CN220650874U - Acoustic velocity profile obtaining device for fixed target object based on double-shaft sonar scanning depth change - Google Patents
Acoustic velocity profile obtaining device for fixed target object based on double-shaft sonar scanning depth change Download PDFInfo
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Abstract
The utility model discloses a sound velocity profile obtaining device of a fixed target object based on double-shaft sonar scanning depth change, which belongs to the technical field of ocean information detection and is characterized in that: the foundation pile comprises two foundation piles which are vertically arranged, i sound wave reflecting components are vertically and evenly arranged at intervals, sound wave emitters which can emit sound waves to the sound wave reflecting components and receive reflected sound waves are arranged on the foundation piles, and the vertical distance between the sound wave emitters and the sound wave reflecting components at the top is equal to the vertical distance between the sound wave reflecting components adjacent to the vertical sound wave reflecting components. Through the device, the related parameter data of the sound wave transmitted between the sound wave generating points and the sound wave reflecting points which are vertically and equidistantly arranged and positioned at different depths can be obtained, and a foundation is provided for solving the sound velocity profile of the fixed target object.
Description
Technical Field
The utility model belongs to the technical field of ocean information detection, and particularly relates to a sound velocity profile obtaining device for a fixed target object based on double-shaft sonar scanning depth change.
Background
Conventionally, underwater acoustic signals are widely used for information transfer in sea water. However, the complexity of the marine environment results in acoustic signals propagating in the sea being affected by a number of factors, including reflection from the sea surface and the sea floor and variations in the acoustic velocity profile. In particular, the ocean sound velocity profile has important significance for applications such as underwater acoustic communication, underwater positioning, target detection, ocean environment monitoring, resource exploration and the like. Currently, the most straightforward method to obtain a sound velocity profile is to use a Sound Velocity Profiler (SVP) for in-situ observation. However, this method is very time consuming and laborious, and field observations cannot provide a wide range of real-time sound velocity profile information due to the spatiotemporal variation nature of sound velocity.
Another method for obtaining the sound velocity profile is to calculate through parameters such as temperature, salinity, depth and the like of the sea water by using a sound velocity empirical formula. However, this approach also has some problems. First, it is difficult to obtain parameters such as temperature, salinity, and depth of seawater in real time, especially in the absence of on-site measurement conditions. Second, using empirical formulas to calculate the sound velocity profile provides only observations at a particular time, and cannot provide continuous, real-time sound velocity profile data. Thus, the data acquired by the biaxial scanning sonar probe cannot be corrected in real time.
In the monitoring process of structures such as offshore foundation piles and the like by utilizing the biaxial scanning sonar probe, sound velocity profile data cannot be obtained in real time due to lack of on-site measurement conditions, so that the difficulty of correcting the biaxial scanning sonar probe data in real time is caused. Meanwhile, since parameters such as temperature, salinity and depth of the seawater cannot be obtained in real time, it becomes impossible to calculate the sound velocity profile using an empirical formula.
Thus, the current technology has the following problems, disadvantages and shortcomings:
1. in-situ observation using a sound velocity profiler is time consuming and laborious and cannot provide large-scale real-time sound velocity profile data.
2. The sound velocity profile is calculated by using an empirical formula, parameters such as the temperature, the salinity and the depth of the seawater are required to be obtained in real time, but the parameters are difficult to obtain in real time.
3. The prior art can not provide continuous and real-time sound velocity profile data and can not correct the biaxial scanning sonar probe in real time.
Accordingly, a new technique is needed to overcome the above-described problems and deficiencies to provide real-time, continuous acoustic velocity profile data and to achieve real-time correction of dual-axis scanning sonar probe data. It is an object of the present utility model to provide a device for measuring sound velocity profile data in order to obtain real-time sound velocity profile data in the absence of on-site measurement conditions.
Disclosure of Invention
Aiming at the problems existing in the prior art, the utility model provides a sound velocity profile solving device for a fixed target object based on the change of the scanning depth of a biaxial sonar, which solves the problems of difficult operation, difficult data acquisition and the like in the existing sound velocity profile solving method for solving the sound velocity profile of the fixed target object by utilizing a sound velocity profile instrument for field observation.
