CN217238373U - Hydrophone stereo array - Google Patents

Abstract

The utility model discloses a hydrophone three-dimensional array, including three-dimensional support, the support comprises four sides, all be equipped with a plurality of the same subarrays on every side, distance between the subarray equals, every subarray comprises a plurality of inhomogeneous arrangement's hydrophone, this hydrophone three-dimensional array, constitute by two liang of continuous constitutions of four area arrays, can receive the omnidirectional signal, traditional array type compares, the receiving range is wider, and adopt three-dimensional support, compare in current cylinder array, it is more convenient to lay the operation, the support preparation is also simple relatively, in addition, adopt inhomogeneous hydrophone range structure, overcome current even array can only receive the defect of a frequency channel.

Description

Hydrophone stereo array

Technical Field

The utility model relates to a hydrophone technical field of arranging, concretely relates to hydrophone three-dimensional array.

Background

As an important branch in the field of signal processing, array signal processing has been developed very rapidly in recent decades and is widely used in various military applications such as radar, sonar, communication, seismic survey, radio astronomy, medical diagnosis, and imaging, and in the field of national economy. Array signal processing refers to placing a group of hydrophones at different positions in space to form a hydrophone array, receiving a space target signal by using the array, and processing the received signal. It is the main objective of array signal processing to improve the gain of the signal of interest by processing the received signal of the array, suppress noise and unwanted interference or uninteresting information, and extract the desired signal and signal characteristic information (parameters). Generally speaking, the application determines the form of the hydrophone array and the purpose of the signal processing. Array signal processing has wide application in the fields of radar and sonar detection, and the composition of array signals depends on the arrangement of hydrophone arrays to a great extent. However, the arrangement of the hydrophone array is often restricted by practical conditions, such as arrangement space. Secondly, different arrangement modes of the hydrophone array have different functions, and the current uniformly arranged array type and plane array signal processing research is mature and perfect.

The uniform linear array has a simple structure, but actually, beam scanning covers about 120 degrees; the planar rectangular array can be regarded as a uniform linear array extended array type, the wave beam becomes wider as the angle of the scanning angle deviating from the normal direction becomes larger, and the mutual coupling effect among array elements is difficult to keep balance. The uniform circular array can provide 360-degree coverage in the azimuth direction, has the same direction-finding performance in all directions, and can provide pitch angle information. In addition, the array excitation can be circularly moved, and the beams in the azimuth angle direction can be simply and flexibly steered. The symmetrical nature of the array structure of the uniform circular array also enables it to maintain a substantially balanced mutual coupling. The spherical array and the cylindrical array also have the characteristic of 360-degree azimuth angle coverage, and can provide non-fuzzy 180-degree pitch angle coverage, and the directional diagram of the spherical array can be kept unchanged in a full-space domain, but the three types of the arrays have higher requirements on the arrangement space. With the rapid development of underwater robots, the matching of underwater robots and arrays also becomes a hot research. The combination of the two methods is to consider the arrangement position and the array aperture to achieve the best array signal processing effect on one hand, and also to consider the resistance of the underwater robot when the underwater robot runs underwater on the other hand. Therefore, the array type (except the cylindrical array) which is commonly used in the prior art has great limitation in the matching application with the underwater robot. The manufacturing process of the cylindrical array is relatively complex, the manufacturing difficulty of the support is high, and the position requirement of prototype layout is high.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems, the inventor provides a hydrophone three-dimensional array which is simple to arrange and manufacture.

Specifically, the utility model discloses a realize like this:

a hydrophone three-dimensional array comprises a three-dimensional support, wherein the support is composed of four side faces, a plurality of identical sub-arrays are arranged on each side face, the distances among the sub-arrays are equal, and each sub-array is composed of a plurality of hydrophones which are arranged in a non-uniform mode.

Further, the length and the width of the three-dimensional support are the maximum dimensions of the middle part of the underwater robot;

further, in each sub-array, the first and second hydrophones are spaced apart by d, the third and fourth, fourth and fifth hydrophones are spaced apart by 2d, and the fifth and sixth hydrophones are spaced apart by 4 d.

Furthermore, each side surface is provided with three sub-arrays, and each sub-array consists of eight hydrophones which are arranged in a non-uniform mode.

Further, the length and the width of the three-dimensional support are the maximum dimensions of the underwater support column;

in each sub-array, the first and second hydrophones are spaced apart by d, the third and fourth, fourth and fifth hydrophones are spaced apart by 2d, the fifth and sixth, sixth and seventh hydrophones are spaced apart by 4d, and the seventh and eighth hydrophones are spaced apart by 8 d.

Compared with the prior art, the utility model discloses a theory of operation and beneficial effect:

(1) the utility model provides a hydrophone three-dimensional array comprises two liang of continuous of four area arrays, can receive the omnidirectional signal, compares traditional array type, and receiving range is wider.

(2) The uneven hydrophone arrangement structure overcomes the defect that the existing even array can only receive one frequency band.

(3) Compared with the existing cylindrical array, the three-dimensional support is more convenient to arrange and operate, and the support is relatively simple to manufacture.

(4) The non-uniform area array can be used alone. The method is applied to scenes such as underwater support columns, and can be operated by only using one side or two sides to prolong the service life of the uneven stereoscopic array.

