CN207833006U - A kind of underwater Mutual coupling device based on adjustable angle even linear array - Google Patents

Abstract

The utility model discloses a kind of underwater Mutual coupling devices based on adjustable angle even linear array, including data processing and control module, angle control module, transmitting module, receiving module, output module and power module；Data processing is all connected directly with it with the core that control module is whole device, other all modules；It can control transmitting module, the signal for keeping transmitting module transmitting specified；Angle control module can be controlled, the angle of two even linear arrays is made to go to setting value；It can also be transmitted through the signal come to receiving module to handle, calculate direction of arrival angle, then transmit the result to transmitting module.The utility model can preferably eliminate error using the even linear array that two angles can be adjusted by taking different value to take multiple measurements.

Description

A kind of underwater Mutual coupling device based on adjustable angle even linear array

Technical field

The utility model is related to the technical fields of submarine target positioning, more particularly to a kind of to be based on adjustable angle even linear array Underwater Mutual coupling device.

Background technology

Array signal process technique is widely used in various fields, and one of basic problem of array signal processing It is spacing wave Mutual coupling (DOA estimations).DOA estimates that is, Estimation of Spatial Spectrum, used processing method are in noise It puts multiple sensors composition arrays in environment, echo signal is received with this, then the reception signal of array is handled, The final incident direction for estimating echo signal facing arrays.Subspace Decomposition class algorithm is to grow up the 1970s A kind of high resolution method, it can accurately estimate the parameter (frequency, orientation etc.) of signal, performance ideal, resolution capability It is higher than conventional method with estimation precision, it is therefore widely used in DOA estimations field.The characteristics of Subspace Decomposition class algorithm is Be two mutually orthogonal sub-spaces by the reception signal decomposition of array by mathematic(al) manipulation appropriate, i.e., signal subspace with Noise subspace recycles the two respective characteristics in class subspace to carry out DOA estimations.So Subspace Decomposition class algorithm again can be with It is divided into two class Subspace algorithm of signal subspace and noise subspace, the former is to establish on the basis of the constant technology of Subspace Rotation On ESPRIT algorithms be representative, the latter with multiple classification algorithm (MUSIC algorithms) be representative.MUSIC belongs to minimum searching method, ESPRIT algorithms belong to direct solving method, therefore ESPRIT algorithms, without carrying out total space spectrum peak search, operand is much smaller than MUSIC algorithms.In addition ESPRIT algorithms also have the advantages that practicable, high resolution, so using very in DOA estimations Extensively.

But the existing method for carrying out Mutual coupling using ESPRIT algorithms has that precision is not high, one Aspect is carried out with ESPRIT algorithms in DOA estimation procedures, and the spread speed of signal in the medium is needed to treat as known to one Parameter, and under water in environment, the velocity of sound is related with many environmental factors, is a continually changing parameter, therefore it is solid with one Fixed velocity of sound parameter carries out underwater DOA estimations and will produce larger error.On the other hand, used in existing Mutual coupling Linear array is all fixed angle, in practical measurement process, can only be taken multiple measurements for this fixed angle, Bu Nengyou Improve estimated accuracy in effect ground.

Utility model content

The purpose of the utility model is to overcome disadvantages of the existing technology, provide a kind of based on adjustable angle uniform line The underwater Mutual coupling device of battle array, the device can be arranged multiple and different linear array angle values and measure, and pass through difference Multigroup measurement of angle, to obtain compared to the existing higher measurement accuracy of DOA methods.

The purpose of this utility model is realized by the following technical solution：

A kind of underwater Mutual coupling device based on adjustable angle even linear array, including data processing and control mould Block, angle control module, transmitting module, receiving module, output module and power module；Power module and data processing and control Module, angle control module, transmitting module, receiving module are connected with output module, it can be these module for power supply；

Data processing is all connected directly with it with the core that control module is whole device, other all modules；It Transmitting module can be controlled, the signal for keeping transmitting module transmitting specified；Angle control module can be controlled, two even linear arrays are made Angle goes to setting value；It can also be transmitted through the signal come to receiving module to handle, calculate direction of arrival angle, it then will knot Fruit is transmitted to transmitting module.

