CN208432730U - One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view - Google Patents
One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view Download PDFInfo
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- CN208432730U CN208432730U CN201821036231.8U CN201821036231U CN208432730U CN 208432730 U CN208432730 U CN 208432730U CN 201821036231 U CN201821036231 U CN 201821036231U CN 208432730 U CN208432730 U CN 208432730U
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Abstract
The utility model discloses under one kind depending on integrating underwater panorama three-dimensional imaging sonar with side view, including side looking sonar, towing frame, rear-fin stabilizer, lower view three-dimensional sonar, inertial navigation cabin, subsea control modules, towed body frame, tail vane；The towed body frame is pancake framework, the towed body base of frame is provided with lower view three-dimensional sonar and receives basic matrix, and lower receive depending on three-dimensional sonar is respectively equipped with lower view three-dimensional sonar transmitter, side looking sonar transmitter, side looking sonar receiver, lower view three-dimensional sonar receiver above basic matrix；The two sides of the towed body frame are respectively equipped with two groups of side looking sonar transmitting basic matrixs and side looking sonar receives basic matrix；The towing frame rear portion is equipped with inertial navigation cabin, lower view three-dimensional sonar transmitting basic matrix and subsea control modules；The utility model is integrated using side looking sonar and lower view three-dimensional sonar, and panorama three-dimensional detection buries all kinds of suspensions in seabed within the scope of object and in real time the acquisition bigger angle of release of sonar side-lower and sinks to the bottom the high-resolution imaging result of Small object and submarine geomorphy.
Description
Technical field
The utility model relates to be related to ocean engineering technology apparatus field, in particular to a kind of lower view and side view are integrated underwater
Panorama three-dimensional imaging sonar.
Background technique
With ocean science, the deep development of marine economy, the cognition and exploitation to ocean are throughout each area of ocean
Domain, it is higher and higher to the ability need for detecting equipment, it is desirable that the detectivity for detecting equipment is extended to middle off-lying sea from coastal waters, from water
Middle suspension, bottom target expand to the following geological stratification in seabed or bury object.Therefore, to it is detectable suspend, sink to the bottom and bury mesh
The demand of target ocean panorama three-dimensional investigation system is more more and more urgent.
In all kinds of Small objects are detected, buries physical prospecting and look into the technical problem that always submarine target is detected.It is current main
It wants there are two types of solutions: acoustic sounding and magnetic spy.Wherein, magnetic spy technical role distance is close, and resolution ratio is low, and detectivity is limited
(cannot such as detect nonmetallic target), false alarm rate is high, and has harsh requirement (such as demagnetization) to carrier, and application range is opposite
Limited, the detection method of acoustics is the preferred of underwater burial object.
In the prior art, traditional acoustic sounding means are mainly sub-bottom profiler, and defect shows themselves in that 1, shallow stratum
Section plotter detection efficient is low, resolution ratio is low, is generally only used for detecting thicker pipeline target or large range of geologic section,
Be not suitable for being used to detect lesser burial target；2, subbottom survey is mostly two-dimensional imaging, can only obtain the section below equipment
Image；3, buried target detection generally require sound wave working frequency it is lower, thus bring is the disadvantage is that resolution ratio is poor.
Utility model content
In order to solve the above technical problems, the utility model provides under one kind depending on integrating underwater panorama three-dimensional imaging with side view
Sonar, aiming at the shortcomings in the prior art, the utility model bury sonar phase with three-dimensional visit of lower view using the three-D high frequency sonar of side view
Mutual integrated, panorama three-dimensional detection buries object, obtains sub-sea floor targets high-resolution imaging, has taken into account spy burial and high-resolution demand,
Detection width is improved simultaneously, detection angle of release can be increased to 160 ° or more.
