KR100520786B1 - System for localizing other ships position - Google Patents

Abstract

The present invention relates to a position tracking system of other ships, the position tracking system of other ships, the upper part of the living quarters, which is installed in the upper part of the mouth, and collects the sound pressure signals in response to the sound pressure signals in all directions, and left and right sides. Responds to sound pressure signals in the direction of, responds to microphones installed on the port and starboard, respectively, which collect sound pressure signals from port and starboard, and to sound pressure signals in the direction of bow and stern, A microphone installed at each of the player and the stern for collecting the signal, a signal processor for receiving the sound pressure signal received from each of the microphones, converting the sound pressure signal into discrete data values, removing noise, and converting the signal into a digital signal; Sound pressure level by receiving the digitized data from the signal processor It evaluates and sends a warning sound according to the sound pressure level, and comprises a PC that tracks the position of the other ship by using the sound pressure level received from each microphone, it is possible to track the position information of the other ship by using the sound pressure level, fog Not only can the sound of horns warned by other ships be easily recognized in closed bridges in the event of being caught, but also the sound source can be used to identify the location of other ships by tracking sound sources in areas where space can exist. In one case, it is possible to take measures for safe operation such as avoiding collisions between ships through warning sounds.

Description

Line position tracking system {SYSTEM FOR LOCALIZING OTHER SHIPS POSITION}

The present invention relates to a position tracking system of a rudder ship, and relates to a position tracking system of a rudder ship capable of detecting the position of the rudder ship by a horn or other sound heard from the rudder by installing microphones at five points of the ship. .

1A and 1B are a layout view and a system installation diagram showing an arrangement of a microphone for tracking a position of another ship and a display showing the same in a vessel according to the related art. The conventional sound receiving system arranges four microphones 102, 104, 106 and 108 in the bow, the stern, the port and the starboard as shown in FIG. 1A. By utilizing the sound pressure level signals received from the microphones 102, 104, 106 and 108, the player selects a place with a high sound pressure level from the bow and stern, and selects a place with a high sound pressure level from the port and starboard. An embodiment in which the LEDs 112, 114, 116, and 118 corresponding to the stern port and starboard indicate the presence of the other ship in one of the quadrants is shown in FIG. 1B. Therefore, the information on the distance of the other ship is unknown, the resolution of the direction angle is 90 degrees, it is impossible to track the position of the other ship in space. In the function of listening to the external sound through the speaker 122, since the external sound is always determined by the volume control switch 120, it is difficult to cope with an urgent moment.

Similar patents can be found in Japanese Patent Application No. 10-137303, Name: Method for calculating the position of the sound source and the device thereof, but it uses the time difference of arrival to the microphone by the impact sound of the cannon. Method, which is not suitable for location tracking by detection of ship horn sound and noise repeated at specific intervals as described in the present invention. For example, Japanese patent is a system for tracking by sound reflection. It is different from the system for tracking the sound source by the sound pressure of the present invention.

The present invention has been made to solve the problems of the prior art described above, and provides a system that can track the spatial position of the sound source on the coordinate (x, y), and represent an area that can exist therefrom. There is a purpose.

Still another object of the present invention is to develop a system that can listen to external sounds by automatically canceling them when the sound reproducing function is set by the volume function in the bridge, if it is above a certain sound pressure level.

The present invention is a position tracking system of other ships, installed in the upper part of the mouth port, and responds to the sound pressure signal in the left and right direction, and the upper part of the residence top microphone to collect the sound pressure signal in response to the sound pressure signal in all directions , Microphones installed in the port and starboard, respectively, to collect sound pressure signals from the port and starboard, and responses to sound pressure signals in the direction of the bow and stern, respectively, to the bow and stern for collecting sound pressure signals from the front and rear, respectively. A signal processor for receiving the installed microphone, the sound pressure signal received from each of the microphones, converting the sound pressure signal into discrete data values, removing noise, and converting the signal into a digital signal; and receiving digitized data from the signal processor. Evaluate the sound pressure level and send a warning sound according to the sound pressure level It said, is configured to include a PC for tracking the position of the offense using the sound pressure levels received by the respective microphones.

