CN217425677U - Broadband multi-beam sonar array directivity test system - Google Patents
Broadband multi-beam sonar array directivity test system Download PDFInfo
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- CN217425677U CN217425677U CN202220975056.9U CN202220975056U CN217425677U CN 217425677 U CN217425677 U CN 217425677U CN 202220975056 U CN202220975056 U CN 202220975056U CN 217425677 U CN217425677 U CN 217425677U
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Abstract
The utility model provides a broadband multi-beam sonar array directivity test system, which comprises a first trolley, a second trolley and a slide rail; the first trolley comprises a first lifting mechanism, a laser range finder, an FPGA (field programmable gate array) and a PC (personal computer), wherein the first lifting mechanism is in transmission connection with a transducer to be measured and the laser range finder, the laser range finder is connected with the PC, and the transducer to be measured is connected with the PC through the FPGA; the second trolley comprises a controller, a second lifting mechanism and an omnidirectional transducer, the controller is connected with the second lifting mechanism and the slide rail, and the second lifting mechanism is in transmission connection with the omnidirectional transducer; the sliding rail is in transmission connection with the second trolley. The utility model discloses a broadband multi-beam sonar array directivity test system can save more test time and measure more wave beam, and can reduce the error that brings in the testing process in order to improve the test accuracy.
Description
Technical Field
The utility model relates to a beam forming tests technical field as a result, especially relates to a broadband multi-beam sonar array directive property test system.
Background
The multi-beam sonar for fishing is used as an important fishing instrument in the marine fishery, and the position and the size of a target are detected by using a signal reflected by the sound wave after encountering the target. The wave beam forming is a core technology in the process of developing the multi-wave beam sonar for fishing, and the multi-wave beam directivity test is an important link for verifying the wave beam forming.
The existing directivity test method for the sonar array mainly comprises the following steps: 1. manually measuring, namely, when the transducer rotates for a certain degree, a waveform peak value received by the hydrophone or the omnidirectional transducer at the moment is manually read from the oscilloscope, when the waveform of an echo is irregular, multipoint reading is needed to obtain an average value, a numerical value is recorded, the operation is circulated until the transducer rotates for a circle, data is gathered and a beam diagram is drawn, the degree corresponding to the maximum point of the peak value is found out to be the current actual pointing angle, and then the current actual pointing angle is compared with the expected pointing angle to verify whether the current actual pointing angle is consistent with the expected pointing angle or not, the method is time-consuming, and errors caused by human eye measurement are large due to the fact that the oscilloscope displays fluctuation and interference of the external environment; 2. compared with the traditional measuring method, the method adds the narrow-band filtering module and the autonomous matching module, reduces errors caused by sound field environment fluctuation, effectively reduces the influence of a test environment on a directivity result, saves more manpower, and can not finish the directivity test by the method and the manual measuring method under the condition that the test condition does not allow the transducer to rotate.
The traditional automatic directivity measuring system mainly has the following two ways as shown in the following figures: fig. 1 is a flow method of manual measurement, and fig. 2 is a flow of transducer array automatic test with a narrowband autonomous matching module.
Disclosure of Invention
To the not enough among the above-mentioned prior art, the utility model provides a broadband multi-beam sonar array directive property test system can save more test time and measure more wave beam, and can reduce the error that brings in the testing process in order to improve the test accuracy.
In order to achieve the above object, the utility model provides a broadband multi-beam sonar array directivity testing system, which comprises a first trolley, a second trolley and a slide rail; the first trolley comprises a first lifting mechanism, a laser range finder, an FPGA and a PC, wherein the first lifting mechanism is in transmission connection with a transducer to be measured and the laser range finder, the laser range finder is connected with the PC, and the transducer to be measured is connected with the PC through the FPGA; the second trolley comprises a controller, a second lifting mechanism and an omnidirectional transducer, the controller is connected with the second lifting mechanism and the slide rail, and the second lifting mechanism is in transmission connection with the omnidirectional transducer; the slide rail is in transmission connection with the second trolley.
Preferably, the laser range finder is arranged above the transducer to be measured and arranged towards the second trolley.