In order to achieve the above objectives, the technical solution of the utility model is as follows: one kind is lower depending on integrating underwater panorama three with side view
Imaging sonar is tieed up, including side looking sonar transmitting basic matrix, side looking sonar receive basic matrix, towing frame, rear-fin stabilizer, lower view three-dimensional sonar
Receive basic matrix, lower view three-dimensional sonar transmitter, side looking sonar transmitter, side looking sonar receiver, lower view three-dimensional sonar receiver,
Lower view three-dimensional sonar emits basic matrix, inertial navigation cabin, subsea control modules, towed body frame, tail vane, it is characterised in that:
The towed body frame is integrated symmetric and the pancake framework for having arc-shaped preceding bow, among it vertical fixed setting
There are towing frame, rear portion two sides fixing assembling there are two pieces of rear-fin stabilizers, two groups of tail vanes are provided between the rear-fin stabilizer；It is described to drag
Body base of frame is provided with lower view three-dimensional sonar and receives basic matrix, and the lower top for receiving basic matrix depending on three-dimensional sonar is fixed respectively to be set
It is equipped with lower view three-dimensional sonar transmitter, side looking sonar transmitter, side looking sonar receiver, lower view three-dimensional sonar receiver；It is described
Respectively symmetrically formula is provided with two groups of side looking sonar transmitting basic matrixs on the two sides side wall of towed body frame and side looking sonar receives basic matrix；Institute
It states towing frame rear portion and is fixedly installed inertial navigation cabin, the two sides in the inertial navigation cabin are respectively arranged with lower view three-dimensional sonar transmitting basic matrix,
The lower two sides depending on three-dimensional sonar transmitting basic matrix are fixedly installed multiple subsea control modules respectively；The towed body lower portion
Middle position is additionally provided with launching electronics cabin and receives electronic compartment, and towed body frame external mounting has covering, to constitute detection sound
Towed body, and connect by interconnecting cable with lash ship.
The lower view three-dimensional sonar transmitter, lower view three-dimensional sonar receiver, lower view three-dimensional sonar transmitting basic matrix, lower view three
Dimension sonar receives basic matrix co-ordination and constitutes lower view three-dimensional sonar, and the lower three-dimensional sonar reception basic matrix that regards is matched as three-dimensional planar array type
Set, and by Wave beam forming processing on vertical using matched filtering, path in elevation on direction for multi-beam, on course made good
Synthetic aperture processing, detection obtains seabed and suspends, sinks to the bottom, burying the 3-D image of target；
The side looking sonar transmitter, side looking sonar receiver, side looking sonar transmitting basic matrix, side looking sonar receive basic matrix association
Work is adjusted to constitute side looking sonar, the side looking sonar is handled using adaptive aperture and the extensive beamforming algorithm of multichannel,
High-resolution bottom mounted sonar image is obtained in real time；And the high-resolution of sub-sea floor targets within the scope of the bigger angle of release of sonar side-lower is obtained in real time
Imaging.
Two sonar extension set joints of the lower view three-dimensional sonar and side looking sonar, can get and open at least 160 degree below sonar
The investigative range at angle, to improve habitata efficiency；Two united modes of sonar extension set are as follows: use while emitting and adopting
Collect sound wave, and handles in real time, work while realizing two sonars；To obtained at the same time simultaneously lower section it is three-dimensional at
As result and two sides submarine geomorphy imaging results；In specific implementation, using outer simultaneous techniques, make the synchronous hair of two sonar extension sets
It send, avoids acoustic jamming；The data of two sonars are handled by high speed switch synchronized upload to water surface processing center.
Two sonar extension set joints of the lower view three-dimensional sonar and side looking sonar, so that lower view three-dimensional sonar transmitting basic matrix,
The frequency that lower view three-dimensional sonar receives the transmitting-receiving sound wave of basic matrix reduces, and centre frequency 10kHz improves penetrating for sound wave
Property, realize the detection imaging that big depth buries target；Meanwhile using " the improvement pulse based on power spectral density distribution is compressed
Method ", " the underface bottom reverberation suppression method based on intensity profile ", " the adaptive resolution modification method based on bottom tracking "
Signal processing and high resolution processing technology are carried out, the signal-to-noise ratio for burying target is improved, improves imaging resolution.
Side looking sonar described in two groups is provided with the setting angle greater than 90 degree between each other, and the setting angle is acoustic matrix face
The farther distance in side can be detected, therefore have higher detection it is characterized in that setting angle is larger with the angle of horizontal plane
Efficiency；Two groups of side looking sonar cooperations, and " the improvement impulse compression method based on power spectral density distribution ", " adaptive
Subaperture image reconstruction ", " the multichannel large-scale parallel Wave beam forming of time-frequency combination " processing technique, it is all kinds of to effectively obtain seabed
The high-resolution imaging of Small object and submarine geomorphy is suspended and sunk to the bottom as a result, and mending mutually with the lower image depending on three-dimensional sonar
It fills；Side looking sonar and it is lower used simultaneously depending on sonar, can make up for it below side looking sonar has wider blind area, the spy of lower view three-dimensional sonar
Survey the defect of narrower width.
