KR0126909Y1 - Receiving apparatus of detective signal from bearing sensor in sensor part of linear array acoustic wave detector - Google Patents

Abstract

The present invention is a line for stably receiving data so that the average value can be calculated by accurately calculating the underwater signal detected by the orientation sensor of the line array sonar sensor that is connected to a ship or offshore structure with a tugboat and capable of target search at 360 °. A device for receiving azimuth sensor detection signal of an array sonar, wherein the linear array sonar sensor unit receives a gray code (serial) signal output from the azimuth sensor 45 continuously (No. 4) and averages it by a control program. The one-chip microcomputer 45-2 for obtaining and converting the signal into a binary code (parallel) signal, and the current supply unit 45 for supplying current and square wave signals to the azimuth sensor 45 in response to the control signal of the one-chip microcomputer 45-2. -1), a D / A converter 45-3 for converting the digital signal converted from the one-chip microcomputer 45-2 into a binary code (parallel) signal into an analog signal, and the D / A conversion. The field requiring the elaboration ability of the remote sensing 360 ° omnidirectional signal with a current driver 45-4 which converts the form of the voltage output from (45-3) into a form of current for quick signal transmission and outputs the form. In order to provide high quality signal identification and ease of installation, and to realize high speed signal detection, it is possible to calculate the average value by accurately calculating the underwater signal detected by the sensor part of the sensor transmission module of the line array sonar. Can be stably received.

Description

Azimuth sensor detection signal receiver for line array sonar sensor

1 is an exemplary view schematically showing a sensor unit of a line array sonar.

2 is a block diagram showing the configuration of a line array sonar.

3 is a block diagram for solving the present invention.

4 is a flow chart according to FIG.

* Explanation of symbols for main parts of the drawings

10: tail rope assembly 20: array stabilization module

21: direction sensor 22: depth sensor

30: low frequency acoustic module 31, 32: roll sensor

33: hydrophone 34: shear amplifier

35: seawater noise compensation circuit 36: protection circuit

40: signal transmission module 41: depth sensor

42: analog multiplexer 43: automatic gain adjustment amplifier

44: A / D converter 45: direction sensor

45-1: current supply unit 45-2: one-chip microcomputer

45-3: D / A converter 45-4: Current driver

50: high-frequency acoustic module 51: hydrophone

52: shear amplifier 53: seawater noise compensation circuit

54: protection circuit 60: vibration isolation module

61: buffer 62: tension

63: fine vibration buffer 64: fine vibration tension

65,66: acceleration sensor 70: towing cable

The present invention relates to a sensor unit of a line array sonar that is connected to a ship or offshore structure by a tugboat and is capable of target search at 360 ° omnidirectional, in particular, by accurately calculating the underwater signal detected by the sensor unit orientation sensor of the line array sonar The present invention relates to a direction sensor detection signal receiver of a line array sonar sensor unit for stably receiving data to obtain an average value.

In general, the way the sensor unit of the line array sonar detects the acoustic signal in the water is largely as shown in FIG. 1, the tail rope assembly 10 to finally attenuate the vibration, and the effect of noise due to the slight vibration An array stabilization module 20 for excluding a signal, a low frequency acoustic module 30 for receiving low frequency sound waves, a signal transmission module 40 for converting an input analog signal into a digital signal, and receiving a high frequency sound wave signal High frequency acoustic module 50, a vibration isolating module 60 to damp the vibration, and a towing cable 70 for connecting the line array sonar to the vessel or offshore structure.

The low frequency acoustic module 30 includes a low frequency hydrophone 33 for receiving sound of low frequency underwater, a low frequency shear amplifier 34 for amplifying an electric signal at an output terminal of the low frequency hydrophone 33, and a low frequency The seawater noise compensation circuit 35, which attenuates the noise component, is connected to a cascade.

