied since its installation is simple, easy to use.Ultra short baseline locating system utilizes the phase between each array element
Potential difference (or delay inequality) measures the orientation of moving target or fixed target, by the time difference between emitting and receiving come
The three-dimensional localization for realizing target such as distance between the two is measured, then merges GPS data.
However, underwater acoustic channel is complicated, especially under shallow-water environment, due to its boundary and fluctuation of medium effect, when causing multipath
Prolong extension, channel fading is serious, even if Broadband Detection technology is utilized, but due to multi-path effect can cause it is real to signal
The time delay acquisition of arrival time still has certain difficulty.Therefore, how under the Underwater Acoustic Environment of this complexity, high quality is obtained
Ultra-short baseline location data, be a difficult point of Underwater Navigation.
Utility model content
The utility model is directed to the situation of the prior art, in view of the foregoing drawbacks, provides a kind of suitable for the super of shallow water positioning
Short baseline device.
It includes positioning base that the utility model, which uses following technical scheme, the ultra-short baseline device suitable for shallow water positioning,
Battle array, deck unit and ancillary equipment, while being controlled by main control software, wherein：
The ancillary equipment includes GPS device and beacon；
The positioning basic matrix include receive basic matrix, transmitting transducer, watertight housings, watertight cable, signal-processing board and
Electronic compass；There are the reception basic matrix several array elements, each array element to be in same plane, and each array element receives acoustics simultaneously
Signal, and give signal-processing board the transformed data of acoustic-electric；The transmitting transducer under response mode for emitting
Request signal is arranged in the centre for the array element for receiving basic matrix；The watertight cable is for connecting positioning basic matrix and deck unit；
The signal-processing board is equipped with processor, and above-mentioned processor uses FPGA and DSP combo architectures；The electronic compass measures in real time
Three axis informations of basic matrix are positioned, and gives signal-processing board data and is resolved.
According to above-mentioned technical proposal, the deck unit includes cabinet, power supply and interface processing board；Before the cabinet includes
Panel and rear panel, front panel are used for dispaly state, and rear panel is switch control zone and is provided with pluggable connector；Institute
It includes input power processing module, switch power module and linear voltage stabilization module to state power supply.
According to above-mentioned technical proposal, the cabinet uses standard 1U restocking casing structures.
According to above-mentioned technical proposal, the interface processing board is described for receiving and forwarding data, instruction, synchronizing signal
Deck unit has standard network output interface.
According to above-mentioned technical proposal, the positioning basic matrix is handed over using integrated basic matrix, the reception basic matrix using 4 yuan of crosses
Fork-join receives basic matrix.
According to above-mentioned technical proposal, the watertight housings are made using columnar structured, and using titanium alloy material.
According to above-mentioned technical proposal, the electronic compass is mounted in watertight housings, and passes through 4 screws and watertight shell
The inner wall of body is fixedly connected.
Ultra-short baseline device disclosed by the utility model suitable for shallow water positioning, advantage is, using pulse
Selection techniques and delay inequality phase only pupil filter technology carry out accurate track and localization, the smooth stabilization of positioning track, wild point to target trajectory
Few, positioning accuracy is high.
Description of the drawings
Fig. 1 is the system block diagram of the preferred embodiment in the utility model.
Fig. 2 is the time delay method for solving schematic diagram of the preferred embodiment in the utility model.
Fig. 3 is the pulse selection method schematic diagram of the preferred embodiment in the utility model.
Fig. 4 is the delay inequality phase only pupil filter schematic diagram of the preferred embodiment in the utility model.
Specific implementation mode
The utility model discloses a kind of ultra-short baseline devices suitable for shallow water positioning, with reference to preferred embodiment,
Specific embodiment of the present utility model is further described.
Referring to Figure 1 of the drawings, Fig. 1 show it is described suitable for shallow water positioning ultra-short baseline device (following explanation and
May be simply referred to as ultra-short baseline device in Figure of description) modular structure.Preferably, the ultrashort base suitable for shallow water positioning
Line apparatus includes positioning basic matrix and deck unit, while being controlled by main control software.Wherein, the shallow water that is suitable for positions
Ultra-short baseline device also need when in use be equipped with ancillary equipment, above-mentioned ancillary equipment includes GPS device and beacon.
Wherein, it includes receiving basic matrix, transmitting transducing that the positioning basic matrix, which preferably uses integrated basic matrix, the positioning basic matrix,
Device, watertight housings, watertight cable, signal-processing board and electronic compass (course, attitude measurement equipment).