The utility model is realized in this way, a sound velocity profile obtaining device of a fixed target object based on the change of the scan depth of the biaxial sonar, which is characterized in that: the foundation pile comprises two foundation piles which are vertically arranged, i sound wave reflecting components are vertically and evenly arranged at intervals, sound wave emitters which can emit sound waves to the sound wave reflecting components and receive reflected sound waves are arranged on the foundation piles, and the vertical distance between the sound wave emitters and the sound wave reflecting components at the top is equal to the vertical distance between the sound wave reflecting components adjacent to the vertical sound wave reflecting components.
In the above technical solution, preferably, the acoustic wave emitter is a biaxial scanning sonar probe.
In the above technical solution, preferably, the reflecting member is a reflecting plate.
In the above technical solution, preferably, the biaxial scanning sonar probe is mounted at an upper end of one foundation pile, the reflecting plates are disposed at equal intervals below the biaxial scanning sonar probe, and the biaxial scanning sonar probe mounted on one of the foundation piles emits sound waves to the reflecting plate mounted on the other foundation pile.
The utility model has the following advantages and effects:
through the device, the related parameter data of the sound wave transmitted between the sound wave generating points and the sound wave reflecting points which are vertically and equidistantly arranged and positioned at different depths can be obtained, and a foundation is provided for solving the sound velocity profile of the fixed target object.
Drawings
FIG. 1 is a schematic view of the structure of the present utility model;
FIG. 2 is a schematic diagram of the spacing arrangement of the dual-axis sonar probes and the reflection plates in the present utility model;
fig. 3 is a schematic diagram of propagation parameters of acoustic waves between layers in the present utility model.
Detailed Description
The present utility model will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
For further explanation of the structure of the present utility model, the detailed description is as follows in connection with the accompanying drawings:
referring to fig. 1, a sound velocity profile obtaining device for a fixed target object based on a dual-axis sonar scanning depth change includes two foundation piles 1 arranged vertically. And one of the foundation piles is vertically and uniformly provided with i sound wave reflecting components at intervals, and the other foundation pile is provided with sound wave transmitters which can transmit sound waves to the sound wave reflecting components and receive reflected sound waves, wherein the vertical distance between the sound wave transmitters and the sound wave reflecting components positioned at the top is equal to the distance between two vertically adjacent sound wave reflecting components. Specifically, the sound wave transmitter is a biaxial scanning sonar probe. The reflecting member is a reflecting plate.
The method for obtaining the sound velocity profile of the fixed target object with the depth change by using the device comprises the following steps:
s1, setting an acoustic wave generating point and a plurality of acoustic wave reflecting points, wherein the acoustic wave reflecting points are vertically equidistantly arranged, the horizontal distance between the acoustic wave generating point and the acoustic wave reflecting points is X, and the distance between the acoustic wave generating point and the acoustic wave reflecting points at the top and the distance between the vertically adjacent two acoustic wave reflecting points are d.
In this embodiment, specifically, two biaxial scanning sonar probes 2 are set as sound wave generating points, and sound wave reflecting points are formed by setting reflecting plates, which are fixed on foundation piles by reflecting plate fixing devices. Each reflection point is provided with a reflection plate 3, which is named as F1, F2, F3, … Fi … from top to bottom.
S2, respectively transmitting sound waves from the sound wave generation points to the sound wave reflection points, receiving the reflected sound waves, and recording data parameters related to sound wave reflection. Setting i sound wave reflection points, respectively transmitting sound waves to the sound wave reflection points from the sound wave generation points and receiving the reflected sound waves, recording data parameters related to sound wave reflection, referring to fig. 2 and 3, wherein an included angle between a direction of transmitting sound waves to the i sound wave reflection points from the sound wave generation points and a horizontal direction is a vertical viewing angle theta i1 The propagation round trip time interval of the sound wave from the sound wave generation point to the ith sound wave reflection point is delta T i ；
The distance from the double-shaft sonar probe to the reflecting plate F is L 1 ，L 2 ，L 3 ，…L i …, the distance d between the reflecting plates is equal to d, and the distance between the biaxial scanning sonar probe and the reflecting plate F1 is also fixed.