The high frequency acoustic module 50 has the same configuration as that of the low frequency acoustic module 30, which amplifies an electric signal at the output of the high frequency hydrophone 51 and the high frequency hydrophone 51 for receiving high frequency of seawater. A high frequency shear amplifier 52 and a seawater noise compensation circuit 53 for amplifying high frequency signal components while attenuating noise of low frequency components are cascaded.

The signal transmission module 40 includes an analog multiplexer 42 for receiving analog output signals from the high frequency sound module 50 and the low frequency sound module 30, an automatic gain amplifier amplifier 43 for amplifying the signal, and an analog signal. The A / D converter 44 converts the digital signal into a digital signal, the orientation sensor 45 detecting the towing direction, and the depth sensor 41 detecting the water depth.

The vibration isolation module 60 includes a buffer 61 for buffering vibration, a tension 62 for damping vibrations, and a fine vibration buffer 63 for removing residual vibration components that are not removed from the tension 62, and fine vibrations. And a tension 64 and acceleration sensors 65 and 66.

The array stabilization module 20 is a module having a function of stabilizing the array by transmitting the vibration not attenuated from the vibration isolation module 60 to the depth sensor 22 for detecting the depth and the orientation sensor for detecting the towing direction ( 21).

In addition to the above arrangement, it consists of a tail rope assembly 10 which finally attenuates residual vibration.

The operation of the line array sonar sensor unit having the above configuration will be described with reference to FIG.

The low frequency acoustic module 30 is a module for converting low frequency signals among the received acoustic signals into electrical signals. The vibration propagated by the mechanical small and tight action of seawater particles is directly proportional to the product of the square of frequency and amplitude. It causes a change in output to the low-frequency hydrophone 33 in size.

As a result, the piezoelectric element of the low frequency hydrophone 33 generates an electric signal at the output terminal.

The electrical signal induced above shows the effect of signal amplification and noise cancellation in the low frequency shear amplifier 34 at the rear stage.

Low frequency, that is, a signal in which most of the energy exists in the low frequency region, such as sound waves, does not cause a large frequency deviation due to the high frequency components of the same magnitude.

Therefore, the energy of the signal is not uniformly distributed over the allocated bandwidth, but the energy of the high frequency portion is less distributed, and thus has a weakness indicating a very low signal to noise ratio (S / N) for the high frequency signal.

Pre-Emphasis and De-Emphasis methods to overcome these weaknesses have a high signal level and some noise can be suppressed in the transmitter. In the receiver, the signal level is high and the noise can be suppressed to some extent. Therefore, the signal to be demodulated should be intentionally changed by extending the low frequency compared to the high frequency.

The alteration of the signal to generate high frequency spreading is called pre-emphasis filtering, and the expansion of low frequency components as compared to high frequency is called de-emphasis.

This causes the signal-to-noise ratio (S / N) to increase at the receiving end.

The pre-emphasis and de-emphasis are collectively referred to as emphasis.

In the low frequency shear amplifier 34, the small signal of the hydrophone 33 is amplified to a size suitable for signal processing.

In general, underwater sound waves are often present in the form of low frequency waves, so that a plurality of low frequency acoustic modules 30 are installed in the sensor unit of the line array sonar for accurate measurement of signals, so that low frequency signals of seawater can be captured. .

Since the noise is also amplified together in the signal, there are not only the ambient noise but also the noise factor of the amplifier itself (1 / f noise, shot noise, and Johnson noise, etc. generated in the low pass filter frequency band).

1 / f noise occurs in the low pass band, Johnson noise, shot noise appears in the frequency modulation (FM) band or more and evenly distributed in the frequency band, considering the elimination of the amplification circuit (not shown) By limiting the bandwidth of the noise level is reduced.

In addition to the low frequency acoustic module 30, the operation of the high frequency acoustic module 50 for detecting the high frequency sound wave signal of the seawater is the same as the above method.