Preferably, data processing is made of with control module a pair of of A/D, D/A converter and a processor.

Preferably, angle control module includes a stepper motor and driving circuit, for controlling the folder between two linear arrays Angle；Stepper motor is the opened loop control motor that electric impulse signal is changed into angular displacement or displacement of the lines, when driving circuit receives one A pulse signal, it rotates fixed angle with regard to Driving Stepping Motor by the direction of setting, can be by making data processing and control Molding block emits a certain number of pulse signals to reach desired angle value.

Preferably, receiving module includes two ultrasonic wave receiving transducer arrays, the angle between two arrays be it is variable and And angle can be adjusted by angle control module.

Specifically, horizontal array L1 and stepper motor are fixed together, array L2 is installed on stepper motor and ensures In the same plane, array L2 can be driven by stepper motor to be rotated, and is adjusted to reach two linear array angles by array L1 and array L2 Purpose.

Specifically, the fixing bracket there are one the ends array L1, fixing bracket uses plastic material；Step motor stator On this holder, stepping motor rotor connects array L2 for connection.

Preferably, transmitting module includes an impedance matching circuit and a ultrasonic wave transmitting probe.

Preferably, output module includes a USB interface and a display, it is capable of providing human-computer interaction, by data Processing is output to external device (ED) by USB interface with the data handled well in control module or shows over the display.

The utility model compared with prior art, has the following advantages that and advantageous effect：

1, the utility model uses the even linear array that two angles can be adjusted, since two linear array angles are variable, by taking Different value takes multiple measurements, and can preferably eliminate error.

2, utility model device is improved in traditional measuring device, the uniform line that can be adjusted using angle Battle array, feasibility is strong, and installation is simple.In addition to this, the continuous improvement of modern processors calculation processing ability, this so that this practicality is new The integrated level of the chips such as processor used in type is high, and computing capability is strong, to ensure that the feasibility of the utility model.

Description of the drawings

Fig. 1 is the hardware configuration module map of embodiment device.

Fig. 2 is receiving module connection diagram.

Fig. 3 is that receiving module connects vertical view.

Fig. 4 is that receiving module connects side view.

Fig. 5 is the adjustable angle even linear array model used in embodiment.

Fig. 6 is the receipt signal model of horizontal homogeneous linear array.

Fig. 7 is adjustable angle even linear array model of the signal from region 1 when incident.

Fig. 8 is adjustable angle even linear array model of the signal from region 2 when incident.

Fig. 9 is adjustable angle even linear array model of the signal from region 3 when incident.

Figure 10 is adjustable angle even linear array model of the signal from region 4 when incident.

Figure 11 is the flow chart of embodiment method.

Specific implementation mode

The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model Mode is without being limited thereto.

Embodiment 1

A kind of underwater Wave arrival direction estimating method based on adjustable angle even linear array, by believing the reception of two linear arrays It number is handled, the velocity of sound this factor can be eliminated in Mutual coupling, to eliminate underwater velocity of sound uncertainty to mesh Mark the influence of positioning accuracy.Secondly because two even linear array angles are variable, angle can be changed in actually measuring and carried out repeatedly It measures, preferably eliminates error.

This method uses two adjustable even linear arrays of angle, two linear arrays to have the distance between M array element and array element to be d；K narrowband target sound source is respectively S₁,S₂,…,S_K, centre frequency f；Sound wave incident direction and horizontal homogeneous linear array positive axis The angle in direction is β, β ∈ (0, π)；This method linear array angle value α different by n times are measured_n, n=1,2 ..., N and α_n∈(0, Pi/2), it is as follows：