Preferably, the first trolley further comprises a first wireless serial port, and the PC is connected with the first wireless serial port; the second trolley also comprises a second wireless serial port, and the controller is connected with the second wireless serial port; and the first wireless serial port is in communication connection with the second wireless serial port.
The utility model discloses owing to adopted above technical scheme, make it have following beneficial effect:
the first lifting mechanism is connected with the transducer to be tested and generally keeps unchanged; the second lifting mechanism is connected with the omnidirectional transducer and is controlled by the controller, and when the vertical directivity is measured, the lifting mechanism moves along the z axis according to the instruction of the controller; the laser range finder is used for measuring the distance between the first trolley and the second trolley and transmitting the distance to the PC through a serial port line; when the emission directivity test is carried out, the transducer to be tested converts the electric signal into an acoustic signal and sends the acoustic signal; when receiving a directivity test, the band test transducer converts the received echo sound signal into an electric signal and inputs the electric signal into the FPGA for processing; the FPGA is used for carrying out beam forming of transmitting or receiving beams, receiving instructions of a PC (personal computer), selecting and issuing a test beam pointing angle; the PC is used for issuing a corresponding instruction and subsequent data processing, can store and call the numerical value of the laser range finder, and can store and process the data acquired by the network port, and at least 80 data packets can be acquired per second due to the fact that the second trolley moves continuously and the network port acquisition is continuous; the sailing speed of the second trolley is about 0.25 degree/s, if the distance between the two trolleys is 5m, the arrival time of the first pulse is 5/1500-3 ms, and the value is far less than the time required by one-degree movement of the trolley, so that the angle error is basically not caused by continuous measurement of a net opening; during subsequent processing, 80 packets are extracted from the data middle section according to the needs, and then corresponding coordinates can be established according to the corresponding imported data, so that the problem of discontinuous traditional measurement is solved. The controller is connected with the second wireless serial port, is used for establishing contact with the PC, and is used for receiving the related instruction and then controlling the horizontal movement of the second trolley or the lifting of the second lifting mechanism. An omnidirectional transducer may be used to receive or transmit signals. If the transducer to be tested needs to carry out the transmission directivity test, the omnidirectional transducer does not access a transmission signal, and the received echo signal is directly received by the board card and then is subjected to matched filtering; and if the transducer to be tested carries out receiving directivity test, the omnidirectional transducer carries out narrow-band or wide-band signal emission according to the requirement. The sliding rail is used for being connected with the second trolley and driving the second trolley to move according to the instruction of the controller.
Drawings
FIG. 1 is a flow chart of a conventional manual testing process of the prior art;
FIG. 2 is a flow chart of a conventional automated test of the prior art;
fig. 3 is a schematic mechanism diagram of a broadband multi-beam sonar array directivity testing system according to an embodiment of the present invention;
fig. 4 is a flowchart of a broadband multi-beam sonar array directivity testing method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of horizontal test compensation distance calculation according to an embodiment of the present invention;
fig. 6 is the utility model discloses vertical directivity test compensation distance calculates schematic diagram.
Detailed Description
The following description will be given of the preferred embodiments of the present invention with reference to the accompanying drawings, fig. 3 to 6, and will make the functions and features of the present invention better understood.
Referring to fig. 3 to 6, a system for testing directivity of a broadband multi-beam sonar array according to an embodiment of the present invention includes a first carriage 1, a second carriage 2, and a slide rail 3; the first trolley 1 comprises a first lifting mechanism 11, a laser range finder 12, an FPGA13 and a PC14, wherein the first lifting mechanism 11 is in transmission connection with a transducer 15 to be measured and the laser range finder 12, the laser range finder 12 is connected with the PC14, and the transducer 15 to be measured is connected with the PC14 through the FPGA 13; the second trolley 2 comprises a controller 21, a second lifting mechanism 22 and an omnidirectional transducer 23, the controller 21 is connected with the second lifting mechanism 22 and the slide rail 3, and the second lifting mechanism 22 is in transmission connection with the omnidirectional transducer 23; the slide rail 3 is connected with the second trolley 2 in a transmission way.
The laser range finder 12 is arranged above the transducer 15 to be measured and towards the second trolley 2.
The first trolley 1 further comprises a first wireless serial port 16, and the PC14 is connected with the first wireless serial port 16; the second trolley 2 also comprises a second wireless serial port 24, and the controller 21 is connected with the second wireless serial port 24; the first wireless serial port 16 and the second wireless serial port 24 are in communication connection.