The time interval between the pulse of the dual-axis sonar pulse transmitting to the reflecting plate F1 and the pulse receiving by the dual-axis sonar is recorded as delta T i 。
The initial vertical viewing angle from the biaxial sonar probe to the reflecting plate F is theta 11 ，θ 21 ，θ 31 ，…θ (i-1)1 ，θ i1 …。
The biaxial sonar probe is respectively named as a layer between the reflecting plates F1 and F2, between the reflecting plates F2 and F3 and below, and the average sound velocity of each cross layer is named as V from top to bottom 1 ，V 2 ，V 3 ，…V i …。
The total time interval from the pulse emitted by the biaxial sonar to the reflecting plate Fi to the pulse received by the biaxial sonar is recorded as delta T i The sound waves co-undergo i-layer propagation, each layer traveling for a time denoted T from top to bottom i1 ，T i2 ，T i3 ，…T ii The sum is delta T i 。
The dual-axis sonar emits pulses to the reflecting plate Fi, the total distance of the sound wave propagating in the horizontal direction is marked as X, and the horizontal distance propagating in each layer is marked as X in turn i1 ，X i2 ，X i3 ，…X ii The sum is X.
When the dual-axis sonar emits pulses to the reflecting plate Fi, the initial vertical viewing angle of the dual-axis sonar setting is recorded as theta i1 Based on ray acoustic propagation theory in layered medium, the angle of sound ray changes when sound wave propagates from the current layer to the next layer, and the angles of sound wave in each cross layer are respectively recorded as theta i1 ，θ i2 ，θ i3 ，…θ ii The angles according to the snell law satisfy the following relationship:
s3, calculating the average sound velocity V of the sound wave in the layer between the 1 st sound wave reflection point and the sound wave generation point at the top by using the following formula through the recorded data parameters 1 ：
S4, calculating the average sound velocity V of sound waves in a cross-layer between the ith sound wave reflection point and the (i-1) th sound wave reflection point from top to bottom by using the following formula through the recorded data parameters i ：
Wherein X is the horizontal distance between the self-sound wave generating point and the ith sound wave reflecting point;
the sum of the distances of the horizontal propagation of the sound waves in each cross layer between the sound wave generation point and the ith-1 sound wave reflection point;
d: the distance between two adjacent sound wave reflection points in the vertical direction;
ΔT i : the propagation round trip time interval of the sound wave from the sound wave generation point to the ith sound wave reflection point;
the sum of round trip times of the sound wave in the 1 st layer to the i-1 st layer in the process of the sound wave generating point to the i-th sound wave reflecting point.
By using the formula, the sound velocity of each layer between every two adjacent reflecting plates from top to bottom can be calculated, so that the sound velocity of each cross-layer between the biaxial scanning sonar transducer and the lowest reflecting plate can be obtained, and a sound velocity profile can be formed.
Because the distance measured by the biaxial sonar is influenced by the sound velocity, the distance between each reflecting plate and the probe is measured by the laser range finder, and the distance is more accurate. And the double-axis sonar pulse is transmitted to the reflecting plate Fi and then the double-axis sonar receives the pulse time interval, and the pulse time interval is extracted from the original data of double-axis sonar scanning. In the process of scanning foundation piles by the double-shaft scanning sonar, the time of signals reflected by each reflecting plate reaching the double-shaft scanning sonar probe is recorded, and the sound velocity value between each section can be calculated by utilizing a formula of distance and speed.