Wherein, the reception basic matrix preferably uses 4 yuan of right-angled intersections to receive basic matrix, and above-mentioned 4 yuan of right-angled intersections receive basic matrix
Constitute the ultra-short baseline battle array of ultra-short baseline device.Wherein, above-mentioned 4 yuan of right-angled intersections, which receive basic matrix, has several array elements, each
Array element is in same plane, and each array element receives acoustic signal simultaneously, and gives signal processing the transformed data of acoustic-electric
Plate.Wherein, the spacing very little of basic matrix, lays in order to carry.
Wherein, the transmitting transducer connects for emitting request signal, setting under response mode in 4 yuan of right-angled intersections
Receive the centre of the array element of basic matrix.
Wherein, the watertight housings are to position the carrier of basic matrix, and use is columnar structured, and use titanium alloy material system
At to meet the requirement to weight of equipment and seawater corrosion resistance.
Wherein, the watertight cable is for connecting positioning basic matrix and deck unit.
Wherein, the signal-processing board is the core of entire positioning basic matrix, be responsible for the conditioning of acoustic signal, acquisition, transmitting,
Processing and transmission.The signal-processing board is equipped with processor, and above-mentioned processor uses FPGA and DSP combo architectures, so as to abundant
It displays one's respective advantages.The tasks such as FPGA data acquisitions, signal processing, signal detection, and DSP completion pulses are selected and data
The tasks such as communication.
Wherein, three axis informations of the real-time measurement and positioning basic matrix of the electronic compass, and data give signal-processing board into
Row resolves.The electronic compass is mounted in watertight housings, and is fixed and connected by 4 screws and the inner wall of watertight housings
It connects.During the test, electronic compass cannot loosen, and otherwise need to be calibrated according to angular deviation again.
Wherein, the deck unit includes cabinet, power supply and interface processing board.The cabinet is the carrier of deck unit,
The cabinet preferably uses standard 1U restocking casing structures.Wherein, the cabinet includes front panel and rear panel, and front panel is used for
Dispaly state, rear panel are switch control zone and are provided with pluggable connector.Wherein, the power supply to deck unit,
It positions the equipment such as basic matrix and DC power supply is provided comprising input power processing module, switch power module and linear voltage stabilization module.
Wherein, the interface processing board is the relaying of deck unit, for receiving and forwarding data, instruction, synchronizing signal.
Deck unit has standard network output interface, can merge navigation attitude, the information such as DSP are more accurately positioned.
Wherein, the main control software is used to show the real time position and movement locus of submarine target, can show multiple targets
Information, including the location information of relative positioning basic matrix and absolute geodetic coordinates information.The position on naval vessel can be also shown simultaneously
Track and navigation attitude variation, and quick acoustical behavior analysis can be carried out.Its interface is full Chinese interface, easy to use.
Wherein, the GPS device supports the output of the multiple formats agreements such as GPRMC, GPGGA of 0183 formats of NMEA.It is described
Beacon supports synchronous and two kinds of operating modes of response.
According to above preferred embodiment, the utility model patent application also discloses a kind of suitable for the ultrashort of shallow water positioning
Baseline device localization method, should be suitable for shallow water positioning ultra-short baseline device localization method relate generally to pulse selecting step and
Delay inequality phase only pupil filter step.In ultra-short baseline device, the time delay for estimating each channel is needed.The shallow water that is suitable for positions
Ultra-short baseline device localization method include the following steps.
Step 1, using wideband signaling system frequently with copy correlation come estimation time delay.
If the signal that sound source is sent out is s (t), signal duration T.The signal x (t) that array element receives is expressed as：
X (t)=ks (t- τ)+n (t)
In formula, k indicates the amplitude of signal, and τ is the time delay of signal transmission, and n (t) is additive noise.
The signal x (t) received and reference signal s (t) carries out related operation, obtains correlation function：
In formula, RSS(τ) is the auto-correlation function of s (t), and P (τ) is reference signal s (t) obtained knots related to n (t) respectively
Fruit.Due to auto-correlation function RSS(τ) meets
|RSS(τ)|≤RSS(0)
If selecting suitable signal form s (t), auto-correlation function peak value is sharp so that R (τ) is at the τ moment by P's (τ)
Influence is smaller, then determining delay, τ and amplitude a then can be obtained with the method for detection R (τ) peak position, takes out peak point
The phase ρ at place, and then determine time delay and phase and amplitude that signal reaches.