The lower view three-dimensional sonar and side looking sonar use two ways processing sound compatible design, go here and there mutually to avoid sound wave
It disturbs, seriously affect image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional lower view sound
Working band is set within 30kHz, and the working band of side looking sonar is set to 200kHz or more；The frequency band difference of the two
It is larger, the frequency component of non-sonar extension set can be filtered out using bandpass filter；The second way is design in time,
Design is synchronized, each electronic system of this sonar subordinate is synchronized by unified external sync module, can be further
Improve the sound compatibility feature of two kinds of sonars.
The image of the lower view three-dimensional sonar and side looking sonar is using " based on the spelling of the sound spectrogram of Region Matching and points correspondence
Connect " technology, realize having for the sonar side-lower image that the lower sonar lower images obtained depending on three-dimensional sonar and side looking sonar obtain
Effect splicing, obtain bigger width sweeps width, sweeps survey efficiency to seabed to greatly improve sonar.
Through the above technical solutions, the beneficial effect of technical solutions of the utility model is: the utility model uses the three-dimensional of side view
High frequency sonar and lower view is three-dimensional visits that bury sonar mutually integrated, panorama three-dimensional detection bury object, obtain sub-sea floor targets high-resolution at
Picture has taken into account spy burial and high-resolution demand, while having improved detection width, detection angle of release can be increased to 160 ° or more；
Effectively detection obtains seabed and suspends, sinks to the bottom, burying the 3-D image of target；High-resolution bottom mounted sonar image is obtained in real time, and real
When obtain the bigger angle of release of sonar side-lower within the scope of sub-sea floor targets high-resolution imaging；It effectively obtains all kinds of suspensions in seabed and sinks
The high-resolution imaging result of bottom Small object and submarine geomorphy；Side looking sonar and it is lower used simultaneously depending on sonar, can make up for it side
Depending on the defect for having wider blind area, lower view three-dimensional sonar detection width relatively narrow below sonar；Plate towed body structure is used, letter
Change towed body structure, the weight for reducing towed body and size, improve towing attitude stability；To obtain sweeping for bigger width
Width sweeps survey efficiency to seabed to greatly improve sonar.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, embodiment or the prior art will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is vertical depending on integrating underwater panorama three-dimensional imaging sonar with side view under one kind disclosed in the utility model embodiment
Body shaft side figure schematic diagram；
Fig. 2 is to bow under one kind disclosed in the utility model embodiment depending on integrating underwater panorama three-dimensional imaging sonar with side view
View schematic diagram；
Fig. 3 is under one kind disclosed in the utility model embodiment depending on integrating underwater panorama three-dimensional imaging sonar master with side view
View schematic diagram.
Number and corresponding component title represented by letter in figure:
1. side looking sonar, which emits 2. side looking sonar of basic matrix, receives the towing frame of basic matrix 3.
4. the lower view three-dimensional sonar of rear-fin stabilizer 5. receives, basic matrix 6. is lower to regard three-dimensional sonar transmitter
7. 8. side looking sonar receiver 9. of side looking sonar transmitter is lower to regard three-dimensional sonar receiver
10. lower view three-dimensional sonar emits 11. inertial navigation cabin of basic matrix, 12. subsea control modules
13. 14. tail vane of towed body frame
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
According to Fig. 1, Fig. 2 and Fig. 3, the utility model is provided under one kind depending on integrating underwater panorama three-dimensional imaging sound with side view
, including side looking sonar transmitting basic matrix 1, side looking sonar reception basic matrix 2, towing frame 3, rear-fin stabilizer 4, the reception of lower view three-dimensional sonar
Basic matrix 5, lower view three-dimensional sonar transmitter 6, side looking sonar transmitter 7, side looking sonar receiver 8, lower view three-dimensional sonar receiver
9, lower view three-dimensional sonar emits basic matrix 10, inertial navigation cabin 11, subsea control modules 12, towed body frame 13, tail vane 14, and feature exists
In:
The towed body frame 13 is integrated symmetric and the pancake framework for having arc-shaped preceding bow, and vertical fixation is set among it
Being equipped with towing frame 3, rear portion two sides fixing assembling has two pieces of rear-fin stabilizers 4, and two groups of tail vanes are provided between the rear-fin stabilizer 4
14；13 bottom of towed body frame is provided with lower view three-dimensional sonar and receives basic matrix 5, and the lower view three-dimensional sonar receives basic matrix 5
Top is fixedly installed lower view three-dimensional sonar transmitter 6, side looking sonar transmitter 7, side looking sonar receiver 8, lower view three respectively
Tie up sonar receiver 9；Respectively symmetrically formula is provided with two groups of side looking sonar transmitting basic matrixs 1 on the two sides side wall of the towed body frame 13
Basic matrix 2 is received with side looking sonar；3 rear portion of towing frame is fixedly installed inertial navigation cabin 11, the two sides difference in the inertial navigation cabin 11
It is provided with lower view three-dimensional sonar transmitting basic matrix 10, the lower two sides depending on three-dimensional sonar transmitting basic matrix 10 are fixedly installed more respectively
A subsea control modules 12；The 13 bosom position of towed body frame is additionally provided with launching electronics cabin and receives electronic compartment, drags
13 external mounting of body frame has covering, to constitute detection sonar towed body, and connect with lash ship by interconnecting cable.