Step 1：The adjustable even linear array model of angle is established, as shown in Figure 5.It is α to place two angles in water_nIt is equal Even linear array, the even linear array and an inclined even linear array of a horizontal direction, is set to x-axis and y-axis.It is pressed from both sides according to linear array Angle α_nAnd acoustic signals incident area is set as 4 by sound wave incident direction and the angle β of the positive axis direction of x-axis：As β ∈ (0, α_n) When, acoustic signals are that region 1 is incident；As β ∈ (α_n, pi/2) when, acoustic signals are that region 2 is incident；As β ∈ (pi/2, pi/2+α_n) When, acoustic signals are that region 3 is incident；As β ∈ (pi/2+α_n, π) when, acoustic signals are that region 4 is incident；

Step 2：Establish the Signal reception model of two even linear arrays.When linear array angle is α_nWhen, K narrowband target sound source Deflection corresponding to horizontal line array is respectively θ_nx1,θ_nx2,...,θ_nxK, it is respectively θ corresponding to the deflection of linear array is tilted_ny1, θ_ny2,...,θ_nyK.The model scene of horizontal homogeneous linear array is as shown in Figure 6.Using first array element as reference point, then first array element It is in t moment received signal：

Wherein s_i(t) i-th of source signal, n are indicated₁(t) noise in first array element is indicated.

It receives signal and meets narrowband condition, i.e., when signal delay is much smaller than inverse bandwidth, delayed-action, which is equivalent to, makes base Band signal generates a phase shift.The signal that so m-th of array element is received in synchronization is：

Wherein λ_iIndicate the reflected wave length of sound of i-th of target source, n_m(t) noise in m-th of array element is indicated.It will The reception signal of each array element is arranged in column vector form, then entire horizontal line array received signal can be used to lower vector expression sublist Show：

X (t)=AS (t)+N (t) (1)

Wherein,It is sweared for the guiding of M × K Moment matrix, X (t)=[x₁(t),x₂(t),…,x_M(t)]^TFor the receipt signal matrix of M × 1, S (t)=[s₁(t),s₂(t),…, s_K(t)]^TFor the source signal matrix of K × 1, N (t)=[n₁(t),n₂(t),…,n_M(t)]^TFor the noise matrix of M × 1.Similarly may be used Obtain the Signal reception model for tilting even linear array.

Step 3：Even linear array subarray model is established, rotation operator expression formula is derived.By M battle array in horizontal line array Member is divided into the subarray Z that two translation vectors are d_hxAnd Z_hy.Subarray Z_hxBy first to the M-1 array element group of horizontal array At then having：

x_h1(t)=x₁(t),x_h2(t)=x₂(t),…,x_h(M-1)(t)=x_M-1(t)

Wherein, x_h1(t),x_h2(t),…,x_h(M-1)(t) it is respectively subarray Z_hxUpper first array element is to the M-1 array element The signal received.

Subarray Z_hyIt is formed, then had to m-th array element by the second of horizontal array：

y_h1(t)=x₂(t),y_h2(t)=x₃(t),…,y_h(M-1)(t)=x_M(t)

Wherein, y_h1(t),y_h2(t),…,y_h(M-1)(t) it is respectively subarray Z_hyUpper first array element is to the M-1 array element The signal received.

The reception signal of m-th of array element is respectively in so two subarrays：

Whereinn_hxm(t) and n_hym(t) it is respectively submatrix Z_hxAnd Z_hyUpper m-th of array element adds Property noise.Write above formula as vector form：

X_h(t)=AS (t)+N_hx(t)

Y_h(t)=A Φ_xS(t)+N_hy(t)

Wherein matrix Φ_xFor the diagonal matrix of K × K, it is submatrix Z_hxAnd Z_hyThe unitary matrix that connects of output, also referred to as Rotation operator, diagonal element contain phase delay information of the wavefront of K signal between any one array element idol, indicate For：

According to above step, it can will similarly tilt even linear array and be divided into two subarray Z_vxAnd Z_vy, obtain receiving signal X_v(t) and Y_v(t), to show that rotation operator is：

Step 4：Establish rotation operator Φ_xAnd Φ_yWith θ_nxiAnd θ_nyiBetween relationship.X_h(t) covariance matrix can be with It is expressed as：

R_hxx=E [X_h(t)X_h ^H(t)]=AR_ssA^H+σ²I

Wherein R_ss=E { S (t) S^H(t) }, it is information source part covariance matrix.