Next, in the signal transmission module 40, the acoustic module modulates the high frequency acoustic module 50 signal and the low frequency acoustic module 30 signal in the current form, and modulates the pulse code to digitalize the data. Pulse Code Modulation (PCM).

In the pulse code modulation, a gray code binary coding scheme is commonly used to sample, quantize, and quantize a sampled signal according to a size in a manner of transmitting a signal in sequence of numbers.

Looking at the operation of the signal transmission module 40 of the towed line array sonar sensor 2 through FIG.

When the signals received and amplified by the high frequency sound module 50 and the low frequency sound module 30 are sequentially input to the analog multiplexer 42 to digitally signal, the analog multiplexer 42 automatically gains the received signals sequentially. After the amplitude is amplified by the adjusting amplifier 43, the analog signal in the A / D converter 44 is sampled, quantized, and digitally signaled to a corresponding magnitude according to the magnitude of the amplitude.

In this case, the analog signal is sampled and quantized into a corresponding digital signal according to its magnitude, and then digitalized.

In addition, the azimuth sensor 45 captures the towing direction, and the depth sensor 41 measures the depth information, respectively, and modulates the pulse code like a sound signal processing route in the signal transmission module 40 so that the digital signal is generated. As described above, the ship is transmitted to the signal processor (not shown).

Next, the vibration isolation module 60 is to attenuate the vibration generated from the towing and the towing cable 120, and detects the vibration generated by the towing by the tension 62 and the micro vibration tension 64 to buffer the vibration ( 61) and the vibration damping in the fine vibration buffer 64, each acceleration sensor 65, 66 detects the acceleration during the sensor operation.

In addition, the tail rope assembly 10 is a vibration that is not attenuated by the vibration module of the array stabilization module 20 is transmitted through the tail rope assembly 10 to stabilize the arrangement to finally residual vibration of the sensor portion of the line array sonar To prevent.

The tow-type line array sonar sensor unit is capable of collecting various data information about the depth, azimuth, etc. of seawater, and can remove noise effects caused by the medium by separating low frequencies from high frequencies for high quality signal processing of collected information. In other words, flaws have shown limitations in the detection of precision signals or the detection of large-area remote signals.

The present invention provides high quality signal identification and ease of installation in the field requiring the precision of long-range 360 ° omnidirectional signal identification, and the sensor of the signal transmission module of the line array sonar to realize high speed signal detection. It is an object of the present invention to provide an orientation sensor detection signal receiving apparatus for stably receiving data so as to accurately calculate the underwater signal sensed by the secondary orientation sensor to obtain an average value.

In the present invention, the linear array sonar sensor unit receives the gray code (serial) signal output from the azimuth sensor 45 continuously (No. 4), calculates an average value by a control program, and converts it into a binary code (parallel) signal. A one-chip microcomputer 45-2, a current supply unit 45-1 for receiving a control signal from the one-chip microcomputer 45-2 and supplying current and square wave signals to the azimuth sensor 45, and the one-chip microcomputer 45- 2) a D / A converter 45-3 for converting a digital signal converted into a binary code (parallel) signal into an analog signal and a form of a voltage output from the D / A converter 45-3. It is a well-known feature that it is provided with a current driver (45-4) for converting the output in the form of current for transmission.

This will be described with reference to the accompanying drawings.