Drawings

FIG. 1 is a schematic structural diagram of a hydrophone three-dimensional array in example 1;

FIG. 2 is a schematic view of a subarray arrangement model in example 2;

FIG. 3 is a schematic diagram of a simulation of the array of a stereo array of hydrophones in example 2;

FIG. 4 is a 2D directivity diagram of a stereo array of hydrophones in example 2;

FIG. 5 is a 3D directivity pattern of a stereo array of hydrophones in example 2;

FIG. 6 is a schematic diagram of a simulation of the array of a stereo array of hydrophones according to example 3;

FIG. 7 is a 2D directivity diagram of a stereo array of hydrophones in example 3;

fig. 8 is a 3D directivity pattern of the hydrophone stereo array in example 3.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Example 1

As shown in fig. 1, the utility model provides a hydrophone three-dimensional array, include the three-dimensional support 1 that comprises four sides, the length and the width of three-dimensional support 1 are the biggest dimension at underwater robot middle part. Each side surface is provided with a plurality of same sub-arrays (preferably three), the distances among the sub-arrays are equal, and each sub-array consists of a plurality of hydrophones 2 which are arranged in a non-uniform mode, so that the reception of signals in different frequency bands is realized.

Example 2

And (3) setting the maximum dimension of the middle part of the underwater robot to be 0.6m, predicting the maximum frequency f of a received signal to be 15kHz, and the sound velocity c to be 1500m/s, wherein the hydrophone uses an omnidirectional hydrophone. The array element spacing d (hydrophone spacing) of the sub-array is determined according to the frequency f of the received signal, and d is c/2f is 0.2 m.

As shown in fig. 3, when 3 hydrophones were arranged at a pitch of 0.2m, followed by 2 hydrophones at a pitch of 0.4m and then 1 hydrophone at a pitch of 0.8m, an unevenly arranged subarray was obtained. The 3 uneven subarrays form an area array, and the 4 area arrays are connected in pairs to form an uneven hydrophone three-dimensional array. A simulated view of a heterogeneous hydrophone volume array is shown in fig. 3, where x represents the hydrophone position, the 2D directivity of the hydrophone volume array is shown in fig. 4, and the 3D directivity is shown in fig. 5.

As can be seen from fig. 4-5, the directivity of the stereo array is more comprehensive than that of a general array, so that the stereo array can receive omnidirectional signals, and compared with the traditional array, the stereo array has the advantages of wide receiving range and good direction-finding and distance-measuring effects. The maximum frequency of the received signal is 15kHz, and the signal less than 15kHz can be received, so that the underwater robot can detect more targets under the condition of wider received signal frequency band.

Example 3

Assuming that the maximum dimension of the underwater support column is 1.8m, the maximum frequency f of the predicted received signal is 1250Hz, the sound velocity c is 1500m/s, and the hydrophone uses an omnidirectional hydrophone. The array element spacing d (hydrophone spacing) of the sub-array is determined according to the frequency f of the received signal, and d is c/2f is 0.2 m.

3 hydrophones were arranged at a pitch of 0.6m, followed by 2 hydrophones at a pitch of 1.2m, 2 hydrophones at a pitch of 2.4m, and 1 hydrophone at a pitch of 4.8m, resulting in a non-uniformly arranged subarray. The 3 uneven subarrays form an area array, and the 4 area arrays are connected in pairs to form an uneven hydrophone three-dimensional array. A simulated view of a heterogeneous hydrophone volume array is shown in fig. 6, where x represents the hydrophone position, the 2D directivity of the hydrophone volume array is shown in fig. 7, and the 3D directivity is shown in fig. 8.

7-8 can know that the directive property of the stereo array of this application is more comprehensive than general array, consequently can receive the omnidirectional signal, compares traditional array type, and the receiving range is wider, and direction finding range finding effect is better. Compared with an underwater robot, the frequency band of signals required to be received by the underwater support column is wider, so that the combination of multiple array elements can be continuously carried out according to the array arrangement mode of the invention on the basis.

It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical personnel in the technical field of the utility model, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replace.

Claims (5)

1. The hydrophone three-dimensional array is characterized by comprising a three-dimensional support, wherein the support is composed of four side faces, a plurality of identical sub-arrays are arranged on each side face, the distances among the sub-arrays are equal, and each sub-array is composed of a plurality of non-uniformly arranged hydrophones.

2. The hydrophone volumetric array of claim 1, wherein three sub-arrays are provided on each side, each sub-array consisting of six non-uniformly arranged hydrophones.

3. The hydrophone volumetric array of claim 2, wherein the length and width of the volumetric support are the largest dimension of the mid-section of the underwater robot;

in each sub-array, the first and second hydrophone are spaced apart by d, the third and fourth, fourth and fifth hydrophone are spaced apart by 2d, and the fifth and sixth hydrophone are spaced apart by 4 d.

4. The hydrophone volumetric array of claim 1, wherein three sub-arrays are provided on each side, each sub-array consisting of eight non-uniformly arranged hydrophones.

5. The hydrophone volumetric array of claim 4, wherein the length and width of the volumetric support are the largest dimension of the underwater support column;

in each sub-array, the first and second hydrophones are spaced apart by d, the third and fourth, fourth and fifth hydrophones are spaced apart by 2d, the fifth and sixth, sixth and seventh hydrophones are spaced apart by 4d, and the seventh and eighth hydrophones are spaced apart by 8 d.

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