After positioning basic matrix calculates the time delay and phase and the amplitude information that receive signal by the above method, pass through watertight
The deck unit of cable transmission ashore, and by deck unit merge other information after be transferred to again in main control software carry out it is next
The positioning calculation of step.
Step 2, pulse selecting step.
Due to the multipath effect of shallow-water environment, the peak pulse that each array element that the above method is found out meets condition may have
It is multiple, it is further screened in main control software domestic demand and meets condition pulse.Mainly comprise the steps of：
Step S1：Low amplitude value pulse elimination：The pulse for rejecting 0.4 times or less amplitude of maximum amplitude pulse, avoids energy
Small pulse participates in positioning.Following condition need to be met by meeting the pulse amplitude of condition：
a≥amax*0.4
Wherein, amaxIndicate the range value of maximum amplitude pulse；The coefficient for choosing 0.4 is based on more ways under more way models
Pulse amplitude is not more than 0.4 times of hypothesis of real signal pulse.
Step S2：Pulse elimination during week：Become according to the maximum delay that maximal duty cycle and maximum speed can be generated
Change, each pulse is compared with the history pulse of this array element, changes the pulse for being more than this limitation during rejecting week.I.e. with history arteries and veins
Punching is compared, and the impulse time delay variation in this period meets following condition：
Δτ≤TWork period*VThe speed of a ship or plane*1852/3600/CThe velocity of sound
Wherein, TWork periodWork period, unit S are positioned for system；VThe speed of a ship or planeThe speed of a ship or plane, unit K not are moved for target；CThe velocity of soundIt indicates
Acoustic velocity value, unit m/s.
Step S3：Pulse elimination between array element：It is poor according to maximum delay between array element caused by baseline length, calculate array element two-by-two
Between delay inequality, reject array element between variation be more than this limitation pulse.Impulse time delay difference i.e. two-by-two between array element meets following item
Part：
Δτ≤LBaseline length/CThe velocity of sound
Wherein, LBaseline lengthIndicate the baseline length between array element two-by-two, unit m；CThe velocity of soundIndicate acoustic velocity value, unit m/s.
Step S4：Delay inequality pulse sliced：Seek the pulse corresponding to delay inequality minimum between history two-by-two array element.According to
It is above reject after, remaining pulse is satisfied by amplitude requirements, work period, the work speed of a ship or plane, maximum allowed by baseline length miss
Difference.Assuming that 4 receive array element and indicated respectively with 1#, 2#, 3#, 4# array element, 1# and 3# array elements are positioned for X-axis (north), 2# and 4#
Array element is positioned for Y-axis (east), is calculated the delay inequality between 1# and 3# array elements, is sought delay inequality between 1# the and 3# array elements with history
Pulse corresponding to variation minimum.
Δτ13=min (Δ τ-Δ τ13')
Wherein, Δ τ is the delay inequality between 1# the and 3# pulses of current period, Δ τ13' it is 1# and 3# gusts of history cycle
Delay inequality between member.
Similarly, the pulse corresponding to the delay inequality variation minimum between 2# the and 4# array elements with history can be acquired.
Δτ24=min (Δ τ-Δ τ24')
Step 3, delay inequality phase only pupil filter step.
It is delay inequality that the target pulse got by above-mentioned pulse selecting step, which seeks the delay inequality between array element two-by-two,
First measured value also needs to carry out phase only pupil filter again to further increase the positioning accuracy of ultra-short baseline, i.e. phase difference value reflection to time delay
The correction value of difference, the difference of delay inequality first measured value and delay inequality correction value, as delay inequality phase correction values.
ΔτCorrection value=Δ the π of ρ/2 f0
ΔτPhase correction values=Δ τFirst measured value-ΔτCorrection value
Wherein, phase differences of the Δ ρ between array element two-by-two；f0For the centre frequency of broadband signal；
When it is implemented, need the docking collection of letters number to be sampled carries out related operation again.The signal x received1(t) and x2
(t) with sample rate FS=1/TSIt is sampled, obtains x1(nTS) and x2(nTS), respectively with reference signal s (nTS) and its Xi Er
Bert transformation H [S (nTs)] carries out related operation and obtains R1(mTS)、RH1(mTS)、R2(mTS)、RH2(mTS)：
Wherein, R1(mTS)、RH1(mTS) constitute one group of complex signal, R2(mTS)、RH2(mTS) constitute another group of complex signal.It is right
Envelope carries out peak value and selects, and acquires delay, τ1、τ2, take out the phase ρ at peak point1、ρ2, wherein ρ1、ρ2Calculating it is as follows：
Wherein, Im [] indicates that the imaginary part of expression formula, Re [] is taken to indicate to take the imaginary part of expression formula.