With reference to the accompanying Figures 2 to 6b discloses the configuration and operation of the present invention. Figure 2 is a layout showing the arrangement of the microphone to track the position of the other ship in the ship according to an embodiment of the present invention. 2 shows a layout of five microphones. The microphone 202 installed in the bow, the microphone 204 installed in the stern, the microphones 206 and 208 installed in the port and starboard, respectively, and the microphone 210 installed in the upper part of the port are combined to form five microphones. Therefore, the signal of the microphone 210 installed in the upper part of the mouth responds to all directions, and the signals measured at the port and starboard respond more sensitively to the left and right directions. In addition, the bow and stern signals are more sensitive to the front and rear.

In addition, in the configuration of the present invention, the sensing player, the stern, the port, the starboard and the respective environmental microphones 202, 204, 206, 208, and 210 are implemented to have weather resistance to withstand the external environment and the weather. . Therefore, it is able to withstand the bad weather environment such as snow, rain and wind, which can be met during operation.

3 is a block diagram showing the configuration of a system for tracking the position of another ship according to an embodiment of the present invention. Each microphone 202, 204, 206, 208, 210 is composed of environmental microphones 202, 204, 206, 208, 210 that can withstand the external environment as described above.

Sound pressure signals received at each of the microphones 202, 204, 206, 208, and 210 are transmitted to the signal processor 220, respectively. The signal processor 220 includes a discretization processor 222, a filter 224, and an A / D converter 226. Discretization processing unit 222 for converting the sound pressure signal received by each microphone 202, 204, 206, 208, 210 into a discrete data value, and filter 224 for removing noise of the discretized data And an A / D converter 226 for converting the analog signal filtered by the filter 224 into a digital signal into a signal suitable for data operation.

The digitized data in the discretization processor 222 of the signal processor 220 is transmitted to the PC 230. The sound pressure level of the digitized data transmitted to the PC 230 is evaluated, and a warning sound is sent through the speaker 232 according to the sound pressure level, and an algorithm having a function of tracking the position of the other ship is processed. If the sound pressure level is determined by the PC 230 according to the algorithm as described above, the sound alarm system is driven. Otherwise, the sound signal is increased or decreased by the volume control function of the system, so that the user may experience confusion from other lines or Other noises can be amplified and listened to, and the display 234 provides a display 234 for viewing the position of the other ship through coordinates in real time and continuously. .

In addition, the data received by each microphone 202, 204, 206, 208, and 210 by the algorithm and digitalized by the signal processor 220 is transmitted to the PC 230. PC 230 then continuously digitizes the data according to the location tracking algorithm of the present invention.

Figure 4 is a block diagram showing the steps of tracking the location and generating a beep according to one embodiment of the present invention. In step 402, the digital data received from the signal processor 220 and processed in real time is collected.

PC 230 measures the noise level of each microphone 202, 204, 206, 208, 210 from the discretized data received in real time (step 404). PC 230 calculates the level of each noise measured at each microphone 202, 204, 206, 208, 210 (step 406).

As a result of the calculation, it is determined whether the noise criterion is exceeded (step 408), and when the noise criterion is exceeded, it is determined that the other line is close and the automatic sound alert is transmitted through the speaker 232 (step 410). Proceed. If it is determined in step 408 that the noise standard is not exceeded, the volume is adjusted automatically or manually by the operator by the system volume function (step 412) and proceeds to the next step.

After the automatic acoustic alarm is issued or the volume of the speaker 122 is adjusted, the position of the other ship is calculated by the three-point position calculation method (step 414). The position of the other ship is continuously executed and displayed continuously on the screen of the PC 230 (step 416). In this way, when the noise from the outside or the mixed sound of other lines is input, the process returns to step 402 and repeats the above-described steps. If no noise or confusion is inputted above the reference value, the position tracking algorithm is terminated, or the operator stops tracking the position. If this is entered, location tracking ends.

5 is a screen configuration diagram showing a configuration screen of a position tracking system of another ship according to an embodiment of the present invention. When the horn is operated on the other line and sound pressure is received by the five microphones 202, 204, 206, 208 and 210, the position of the other line (x _s , y _s , z _s ) is calculated from this signal. The location tracking uses three microphone signals exposed to the sound source, where the distance between the other ship and the microphone can be expressed by Equation 1 below.