The lower view three-dimensional sonar transmitter 6, lower view three-dimensional sonar receiver 9, lower view three-dimensional sonar transmitting basic matrix 10, under
5 co-ordination of basic matrix is received depending on three-dimensional sonar and constitutes lower view three-dimensional sonar, and the lower three-dimensional sonar that regards receives basic matrix 5 as three-dimensional surface
Configuration configuration, and by being handled on vertical, being navigated for the Wave beam forming of multi-beam on direction using matched filtering, path in elevation
The upward synthetic aperture processing of mark, detection obtain seabed and suspend, sink to the bottom, burying the 3-D image of target；
The side looking sonar transmitter 7, side looking sonar receiver 8, side looking sonar transmitting basic matrix 1, side looking sonar receive base
2 co-ordinations of battle array constitute side looking sonar, and the side looking sonar utilizes the processing of adaptive aperture and the extensive Wave beam forming of multichannel
Algorithm obtains high-resolution bottom mounted sonar image in real time；And sub-sea floor targets within the scope of the bigger angle of release of sonar side-lower are obtained in real time
High-resolution imaging；
Two sonar extension set joints of the lower view three-dimensional sonar and side looking sonar, can get and open at least 160 degree below sonar
The investigative range at angle, to improve habitata efficiency；Two united modes of sonar extension set are as follows: use while emitting and adopting
Collect sound wave, and handles in real time, work while realizing two sonars；To obtained at the same time simultaneously lower section it is three-dimensional at
As result and two sides submarine geomorphy imaging results；In specific implementation, using outer simultaneous techniques, make the synchronous hair of two sonar extension sets
It send, avoids acoustic jamming；The data of two sonars are handled by high speed switch synchronized upload to water surface processing center.
Two sonar extension set joints of the lower view three-dimensional sonar and side looking sonar, so that lower view three-dimensional sonar emits basic matrix
10, the frequency that lower view three-dimensional sonar receives the transmitting-receiving sound wave of basic matrix 5 reduces, and centre frequency 10kHz improves wearing for sound wave
Permeability realizes the detection imaging that big depth buries target；Meanwhile using " the improvement pulse pressure based on power spectral density distribution
Contracting method ", " the underface bottom reverberation suppression method based on intensity profile ", " the adaptive resolution amendment side based on bottom tracking
Method " carries out signal processing and high resolution processing technology, improves the signal-to-noise ratio for burying target, improves imaging resolution.