X_h(t) and Y_h(t) Cross-covariance is：

R_hxy=E { X_h(t)Y_h ^H(t) }=AR_ssΦ_x ^HA^H+σ²Z

Matrix covariance matrix is carried out Eigenvalues Decomposition to obtain minimal eigenvalue being σ², utilize σ²It can obtain pencil of matrix {C_hxx,C_hxy, wherein C_hxx=R_hxx-σ²I=AR_ssA^H, C_hxy=R_hxy-σ²Z=AR_ssΦ_x ^HA^H.Calculating matrix beam { C_hxx,C_hxy} Generalized eigenvalue decomposition, obtain nonzero eigenvalue λ_x1,λ_x2,…,λ_xK, they correspond matrix Φ_xMember on diagonal line Element, but correspondence and do not know, therefore can be remembered by formula (2)：

Wherein φ_xiFor matrix Φ_xOn diagonal element, and φ_xi∈{λ_x1,λ_x2,…,λ_xK, i=1,2 ..., K.

It, similarly can be in the hope of two covariance matrix R of inclination uniform array according to above step_vxxAnd R_vxy, then right Pencil of matrix { C_vxx,C_vxyCarry out Eigenvalues Decomposition obtain eigenvalue λ_y1,λ_y2,…,λ_yK, they equally correspond matrix Φ_y On diagonal element, but correspondence is equally uncertain, can be remembered by formula (3)：

Wherein φ_yiFor matrix Φ_yOn diagonal element, and φ_yi∈{λ_y1,λ_y2,…,λ_yK, i=1,2 ..., K.

Step 5：Acoustic signals are established from the relationship between both direction angle when different zones incidence.

(1) when sound wave is incident from region 1, as shown in fig. 7, θ_1iFor the folder in sound wave incident direction and horizontal line array normal Angle, θ_1jFor the angle in sound wave incident direction and parallax tactical deployment of troops line, there is θ at this time_1i+θ_1j=π-α_n.Due to the battle array being in x-axis Column signal is and the submatrix Z to be in the array element of x-axis most negative direction as reference array element_hxAlso in submatrix Z_hyNegative x-axis direction. Therefore when incident from region 1 when sound wave, reference array element is to receive signal the latest, submatrix Z_hxIn array element also compare submatrix Z_hyIn corresponding array element evening receive signal, so as to obtain delay parameter τ be less than 0, and becauseSo There is θ at this time_nxi=-θ_1i, similarly there is θ_nyi=-θ_1j.It can to sum up obtain：

θ_nyi=-θ_nxi+α_n-π (6)

(2) when sound wave is incident from region 2, as shown in figure 8, θ_2iFor the folder in sound wave incident direction and horizontal line array normal Angle, θ_2jFor the angle in sound wave incident direction and parallax tactical deployment of troops line, there is θ at this time_2j-θ_2i=α_n, according to analysis side used in (1) Method has θ at this time_nxi=-θ_2i, θ_nyi=-θ_2j, can to sum up obtain：

θ_nyi=θ_nxi-α_n (7)

(3) when sound wave is incident from region 3, as shown in figure 9, θ_3iFor the folder in sound wave incident direction and horizontal line array normal Angle, θ_3jFor the angle in sound wave incident direction and parallax tactical deployment of troops line, there is θ at this time_3i+θ_3j=α_n, according to analysis side used in (1) Method has θ at this time_nxi=θ_3i, θ_nyi=-θ_3j, to sum up can equally obtain：

θ_nyi=θ_nxi-α_n

(4) when sound wave is incident from region 4, as shown in Figure 10, θ_4iFor the folder in sound wave incident direction and horizontal line array normal Angle, θ_4jFor the angle in sound wave incident direction and parallax tactical deployment of troops line, there is θ at this time_4i-θ_4j=α_n, according to analysis side used in (1) Method has θ at this time_nxi=θ_4i, θ_nyi=θ_4j, to sum up can equally obtain

θ_nyi=θ_nxi-α_n

It can be obtained according to formula (6) and formula (7)：

sinθ_nyi=sin (θ_nxi-α_n) (8)