R _c ² = (x _s -x _c ) ² + (y _s -y _c ) ² + (z _s -z _c ) ²

R _i ² = (x _s -x _i ) ² + (y _s -y _i ) ² + (z _s -z _i ) ²

R _j ² = (x _s -x _j ) ² + (y _s -y _j ) ² + (z _s -z _j ) ²

Here, R _c is the distance of the rudder from the microphone 210 installed in the upper part of the mouth, R _i is the distance of the rudder from the myrophone with a high sound pressure level in the microphone 202, 204 installed in the bow or stern, R _j is the distance of the other ship from the microphone with a high sound pressure level in the microphones 206 and 208 installed in the port or starboard, x _s , y _s , z _s are the positions on the coordinates of the microphone installed in the center of the residence port, x _i , y _i , z _i are the coordinate positions of the microphone installed at the high sound pressure level in the bow and stern, and x _j , y _j , z _j are the coordinate positions of the microphone installed at the high sound pressure level in the port and starboard.

The signal SPL _c of the central part of the residence (x _c , y _c , z _c ), the signal SPL _i having a high sound pressure level in the bow and stern signals, and the signal SPL _j having a high sound pressure level in the port and starboard signals are selected. . Using this, the ratio of distance can be expressed as follows.

When the sound pressure level is P ∝ (2 / r), i.e. when the image source is taken into account under the condition that the reflectivity of the reflecting surface is 1, or when P ∝ (1 / r), that is, the free sound field The distance R _ij in the case of the condition case is calculated as follows.

R _ij is calculated as follows when the sound pressure level becomes a dipole sound source due to a virtual image source such as P ∝ (1 / r ² ).

That is, the attenuation model of the sound source can be expected that the setting range of the attenuation rate of the sound transfer model will be in the range of 1 / r ² to 2 / r unless the destructive interference by the pure sound component is a major factor.

The distance ratio between the microphone and the microphone was obtained by the following equations (2) and (3). The position tracking of the sound source can be obtained by the following series of equations. First, the x coordinate system is arranged in the following quadratic form.

Here, each coefficient is calculated as shown in Equation 5 below.

Solving Equation 4 using the coefficients shown in Equation 5 yields two values of x _s , a solution representing the other line of the x-axis coordinates of the sound source, and finally a value of y _s representing the other point of the y-axis coordinates. You can get two. The value of y _s can be obtained by the following equation. Equation 6 is as follows.

y _s = αx _s + β

The distances (r _image , r _true ) from x _s and y _s, each having two solutions, to two sound source points, can be obtained. The actual position of the rudder ship can be selected by the following solution properties.

6A and 6B are coordinate diagrams illustrating a method of tracking a position of a sound source by coordinates according to an embodiment of the present invention. Referring to FIG. 6A, it is inferred that the position of the other ship exists in one of the first to fourth quadrants as described above due to the difference in sound pressure. In FIG. 6A, it is assumed that the rudder line and the sound source are in four quarters.

Accordingly, the two points of the tracking result determine the position of the other ship, that is, the sound source points 506 and 508, by the calculation of Equations 1 to 6 as described above. When such sound source points 506 and 508 are represented, one of the two sound source points 506 and 508 is the inside of the circle 502 connecting the microphone 202 installed in the bow and the microphone 208 installed in the starboard. And the other outside of the circle 502. These sound source points 506, 508 are on the same extension line of the center point 504 of the circle 502. Since the sound source point 506 inside the circle 502 is a virtual image, it is unlikely that it is a position of actual other ship. In some cases, the sound source point 506 representing such a virtual image may indicate the actual position of the other ship, but in this case, since the alarm is triggered by the step 410 described above with reference to FIG. It is unlikely that the position 506 of the sound source is the position of the other ship. Thus, the possibility for this can be excluded.