The improvement impulse compression method based on power spectral density distribution: traditional pulse compression method is adjusted based on linear
Spectrum density distribution of the frequency signal in frequency band be constant it is assumed that but in practice transmitter in design it is difficult to ensure that it is linear
Degree, this external signal is after water body is propagated, since absorption coefficient of the water body to different frequency is different, even if fairly linear
FM signal after transmission and acquisition, low frequency part absorb it is less, echo power spectrum density is larger, high band then on the contrary,
Echo power spectrum density is lower；After this method carries out power spectrumanalysis to echo data, it is fitted with interior power spectral distribution curve, and
The curve being fitted according to this compensates on pulse reference compression signal；
The underface bottom reverberation suppression method based on intensity profile: sub-sea floor targets scattering strength is influenced by incident angle
Larger, underface incident angle is minimum, and reflection echo is significantly stronger；In wave beam numeric field data, chosen on path in elevation direction
The echo of same distance counts its intensity profile, and the intensity profile of multiple distances is averaged, and is fitted intensity profile curve, utilizes
The curve compensates beam data, inhibits bottom reverberation immediately below sonar；
The adaptive resolution modification method based on bottom tracking: Wave beam forming data operation quantity is larger, and a large amount of
The data of water body part have no practical significance, propose the method for automatic range gate and auto resolution thus；Utilize adjacent data
Previous frame survey bear building-up fruit is applied to this frame Wave beam forming and surveyed in bottom, the bottom of near by the characteristic that the survey bottom of frame will not be mutated
Data carry out High-resolution Processing, and the area data bottom of far from carries out low resolution processing, survey bottom precision to improve, protect simultaneously
Demonstrate,prove operation efficiency；Compared with the same resolution ratio Wave beam forming of full depth, it can guarantee that detection burying depth is bigger, valid data
Resolution ratio is higher, to solve the contradiction visited between burying depth and resolution ratio；
Side looking sonar described in two groups is provided with the setting angle greater than 90 degree between each other, and the setting angle is acoustic matrix face
The farther distance in side can be detected, therefore have higher detection it is characterized in that setting angle is larger with the angle of horizontal plane
Efficiency；Two groups of side looking sonar cooperations, and " the improvement impulse compression method based on power spectral density distribution ", " adaptive
Subaperture image reconstruction ", " the multichannel large-scale parallel Wave beam forming of time-frequency combination " processing technique, it is all kinds of to effectively obtain seabed
The high-resolution imaging of Small object and submarine geomorphy is suspended and sunk to the bottom as a result, and mending mutually with the lower image depending on three-dimensional sonar
It fills；Side looking sonar and it is lower used simultaneously depending on sonar, can make up for it below side looking sonar has wider blind area, the spy of lower view three-dimensional sonar
Survey the defect of narrower width.
The adaptive subaperture image is rebuild: generally there are two types of processing mode, real aperture and synthesis holes for side view real time imagery
Diameter, synthetic aperture processing is more complicated, high to carrier movement Gesture, most important of which is that the carrier speed of a ship or plane will be lower than a threshold
Value, if generally greater than the threshold value when reuse synthetic aperture processing, can bring about orientation omit the problem of；But at synthetic aperture
The advantages of reason, is that the azimuth resolution of its target is constant, uses the strategy of self-adaptive processing thus, the strategy is with the carrier speed of a ship or plane
Based on, determine it is current whether synthetic aperture technique can be used, if can if use synthetic aperture processing, otherwise using real aperture
Processing；
The multichannel large-scale parallel Wave beam forming of the time-frequency combination: Time domain beamforming accuracy is high, operation efficiency
Low, frequency-domain beamforming operation efficiency is high, but arithmetic eror is larger under Near Field, uses time domain wave using near field thus
Beam is formed, and the time-frequency combination multichannel large-scale parallel Wave beam forming of frequency-domain beamforming is used under far field condition, and when processing fills
The characteristics of dividing using modern computer multicore carries out parallel processing, improves operation efficiency.
The lower view three-dimensional sonar and side looking sonar use two ways processing sound compatible design, go here and there mutually to avoid sound wave
It disturbs, seriously affect image quality；First way is the design in frequency, fully considers frequency band distribution, the three-dimensional lower view sound
Working band is set within 30kHz, and the working band of side looking sonar is set to 200kHz or more；The frequency band difference of the two
It is larger, the frequency component of non-sonar extension set can be filtered out using bandpass filter；The second way is design in time,
Design is synchronized, each electronic system of this sonar subordinate is synchronized by unified external sync module, can be further
Improve the sound compatibility feature of two kinds of sonars.
The image of the lower view three-dimensional sonar and side looking sonar is using " based on the spelling of the sound spectrogram of Region Matching and points correspondence
Connect " technology, realize having for the sonar side-lower image that the lower sonar lower images obtained depending on three-dimensional sonar and side looking sonar obtain
Effect splicing, obtain bigger width sweeps width, sweeps survey efficiency to seabed to greatly improve sonar.