(1) First lifting mechanism 11 and second lifting mechanism 22
The first lifting mechanism 11 is connected with the transducer 15 to be tested and generally keeps unchanged; the second lifting mechanism 22 is connected with the omnidirectional transducer 23 and is controlled by the controller 21, and when the vertical directivity is measured, the lifting mechanism moves along the z axis according to the instruction of the controller 21;
(2) laser rangefinder 12: the distance measuring device is used for measuring the distance between the first trolley 1 and the second trolley 2 and transmitting the distance to the PC14 through a serial port line;
(3) transducer 15 to be tested
When the emission directivity test is carried out, the transducer 15 to be tested converts the electric signal into an acoustic signal to be emitted; when receiving the directivity test, the band test transducer converts the received echo sound signal into an electric signal and inputs the electric signal into the FPGA13 for processing.
(4) FPGA 13: the system is used for carrying out beam forming of transmitting or receiving beams, receiving instructions of the PC14, selecting and issuing a test beam pointing angle;
(5)PC14
the system is used for issuing corresponding instructions and subsequent data processing, can store and call the numerical value of the laser range finder 12, and can store and process data acquired by a network port, and at least 80 data packets can be acquired per second due to the fact that the second trolley 2 moves continuously and the network port acquisition is continuous; the sailing speed of the second trolley 2 is about 0.25 degree/s, if the distance between the two trolleys is 5m, the arrival time of the first pulse is 5/1500 degrees and 3ms, and the value is far less than the time required by one-degree movement of the trolley, so that the angle error is basically not brought by continuous measurement of a net opening; during subsequent processing, 80 packets are extracted from the data middle section according to the requirement, and then corresponding coordinates can be established according to the corresponding imported data, so that the problem of discontinuous traditional measurement is solved.
(6) Controller 21
The second wireless serial port 24 is connected for establishing communication with the PC14, and is used for receiving related instructions and controlling the horizontal movement of the second trolley 2 or the lifting of the second lifting mechanism 22.
(7) Omnidirectional transducer 23
May be used to receive or transmit signals. If the transducer 15 to be tested needs to perform the transmission directivity test, the omnidirectional transducer 23 does not access the transmission signal, and directly receives the received echo signal through the board card and then performs matched filtering; if the transducer 15 to be tested performs the receiving directivity test, the omnidirectional transducer 23 transmits the narrowband or wideband signal according to the requirement.
(8) Slide rail 3: is used for connecting the second trolley 2 and driving the second trolley 2 to move according to the instruction of the controller 21.
The utility model discloses a based on the utility model discloses a broadband multi-beam sonar array directivity test system's broadband multi-beam sonar array directivity test method, including the step:
s1: judging that the test is a horizontal or vertical directivity test;
s2: calibrating the transducer 15 to be tested and the omnidirectional transducer 23 according to the judgment result;
in the step S2:
if the judgment result is a vertical directivity test, the x-axis coordinates of the calibrated transducer 15 to be tested and the y-axis coordinates of the omnidirectional transducer 23 are the same;
if the judgment result is the horizontal directivity test, the y-axis coordinates of the calibrated transducer 15 to be tested and the z-axis coordinates of the omnidirectional transducer 23 are the same.