It brings formula (8) into formula (5), then has：

Step 6：To matrix Φ_xWith matrix Φ_yOn diagonal element φ_xiWith φ_yiIt is matched.According to formula (4) and public affairs Formula (9) is if it is found that successful matching, there is the following formula establishment：

By arg (λ_x1),arg(λ_x2),…,arg(λ_xK) according to respective squared magnitude sequence, arrangement obtains sequence from big to small Arrange H；By arg (λ_y1),arg(λ_y2),…,arg(λ_yK) according to respective squared magnitude sequence, arrangement obtains sequence V from small to large. Then have：

Wherein h_iFor i-th of element in sequence H；v_iFor i-th of element in sequence V.

Step 7：θ is found out according to pairing result_nxiSize.

It can be obtained according to formula (10)：

Step 8：Change the angle α between two even linear arrays_n, n=1,2 ..., N repeat step 1 to step 7.For Different linear array angle αs_n, corresponding direction of arrival angle is found out by formula 12, finally results are averaged obtains and most terminate to N number of Fruit θ_xi, i=1,2 ..., K.

According to algorithm above flow it is found that the innovatory algorithm that the present embodiment proposes requires no knowledge about the size of the velocity of sound To θ_xiAccurately estimated, you can to estimate direction of arrival angle θ in the case that the velocity of sound is uncertain_xiValue, overcome biography The shortcomings that system ESPRIT algorithms.Repeatedly estimation is carried out by the angle changed between two linear arrays simultaneously to be finally averaged, it can be with Effectively eliminate error.

The flow chart of above method can be indicated by Figure 11.

Embodiment 2

A kind of underwater Mutual coupling device based on adjustable angle even linear array, as shown in Figure 1, including data processing With control module, angle control module, transmitting module, receiving module, output module and power module.

Data processing is made of with control module a pair of of A/D, D/A converter and a processor, is the core of whole device Center portion point, other all modules are all connected directly with it.It can control transmitting module, the letter for keeping transmitting module transmitting specified Number；Angle control module can be controlled, the angle of two even linear arrays is made to go to setting value；Receiving module can also be transmitted through Signal is handled, and is calculated direction of arrival angle by the algorithm of embodiment 1, is then transmitted the result to transmitting module.

Angle control module is used for controlling the angle between two linear arrays, is made of a stepper motor and driving circuit.Step Stepper motor is that electric impulse signal is changed into the opened loop control motor of angular displacement or displacement of the lines, when driving circuit receives a pulse Signal, it rotates fixed angle, referred to as step angle with regard to Driving Stepping Motor by the direction of setting.So can be by making data Processing emits a certain number of pulse signals to reach desired angle value with control module.

Receiving module is made of two ultrasonic wave receiving transducer arrays, and the angle between two arrays is variable and angle It can be adjusted by angle control module, as shown in Fig. 2, horizontal array L1 and stepper motor are fixed together, array L2 It is installed on stepper motor and ensures array L1 and array L2 in the same plane, array L2 can be driven by stepper motor to be revolved Turn, to achieve the purpose that two linear array angles are adjusted.Fig. 3 is respectively that device connects vertical view and side view with Fig. 4, as schemed institute Show, in the fixing bracket there are one the ends array L1, because receiving module can be placed in water, fixing bracket uses plastics Material is to increase buoyancy.Step motor stator connects on this holder, and stepping motor rotor connects array L2.Two arrays can also connect The signal fired back from target sound source is received, processor is sent to after then being carried out A/D conversions.

Transmitting module is made of an impedance matching circuit and a ultrasonic wave transmitting probe, passes through D/A converter and place It manages device to be connected, the signal that can be specified according to the instruction issue that processor is sent out.

Output module is made of a USB interface and a display, and with data processing and control module and power supply Module is connected.It is capable of providing human-computer interaction, and data processing is exported with the data handled well in control module by USB interface It shows to external device (ED) or over the display.

Power module is made of a power supply, and with data processing and control module, angle control module, transmitting mould Block, receiving module are connected with output module.It can be these module for power supply.