By above-mentioned specific embodiment, the beneficial effects of the utility model are: the utility model is high using the three-dimensional of side view
Frequency sonar and the three-dimensional burial sonar of visiting of lower view are mutually integrated, and panorama three-dimensional detection buries object, obtains sub-sea floor targets high-resolution imaging,
Spy burial and high-resolution demand have been taken into account, while having improved detection width, detection angle of release can have been increased to 160 ° or more；Effectively
Detection obtains seabed and suspends, sinks to the bottom, burying the 3-D image of target；High-resolution bottom mounted sonar image is obtained in real time, and is obtained in real time
Obtain the high-resolution imaging of sub-sea floor targets within the scope of the bigger angle of release of sonar side-lower；It effectively obtains all kinds of suspensions in seabed and sinks to the bottom small
The high-resolution imaging result of target and submarine geomorphy；Side looking sonar and it is lower used simultaneously depending on sonar, can make up for it side view sound
The defect that lower section has wider blind area, lower view three-dimensional sonar detection width relatively narrow；Plate towed body structure has been used, has been simplified
Towed body structure, the weight for reducing towed body and size improve towing attitude stability；Width is swept to the bigger width of acquisition,
Survey efficiency is swept to seabed to greatly improve sonar.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (3)
1. one kind is lower depending on integrate underwater panorama three-dimensional imaging sonar with side view, which is characterized in that including side looking sonar emit basic matrix,
Side looking sonar receives basic matrix, towing frame, rear-fin stabilizer, lower view three-dimensional sonar and receives basic matrix, lower view three-dimensional sonar transmitter, side view
It is sonar transmitter, side looking sonar receiver, lower view three-dimensional sonar receiver, lower view three-dimensional sonar transmitting basic matrix, inertial navigation cabin, underwater
Control module, towed body frame, tail vane；The towed body frame be integrated symmetric and have arc-shaped preceding bow pancake framework,
Centre is vertically fixedly installed towing frame, rear portion two sides fixing assembling has two pieces of rear-fin stabilizers, is arranged between the rear-fin stabilizer
There are two groups of tail vanes；The towed body base of frame is provided with lower view three-dimensional sonar and receives basic matrix, and the lower view three-dimensional sonar receives base
The top of battle array is fixedly installed lower view three-dimensional sonar transmitter, side looking sonar transmitter, side looking sonar receiver, lower view three respectively
Tie up sonar receiver；Respectively symmetrically formula is provided with two groups of side looking sonar transmitting basic matrixs and side on the two sides side wall of the towed body frame
Basic matrix is received depending on sonar；The towing frame rear portion is fixedly installed inertial navigation cabin, and the two sides in the inertial navigation cabin are respectively arranged with lower view
Three-dimensional sonar emits basic matrix, and the lower two sides depending on three-dimensional sonar transmitting basic matrix are fixedly installed multiple underwater control moulds respectively
Block；Towed body lower portion middle position is additionally provided with launching electronics cabin and receives electronic compartment, and towed body frame external mounting has
Covering, to constitute detection sonar towed body, and connect with lash ship by interconnecting cable；
The lower view three-dimensional sonar transmitter, lower view three-dimensional sonar receiver, lower view three-dimensional sonar emit basic matrix, lower view three dimensional sound
It receives basic matrix co-ordination and constitutes lower view three-dimensional sonar, the lower three-dimensional sonar that regards receives basic matrix as three-dimensional planar array type configuration；
The side looking sonar transmitter, side looking sonar receiver, side looking sonar transmitting basic matrix, side looking sonar receive basic matrix and coordinate work
Make composition side looking sonar.
2. according to claim 1 a kind of lower depending on integrating underwater panorama three-dimensional imaging sonar with side view, which is characterized in that institute
Two sonar extension set joints of lower view three-dimensional sonar and side looking sonar are stated, can get the detection model of at least 160 degree angle of releases below sonar
It encloses, to improve habitata efficiency；
Two sonar extension set joints of the lower view three-dimensional sonar and side looking sonar, lower view three-dimensional sonar transmitting basic matrix, lower view are three-dimensional
The frequency that sonar receives the transmitting-receiving sound wave of basic matrix reduces, and centre frequency 10kHz improves the penetrability of sound wave, realizes
Big depth buries the detection imaging of target.
3. according to claim 1 a kind of lower depending on integrating underwater panorama three-dimensional imaging sonar with side view, which is characterized in that two
The group side looking sonar is provided with the setting angle greater than 90 degree between each other.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
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