Detection of reflecting plate F Using biaxial sonar 2 Calculating the layer 2 sound velocity, known as DeltaT, from the measurements of (2) 2 An initial vertical viewing angle of θ 21 And layer 1 sound velocity V 1 The calculation process is as follows:
total horizontal distance X of sound wave propagation when detecting reflecting plate F2 2 ：
The vertical viewing angle of layer 1 is equal to the initial vertical viewing angle θ 21 ；
Horizontal propagation distance X at layer 1 21 ：
Propagation distance L at layer 1 21 ：
Round trip propagation time T at layer 1 21 ：
Horizontal propagation distance X at layer 2 (i.e., last layer) 22 ：
X 22 ＝X 2 -X 21
Propagation distance L at layer 2 (i.e. last layer) 22 ：
Round trip propagation time T at layer 2 (i.e., last layer) 22 ：
T 22 ＝ΔT 2 -T 21
Thus the second layer sound velocity is V 2 ：
Further get V 2 ：
Calculating the sound velocity of the ith layer by using the measurement result of the dual-axis sonar detection reflecting plate Fi, wherein the known propagation time is delta T i An initial vertical viewing angle of θ i1 And 1 st to i-1 st layer sound velocity V 1 、V 2 …V (i-1) The calculation process is as follows:
total horizontal distance X of sound wave propagation when detecting reflecting plate Fi i
The vertical viewing angle of layer 1 is the initial vertical viewing angle θ i1 At a speed of V 1 ；
Horizontal propagation distance X at layer 1 i1 ：
Propagation distance L at layer 1 i1 ：
Round trip propagation time T at layer 1 i1 ：
From Snell's law, the vertical viewing angle of layer 2 can be calculated as θ i2 ：
The vertical viewing angle of layer 2 is the initial vertical viewing angle θ i2 ；
Horizontal propagation distance X at layer 2 i2 ：
Propagation distance L at layer 2 i2 ：
Round trip propagation time T at layer 2 i2 ：
And recursively in this way
Snell's law can calculate the vertical viewing angle of the i-n th layer as θ i(i-n) ：
i≥3，n＜i(n＝1、2、3…i-1)；
The vertical viewing angle of the i-n layer is the initial vertical viewing angle θ i(i-n) ：
Horizontal propagation distance X at the i-1 th layer i(i-n) ：
Propagation distance L at the i-n th layer i(i-n) ：
Round trip propagation time T at the ith-nth layer i(i-n) ：
The horizontal propagation distance at the ith layer (i.e., last layer) is the sum of the total horizontal distance minus the horizontal distance of the previous i-1 layer X ii The calculation formula is as follows:
propagation distance L at the ith layer (i.e., last layer) ii ：
The round trip propagation time at the ith layer (i.e., last layer) is the total propagation time minus the sum of the round trip propagation times of the previous i-1 layers, T ii The calculation formula is as follows:
thus, the average sound velocity V of the ith layer can be obtained simultaneously i ：
Further calculate V i ：
Wherein X is the horizontal distance between the self-sound wave generating point and the ith sound wave reflecting point;
the sum of the distances of the horizontal propagation of the sound waves in each cross layer between the sound wave generation point and the ith-1 sound wave reflection point;
d: the distance between two adjacent sound wave reflection points in the vertical direction;
ΔT i : the propagation round trip time interval of the sound wave from the sound wave generation point to the ith sound wave reflection point;
the sum of round trip times of the sound wave in the 1 st layer to the i-1 st layer in the process of the sound wave generating point to the i-th sound wave reflecting point.
The average sound velocity V obtained by calculation i Converted into sound velocity V of each sea water layer i When i is large enough, V i The closer to the true value.
And the computer automatically extracts relevant data from each record channel, writes a small program according to the formula to calculate and fits the sound velocity profile.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (4)
1. Device is found to sound velocity profile of fixed target object based on change of biax sonar sweep depth, its characterized in that: the foundation pile comprises two foundation piles which are vertically arranged, i sound wave reflecting components are vertically and evenly arranged at intervals, sound wave emitters which can emit sound waves to the sound wave reflecting components and receive reflected sound waves are arranged on the foundation piles, and the vertical distance between the sound wave emitters and the sound wave reflecting components at the top is equal to the vertical distance between the sound wave reflecting components adjacent to the vertical sound wave reflecting components.
2. The device for obtaining the sound velocity profile of the fixed target object based on the change of the biaxial sonar scanning depth according to claim 1, wherein: the sound wave transmitter is a biaxial scanning sonar probe.
3. The device for obtaining the sound velocity profile of the fixed target object based on the change of the biaxial sonar scanning depth according to claim 2, wherein: the reflecting member is a reflecting plate.
4. The apparatus for obtaining a sound velocity profile of a fixed target object based on a change in depth of a biaxial sonar scan according to claim 3, wherein: the upper end of one foundation pile is provided with the double-shaft scanning sonar probe, the reflecting plates are arranged below the double-shaft scanning sonar probe at equal intervals, and the double-shaft scanning sonar probe arranged on one foundation pile emits sound waves to the reflecting plate arranged on the other foundation pile.
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