The main working process of the present apparatus is as follows：According to the signal parameter for wanting transmitting during actual measurement, pass through data Processing parameter corresponding with control module input, makes processor generate corresponding digital signal, is transmitted to after then being converted by D/A Transmitting module, ultrasonic wave transmitting probe can generate the signal of our needs and emit.Angle value between two linear arrays can To be set by data processing and control module, processor sends driving of the specific pulse signal to angle control module Circuit, then driving circuit can Driving Stepping Motor turn to the angles of needs.Receiving array in receiving module receives It is converted by A/D after the reflected signal of target sound source to be sent to processor after digital signal, then processor Result is calculated according to the algorithm of offer.Result of calculation is transmitted to output module by final data processing with control module, exports mould Result is transmitted to external equipment by USB interface or is shown by display by block.Power module is all other module Power supply.

The present apparatus includes data processing and control module, angle control module, transmitting module, receiving module, output module And power module.Data processing can be realized (such as with control module with dsp chip：TI company's T MS320VC5509A models Dsp chip), this dsp chip can realize A/D conversion and D/A conversion function, and can realize even linear array rotation operator and The calculating of final direction of arrival；Angle control module includes stepper motor and driving circuit, using Fu Xing companies HSTM42-1.8- The step angle of the stepper motor of D-26-4-0.4 models, this stepper motor is 1.8 degree, and driving circuit uses ULN2003 chips；Hair It penetrates module and uses a ultrasonic wave transmitting probe；Receiving module uses the uniform linear array of two adjustable angles, wherein each Array includes multiple ultrasonic reception probes, and quantity is identical, and two linear arrays assemble as shown in Figure 2；Output module uses a USB Interface and a LCD display.Fig. 1 is the hardware configuration module map of device described in the utility model.

Work step is specific as follows：

Step 1：5 different linear array angle values are set, that is, take N=5, respectively 15 °, 30 °, 45 °, 60 °, 75 °.In number Linear array angle value is set according to processing and control module, two linear array angles are switched to 15 ° by angle control module.It places under water 4 target sound sources, the angle with horizontal array normal are respectively 30 °, 60 °, -30 °, -60 °.Pass through data processing and control mould The parameter of transmitting module is arranged in block, and it is 100kHz, pulse length 5ms so that it is emitted the frequency of signal.Receiving array parameter is set, The respective element number of array M of two even linear arrays is set to 10, distance d is set as 5mm between array element, then preceding 9 array element is a submatrix, after 9 array elements are another submatrix, and distance is d between two submatrixs.

Step 2：The target sound source signal received to ultrasonic reception probe samples；Horizontal direction uniform array receives To signal be respectively x_x1(t),x_x2(t),…,x_x8(t) and y_x1(t),y_x2(t),…,y_x8(t), inclined direction uniform array connects The signal of receipts is respectively x_y1(t),x_y2(t),…,x_y8(t) and y_y1(t),y_y2(t),…,y_y8(t).Sampling receives 200 times altogether, and The signal received is passed into data acquisition process and does calculation process with control module.

Step 3：Signal is specific as follows in data acquisition process and the processing step in control module：

1) signal that the uniform array of place in the horizontal direction receives is lined up into vector form X_h(t) and Y_h(t), it calculates X_h(t) covariance matrix R_hxx=E [X_h(t)X_h ^H(t)], X_h(t) and Y_h(t) the Cross-covariance R between_hxy=E { X_h(t) Y_h ^H(t)}.Same treatment is also carried out to the signal that the uniform array on inclined direction receives simultaneously, obtains R_vxx=E [X_v(t) X_v ^HAnd R (t)]_vxy=E { X_v(t)Y_v ^H(t)}

2) to two covariance matrix R in horizontal array_hxxAnd R_hxyEigenvalues Decomposition is carried out, minimum characteristic value is obtained σ², to there is C_hxx=R_hxx-σ²I=AR_ssA^HAnd C_hxy=R_hxy-σ²Z=AR_ssΦ^HA^H.Simultaneously to two associations in canted arrays Variance matrix carries out identical processing, obtains C_vxxAnd C_vxy。