S3: the laser range finder 12 measures the distance h between the transducer 15 to be measured and the omnidirectional transducer 23, transmits the measured data to the PC14, and stores the data;
s4: inputting the current depth of the transducer 15 to be tested, the effective distance of the second trolley 2 or the effective range of the second lifting mechanism 22 at the PC14, storing the data into a table, and returning to the step S2 if the data input is unsuccessful;
the second trolley 2 and the second lifting mechanism 22 return to corresponding initial positions according to the requirements of horizontal or vertical directivity measurement, and if the initial positions cannot return to the original points, the step S2 is returned;
s5: the beam serial number to be measured is sent to the FPGA13, after the beam serial number is successfully loaded, a command is sent through the first wireless serial port 16 to enable the second trolley 2 and the second lifting mechanism 22 to start to move according to the horizontal or vertical measurement requirement, the transducer 15 to be measured starts to receive echo signals, and the echo signals are processed by the FPGA13 and then transmitted to the PC 14; the PC14 automatically saves the data processed by the FPGA13 as a text document;
s6: when the omnidirectional transducer 23 stops moving, through a corresponding program (the utility model discloses a use is Matlab, not limited to this software), open the text document, and convert the data of the text document to decimal and then carry out matched filtering with the emission pulse width, extract and smooth the data after matched filtering according to the demand;
s7: performing distance compensation;
the step of S7 further includes the steps of:
s71: and (3) loading data in the table, and calculating the range of an included angle between the transducer 15 to be measured and the omnidirectional transducer 23 according to the formulas (1) to (4) to be used as a horizontal axis of the directional diagram:
if x <0, Alpha _ h _ min ═ arctan (L/2h) (1);
if x >0, Alpha _ h _ max is arctan (L/2h) (2);
if z <0, Alpha _ v _ min ═ arctan ((L-h')/h) (3);
if z >0, Alpha _ v _ max is arctan (h'/h) (4);
wherein x represents a coordinate value of the second trolley moving on the x axis, when x >0, the second trolley and the horizontal x axis of the geodetic coordinate system are in the same direction (as shown in fig. 5), and when x <0, the second trolley and the x axis are in the opposite direction; when the test is a horizontal directivity test, L represents the total movable distance of the second trolley in the horizontal direction, and if the test is a vertical directivity test, L represents the total movable distance of the second trolley in the vertical direction; h represents the linear distance between the first trolley and the second trolley on the y axis; alpha _ h _ min and Alpha _ h _ max represent horizontal included angles of the second trolley and the first trolley calculated according to the Pythagorean theorem, and the horizontal included angles have the same size and are opposite in sign; z represents a coordinate value of the second trolley moving in the vertical direction, when z is greater than 0, the second trolley and the earth coordinate system are in the same direction in the vertical direction of the z axis (as shown in figure 6), and when z is less than 0, the second trolley and the z axis are in the opposite direction; alpha _ v _ min represents the minimum included angle of the two trolleys in the vertical direction calculated according to the formula (3), and Alpha _ v _ max represents the maximum included angle of the two trolleys in the vertical direction calculated according to the formula (4); h' represents the vertical distance from the transducer to be measured to the extension line of the maximum value of the forward range of the omnidirectional transducer (as shown in figure 6).
S72: distance compensation is performed in conjunction with equation (5):
s represents a distance compensation value calculated according to a formula (5), and if the distance compensation value is a horizontal directivity test, l represents a horizontal coordinate value of the current second trolley; if the test is vertical directivity test, l represents the current vertical coordinate value of the second trolley.
S8: and drawing a beam pattern containing the main lobe peak value by using the data after the distance compensation.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.
Claims (3)
1. A broadband multi-beam sonar array directivity test system is characterized by comprising a first trolley, a second trolley and a slide rail; the first trolley comprises a first lifting mechanism, a laser range finder, an FPGA and a PC, wherein the first lifting mechanism is in transmission connection with a transducer to be measured and the laser range finder, the laser range finder is connected with the PC, and the transducer to be measured is connected with the PC through the FPGA; the second trolley comprises a controller, a second lifting mechanism and an omnidirectional transducer, the controller is connected with the second lifting mechanism and the slide rail, and the second lifting mechanism is in transmission connection with the omnidirectional transducer; the slide rail is in transmission connection with the second trolley.
2. The broadband multi-beam sonar array directivity testing system according to claim 1, wherein the laser range finder is disposed above the transducer under test and toward the second cart.
3. The broadband multi-beam sonar array directivity testing system of claim 2, wherein the first cart further comprises a first wireless serial port, the PC being connected to the first wireless serial port; the second trolley also comprises a second wireless serial port, and the controller is connected with the second wireless serial port; and the first wireless serial port is in communication connection with the second wireless serial port.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220975056.9U CN217425677U (en) | 2022-04-25 | 2022-04-25 | Broadband multi-beam sonar array directivity test system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220975056.9U CN217425677U (en) | 2022-04-25 | 2022-04-25 | Broadband multi-beam sonar array directivity test system |
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| CN217425677U true CN217425677U (en) | 2022-09-13 |
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