Then delay inequality phase correction values are：
Δ τ=(τ1-τ2)-(ρ1-ρ2)/(2πf0)。
For a person skilled in the art, the technical solution recorded in foregoing embodiments can still be repaiied
Change or equivalent replacement of some of the technical features, within the spirit and principle of the utility model, made by it is any
Modification, equivalent replacement, improvement etc., should be included in the scope of protection of the utility model.
Claims (7)
1. a kind of ultra-short baseline device suitable for shallow water positioning, which is characterized in that including positioning basic matrix, deck unit and auxiliary
Equipment, while being controlled by main control software, wherein：
The ancillary equipment includes GPS device and beacon；
The positioning basic matrix includes receiving basic matrix, transmitting transducer, watertight housings, watertight cable, signal-processing board and electronics
Compass；There are the reception basic matrix several array elements, each array element to be in same plane, and each array element receives acoustics letter simultaneously
Number, and give signal-processing board the transformed data of acoustic-electric；The transmitting transducer is used to emit under response mode and ask
It asks signal, is arranged in the centre for the array element for receiving basic matrix；The watertight cable is for connecting positioning basic matrix and deck unit；Institute
It states signal-processing board and is equipped with processor, above-mentioned processor uses FPGA and DSP combo architectures；It is fixed that the electronic compass measures in real time
Three axis informations of position basic matrix, and give signal-processing board data and resolved.
2. the ultra-short baseline device according to claim 1 suitable for shallow water positioning, which is characterized in that the deck unit
Including cabinet, power supply and interface processing board；The cabinet includes front panel and rear panel, and front panel is used for dispaly state, behind
Plate is switch control zone and is provided with pluggable connector；The power supply includes input power processing module, Switching Power Supply
Module and linear voltage stabilization module.
3. the ultra-short baseline device according to claim 2 suitable for shallow water positioning, which is characterized in that the cabinet uses
Standard 1U restocking casing structures.
4. the ultra-short baseline device according to claim 2 suitable for shallow water positioning, which is characterized in that the interface processing
Plate is for receiving and forwarding data, instruction, synchronizing signal, the deck unit to have standard network output interface.
5. the ultra-short baseline device according to claim 1 suitable for shallow water positioning, which is characterized in that the positioning basic matrix
Using integrated basic matrix, the reception basic matrix receives basic matrix using 4 yuan of right-angled intersections.
6. the ultra-short baseline device according to claim 1 suitable for shallow water positioning, which is characterized in that the watertight housings
It is made using columnar structured, and using titanium alloy material.
7. the ultra-short baseline device according to claim 1 suitable for shallow water positioning, which is characterized in that the electronic compass
It is fixedly connected with the inner wall of watertight housings in watertight housings, and by 4 screws.
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| CN201721621711.6U CN207623508U (en) | 2017-11-28 | 2017-11-28 | Ultra-short baseline device suitable for shallow water positioning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748352A (en) * | 2017-11-28 | 2018-03-02 | 嘉兴易声电子科技有限公司 | Suitable for the ultra-short baseline device and localization method of shallow water positioning |
| CN115685165A (en) * | 2022-10-31 | 2023-02-03 | 浙江大学 | Method and device for calibrating installation deviation of three-dimensional array ultra-short baseline positioning system |
| CN107748352B (en) * | 2017-11-28 | 2024-05-17 | 嘉兴易声电子科技有限公司 | Ultra-short baseline device and positioning method suitable for shallow water positioning |
-
2017
- 2017-11-28 CN CN201721621711.6U patent/CN207623508U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748352A (en) * | 2017-11-28 | 2018-03-02 | 嘉兴易声电子科技有限公司 | Suitable for the ultra-short baseline device and localization method of shallow water positioning |
| CN107748352B (en) * | 2017-11-28 | 2024-05-17 | 嘉兴易声电子科技有限公司 | Ultra-short baseline device and positioning method suitable for shallow water positioning |
| CN115685165A (en) * | 2022-10-31 | 2023-02-03 | 浙江大学 | Method and device for calibrating installation deviation of three-dimensional array ultra-short baseline positioning system |
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