Finally, the tail rope assembly 10 for attenuating vibration, the array stabilization module 20 for eliminating the influence of noise caused by the slight vibration, the low frequency acoustic module 30 for receiving low frequency sound waves, and the analog input. A signal transmission module 40 for converting a signal into a digital signal, a high frequency acoustic module 50 for receiving a high frequency sound wave signal, a vibration isolation module 60 for attenuating vibration, and a line array in a ship or a marine structure A towing cable 70 for connecting a sonar, and the signal transmission module 40 includes an analog multiplexer 42 for receiving analog output signals of the high frequency sound module 50 and the low frequency sound module 30; Automatic gain amplifier amplifier 43 for amplifying signals, A / D converter 44 for converting analog signals to digital signals, and azimuth sensors for measuring azimuth at a constant interval (0.35 °) with respect to 360 degrees 45), with sensing depth In the line array sonar sensor unit consisting of a depth sensor 41, receives the gray code (serial) signal output from the azimuth sensor 45 in succession (number 4) to obtain an average value by a control program to obtain a binary code ( A one-chip microcomputer 45-2 for converting the signal into a parallel signal; a current supply unit 45-1 for receiving a control signal from the one-chip microcomputer 45-2 and supplying current and square wave signals to the azimuth sensor 45; A D / A converter 45-3 for converting the digital signal converted from the one-chip microcomputer 45-2 to a binary code (parallel) signal to an analog signal, and outputted from the D / A converter 45-3. It is provided with a current driver (45-4) for converting the form of the voltage in the form of current for rapid signal transmission.

Hereinafter, by the accompanying drawings will be described the operation and effect according to the present invention.

FIG. 1 is an exemplary view schematically showing a sensor unit of a line array sonar, FIG. 2 is a block diagram showing the configuration of a line array sonar, and FIG. 3 is a block diagram for solving the present invention, and FIG. It is a flowchart according to FIG.

Since the sensor part of the line array sonar has already been described in the preceding section of the present invention, the effects of the present invention will be omitted.

Looking at the operation of the signal transmission module 40 of the towed line array sonar sensor 2 through FIG.

When the signals received and amplified by the high frequency sound module 50 and the low frequency sound module 30 are sequentially input to the analog multiplexer 42 to digitally signal, the analog multiplexer 42 automatically gains the received signals sequentially. After the amplitude is amplified by the adjusting amplifier 43, the analog signal in the A / D converter 44 is sampled, quantized, and digitally signaled to a corresponding magnitude according to the magnitude of the amplitude.

At this time, the analog signal is sampled and quantized into a corresponding digital signal according to its magnitude, and then converted into a digital signal.

In addition, the azimuth sensor 45 captures the towing direction, and the depth sensor 41 measures the depth information, respectively, and pulse code modulates (PCM) the digital signal such as a sound signal processing route in the signal transmission module 40. Then, the sound signal is transmitted to the ship signal processor (not shown).

Then, the vibration isolation module 60 is to attenuate the vibration generated from the towing and the towing cable 120, by detecting the vibration caused by the towing by the tension 62 and the micro vibration tension 64 buffer ( 61) and the vibration damping in the fine vibration buffer 64, each acceleration sensor 65, 66 detects the acceleration during the sensor operation.

In addition, the tail rope assembly 10 is a vibration that is not attenuated by the vibration module of the array stabilization module 20 is transmitted through the tail rope assembly 10 to stabilize the arrangement to finally residual vibration of the sensor portion of the line array sonar To prevent.

In the present invention, the process of capturing the towing bearing is examined by the orientation sensor 45 which is to be treated as the main target.

Power is supplied to the one-chip microcomputer 45-2.

When power is supplied to the one-chip microcomputer 45-2, the one-chip microcomputer 45-2 generates a square wave signal having a current and a predetermined level (for example, 1 kHz) and applies it to the azimuth sensor 45 to provide an orientation sensor ( Turn on 45).

When the current wave and the square wave signal of a predetermined level (for example, 1 kHz) are supplied to the direction sensor 45, the one-chip microcomputer 45-2 by measuring the direction at a predetermined interval (0.35 °) with respect to the 360 ° direction. ).

The one chip microcomputer 45-2 determines whether the interrupt INT is generated by enabling an interrupt signal INT from the outside.

If it is determined that the interrupt INT is generated in the one-chip microcomputer 45-2 and the interrupt INT is not generated, the one-chip microcomputer 45-2 generates the interrupt INT again and interrupts the INT. Is detected, gray code (serial) data is detected by disabling the interrupt (INT) from the outside and delaying it for a certain time (for example, 800μs).