Therefore, it becomes a point at which r _true is spaced apart from the actual sound source point 506, that is, the center point 504 of the circle 502 in the image direction, and the distance of such a sound source point is calculated. In addition, if necessary, the operator may adjust the volume of the speaker 122 to hear noise and confusion generated at the other line, that is, the actual sound source point r _true .

Referring to FIG. 6B, coordinates that can be measured by dividing the region where the other line exists are divided according to each quadrant. The two sound source points 506 and 508 tracked as described above exist on a straight line with the geometric center point 504 between the two microphones 202 and 208 as the origin of the actual sound source and the position of the virtual sound source. The relationship is as follows.

Where ρ is the radius between two adjacent ones of the four microphones 202, 204, 206, and 208 forming each axis in the quadrant of the plane coordinates, and r _image and r _true are between the microphones 202 and 208. The distance from the geometric center point 504 to the two sound source points, the distance to the double virtual _image is r _image , and r _true is the distance to the actual sound source. By the way, when applied to the vessel, the position of the sound source of interest is the position of the other ship, so the point existing outside of the thick circle 502, 510, 512, 514 of Figure 6b is the position of the actual other ship. As a result, it can be seen that, from the position of the sound source tracked by the above-described method, the sound source point 508 when the magnitude of the absolute value is large becomes the position of the actual sound source.

The present invention can be used to track the location information of other ships by using sound pressure levels, and can easily recognize the horn sound warned by other ships in a foggy situation in a closed bridge, as well as the area on the spatial coordinates where other ships can exist. It is possible to determine the position of the other ship by tracking the sound source, and when it is recognized that the other ship is near, it is effective to take measures for safe operation such as avoiding collision between ships through a warning sound.

1a and 1b is a layout and system installation of the microphone for tracking the orientation of the other ship in the ship according to the prior art.

Figure 2 is a layout showing the arrangement of the microphone to track the position of the other ship in the ship according to an embodiment of the present invention.

3 is a block diagram showing the configuration of a system for tracking the position of another ship according to an embodiment of the present invention.

Figure 4 is a block diagram showing the steps of tracking the position and adjusting the volume in accordance with one embodiment of the present invention.

5 is a screen configuration diagram showing a configuration screen of a position tracking system of another ship according to an embodiment of the present invention.

6A and 6B are coordinate diagrams illustrating a method of tracking a position of a sound source by coordinates according to an embodiment of the present invention.

<Brief description of symbols for the main parts of the drawings>

202, 204, 206, 208, 210: microphone

220: signal processing unit 222: discretization processing unit

224: filter 226: A / D conversion unit

230: PC 232: Speaker

234: display

Claims (6)

In the position tracking system of other ships, A housing upper microphone installed at an upper portion of the inlet and collecting sound pressure signals in response to sound pressure signals in all directions; Microphones installed in the port and starboard, respectively, which respond to sound pressure signals in the left and right directions and collect sound pressure signals generated at the port and starboard; Microphones installed in the bow and stern, respectively, for responding to sound pressure signals in the bow and stern direction and collecting sound pressure signals generated from the front and rear; A signal processor which receives the sound pressure signal received by each microphone and converts the sound pressure signal into a digital signal; And receiving a digitized data from the signal processor, evaluating sound pressure level, sending a warning sound according to the sound pressure level, and using a sound pressure level received from each microphone to track the position of the other ship. Rudder position tracking system. The method of claim 1, The signal processing unit includes a signal connection unit for continuously receiving the sound pressure signal received by each of the microphones; And an A / D conversion unit (226) for converting the analog signal received from the signal connection unit into a digital signal which is a signal suitable for computing. The method according to claim 1 or 2, And calculating the setting range of the attenuation rate of the sound pressure level to be in the range of 1 / r ² to 2 / r. The method of claim 3, The coordinate point of the x-axis where the other line is located is the following equation Positioning system of the other ship, characterized in that obtained by the quadratic equation. The method of claim 3, The coordinate point of the y-axis where the other line is located is the following equation y _s = αx _s + β The position tracking system of the other ship, which is obtained by. The method of claim 5, The position of the rudder ship is the position of the rudder ship, characterized in that the sound source point when the absolute value is large among the two solutions resulting from the quadratic equation is selected as the position of the actual rudder ship.