3) pencil of matrix { C is calculated separately_hxx,C_hxyAnd { C_vxx,C_vxyGeneralized eigenvalue decomposition, obtain λ_x1,λ_x2,…,λ_xK And λ_y1,λ_y2,…,λ_yK。

4) by arg (λ_x1),arg(λ_x2),…,arg(λ_xK) according to respective squared magnitude sequence, arrangement obtains from big to small Sequence H, by arg (λ_y1),arg(λ_y2),…,arg(λ_yK) according to respective squared magnitude sequence, arrangement obtains sequence from small to large V.Then i-th of element h in H_iValue be assigned to arg (φ_xi), i-th of element v in V_iValue be assigned to arg (φ_yi)。

5) arg (φ obtained according to matching_xi) and arg (φ_yi) and two linear arrays between angle finally acquire：

Step 4：Calculated deflection information storage is got off, and sends output module to, it is defeated to make it through USB interface Go out to external device (ED) or is shown on LCD display.

Step 5：Change the angle between two linear arrays, is set to 30 °, 45 °, 60 °, what 75 ° of bases were calculated every time As a result it is finally averaged, is respectively 30 ° according to the deflection that algorithm estimates, 60 °, -30 °, -60 °, with actual angle phase Together, illustrate that estimated result is correct, this method and device are feasible.

Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.

Claims (8)

1. a kind of underwater Mutual coupling device based on adjustable angle even linear array, which is characterized in that including data processing With control module, angle control module, transmitting module, receiving module, output module and power module；At power module and data Reason is connected with control module, angle control module, transmitting module, receiving module and output module, it can be that these modules supply Electricity；

Data processing is all connected directly with it with the core that control module is whole device, other all modules；It can be with Transmitting module is controlled, the signal for keeping transmitting module transmitting specified；Angle control module can be controlled, the angle of two even linear arrays is made Go to setting value；It can also be transmitted through the signal come to receiving module to handle, calculate direction of arrival angle, then pass result Transport to transmitting module.

2. the underwater Mutual coupling device according to claim 1 based on adjustable angle even linear array, feature exist In data processing is made of with control module a pair of of A/D, D/A converter and a processor.

3. the underwater Mutual coupling device according to claim 1 based on adjustable angle even linear array, feature exist In angle control module includes a stepper motor and driving circuit, for controlling the angle between two linear arrays；Stepper motor is Electric impulse signal is changed into the opened loop control motor of angular displacement or displacement of the lines, when driving circuit receives a pulse signal, it Fixed angle is rotated by the direction of setting with regard to Driving Stepping Motor, it can be certain by making data processing and control module emit The pulse signal of quantity reaches desired angle value.

4. the underwater Mutual coupling device according to claim 1 based on adjustable angle even linear array, feature exist In receiving module includes two ultrasonic wave receiving transducer arrays, and the angle between two arrays is variable and angle can lead to Over-angle control module is adjusted.

5. the underwater Mutual coupling device according to claim 4 based on adjustable angle even linear array, feature exist In horizontal array L1 and stepper motor are fixed together, and array L2 is installed on stepper motor and ensures array L1 and array In the same plane, array L2 can be driven by stepper motor to be rotated L2, to achieve the purpose that two linear array angles are adjusted.

6. the underwater Mutual coupling device according to claim 5 based on adjustable angle even linear array, feature exist In in the fixing bracket there are one the ends array L1, fixing bracket uses plastic material；Step motor stator is connected in this holder On, stepping motor rotor connects array L2.

7. the underwater Mutual coupling device according to claim 1 based on adjustable angle even linear array, feature exist In transmitting module includes an impedance matching circuit and a ultrasonic wave transmitting probe.

8. the underwater Mutual coupling device according to claim 1 based on adjustable angle even linear array, feature exist In output module includes a USB interface and a display, it is capable of providing human-computer interaction, by data processing and control mould The data handled well in block are output to external device (ED) by USB interface or show over the display.