When the one-chip microcomputer 45-2 detects the data for the gray code (serial), it determines whether to complete the gray code (serial) data detection by delaying it for a predetermined time (for example, 1 ms).

It is determined whether the one-chip microcomputer 45-2 completes the detection of the gray code (serial) data. If the gray code (serial) data detection is not completed, the gray code (serial) data is detected again.

When the one-chip microcomputer 45-2 detects the data for the gray code (serial), it determines whether to complete the gray code (serial) data detection by delaying it for a predetermined time (for example, 1 ms).

The one-chip microcomputer 45-2 determines whether to complete the gray code (serial) data detection. When the gray code (serial) data detection is completed, the gray code (serial) data is converted into the binary code (parallel) data. Store data for each data detection count in internal memory.

In the state where data for each data detection number is stored in the internal memory, the one chip microcomputer 45-2 increases the number of data detection times by 1 to determine whether the data detection number is four.

The one-chip microcomputer 45-2 increases the number of times of data detection by 1 and determines whether the number of data detection is 4, and if it is not determined as 4, the one-chip microcomputer 45-2 repeats it from the initial process by delaying a predetermined time (for example, 30ms).

The reason for delaying a predetermined time (for example, 30ms) is delayed due to the inherent characteristics of the orientation sensor 45.

On the other hand, the one-chip microcomputer 45-2 increases the number of data detections by 1 to determine whether the number of data detections is 4, and if it is determined to be 4, the data of the average value obtained by clearing the number of data detections and obtaining an average of four data. Outputs

The digital signal converted into a binary code (parallel) signal with respect to the average value output from the one chip microcomputer 45-2 is converted into an analog signal via the D / A converter 45-3 and the current driver 45-4. It converts the form of voltage into a form of current and outputs it for quick signal transmission.

At this time, the one-chip microcomputer 45 repeats the data for the average value obtained by a predetermined time delay (for example, 30ms) from the beginning.

As described above, the present invention provides high-quality signal discrimination and ease of installation in fields requiring the sophistication of remote sensing 360 ° omnidirectional signal identification, and provides high speed signal detection. It can receive the data stably so that the average value can be calculated by accurately calculating the underwater signal detected by the sensor of the sensor part of the transmission module.

Claims (1)

Finally, the tail rope assembly 10 for attenuating vibration, the array stabilization module 20 for eliminating the influence of noise caused by the slight vibration, the low frequency acoustic module 30 for receiving low frequency sound waves, and the analog input. A signal transmission module 40 for converting a signal into a digital signal, a high frequency acoustic module 50 for receiving a high frequency sound wave signal, a vibration isolation module 60 for attenuating vibration, and a line array in a ship or a marine structure A towing cable 70 for connecting a sonar, and the signal transmission module 40 includes an analog multiplexer 42 for receiving analog output signals of the high frequency sound module 50 and the low frequency sound module 30; An automatic gain adjustment amplifier 43 for amplifying the signal, an A / D converter 44 for converting an analog signal into a digital signal, an azimuth sensor 45 for measuring azimuth at a predetermined interval with respect to 360 degrees, and a depth of water. Depth Sensing In the line array sonar sensor section (41), the one-chip microcomputer (45-2) which continuously receives the gray code signal output from the azimuth sensor (45), obtains an average value by a control program, and converts the average value into a binary code signal. And a current supply unit 45-1 that receives the control signal of the one-chip microcomputer 45-2 and supplies current and square wave signals to the orientation sensor 45, and the one-chip microcomputer 45-2 as a binary code signal. D / A converter 45-3 which converts the converted digital signal into an analog signal, and converts the form of voltage output from the D / A converter 45-3 into a form of current for fast signal transmission. A direction sensor detection signal receiving device of the line array sonar, characterized in that it comprises a current driver (45-4).