KR102394062B1 - Device For Tracing Underwater Object And Controlling Method Thereof - Google Patents

Abstract

An underwater positioning device and a control method therefor, the underwater positioning device calculating a curved bearing line that is a set of position candidates of an underwater object based on a senior row sonar that receives an acoustic signal of an underwater object, and the received acoustic signal The calculator sets the position information including the position and velocity of the particles, calculates the objective function for each particle that is the distance between the position information and the curved azimuth line, calculates the optimal particle, and sets the position information of the optimal particle to the position information of the underwater object It may include a motion analysis unit to determine.

Description

Device For Tracing Underwater Object And Controlling Method Thereof

To an underwater location tracking device and a method for controlling the same for tracking the location information of the underwater object by analyzing the motion after receiving the sound signal of the underwater object.

In general, a passive senior heat sonar receives an acoustic signal of an underwater object, tracks the orientation of the underwater object, and performs target motion analysis (TMA) to estimate the position of the underwater object. These passive sonars estimated the position of the underwater object using the horizontal azimuth without reflection on the water surface or the seabed, but the detection distance was short. In addition, the location estimation of the passive sonar using the horizontal azimuth assumes that the acoustic signal is propagated through a straight path from the underwater object to the location tracking device, but the sound speed is different depending on the water temperature and depth, so the acoustic signal is refracted and reflected to multi-path It is difficult to make an accurate estimate because transmission is not taken into account.

Accordingly, recently, research on the location tracking of an underwater object using a vertical azimuth angle in consideration of an acoustic signal reflected on the water surface or the seabed is being actively conducted.

Republic of Korea Patent Publication No. 10-2048125 ("Method for analyzing underwater target motion", Erica Industry-Academic Cooperation Foundation, Hanyang University, 2019.11.18) Republic of Korea Patent Publication No. 10-1257097 ("Line array sonar and its target orientation detection method", National Defense Science Research Institute, 2013.04.15) Republic of Korea Patent Publication No. 10-1586671 ("Parallel processing and fusion method of target maneuver analysis using multiple types of passive sonar," Defense Science Research Institute, 2016.01.13)

Provided are an underwater positioning device for tracking the position and speed of an underwater object using a curved azimuth line that considers a target distance other than the azimuth, and a method for controlling the same.

An embodiment of the underwater location tracking device includes a line sonar for receiving an acoustic signal of an underwater object, a curved bearing line calculating unit that calculates a curved bearing line that is a set of position candidates of an underwater object based on the received acoustic signal, and the position of particles and It includes a motion analysis unit that sets position information including velocity, calculates an objective function for each particle that is the distance between position information and a curved azimuth, and determines the optimal particle position information as the position information of the underwater object can do.

Also, according to an embodiment, the motion analyzer may calculate a particle having the smallest objective function as an optimal particle.

In addition, according to an embodiment, the motion analyzer may recalculate the optimal particle by recalculating the objective function by setting the position information of the next-generation particles after calculating the optimal particle.

In addition, according to an embodiment, the motion analyzer may set the position among the position information of the particles as a curved azimuth line.

In addition, according to an embodiment, the motion analyzer may randomly set the speed among the position information of the particles within a preset range.

Also, according to an embodiment, the preset range may be set in consideration of the average speed of the underwater object.

In addition, according to an embodiment, the motion analyzer may calculate the optimal individual particles and the optimal cluster particles when calculating the optimal particles, and determine the location information of the cluster optimal particles as the location information of the underwater object.

Also, according to an embodiment, the motion analyzer may set the position information of the next-generation particles based on the position information of the particles, the individual optimal particles, and the cluster optimal particles.

In addition, according to an embodiment, the motion analyzer calculates the standard deviation of the objective function for each particle, and if the calculated standard deviation is less than or equal to a preset value, the position information of the optimal particle may be determined as the position information of the underwater object.

In addition, according to an embodiment, the motion analysis unit calculates the standard deviation of the objective function for each particle and, if the calculated standard deviation exceeds a preset value, sets the position information of the next generation particles to recalculate the objective function to recalculate the optimal particle can go out

Also, according to an embodiment, the acoustic signal of the underwater object may include a reflected acoustic signal.

An embodiment of the control method of the underwater location tracking device includes the steps of calculating a curved azimuth line that is a set of position candidates of the underwater object based on the received acoustic signal of the underwater object, and setting the location information including the location and speed of the particles It may include the steps of calculating the objective function for each particle, which is the distance between the position information and the curved bearing line, to calculate the optimal particle, and determining the calculated position information of the optimal particle as the position information of the underwater object.

In addition, the control method of the underwater location tracking device according to an embodiment may further include the step of re-calculating the optimal particle by re-calculating the objective function by setting the position information of the next generation particles after the step of calculating the optimal particle there is.

In addition, the step of setting the location information according to an embodiment is characterized in that the location of the particles is set as a curved azimuth line, and the speed of the particles is set randomly within a preset range set in consideration of the average speed of the underwater object. can do.

In addition, the step of calculating the optimal particle according to an embodiment calculates the individual optimal particle and the cluster optimal particle, and the step of determining the position information of the underwater object determines the position information of the cluster optimal particle as the position information of the underwater object, , the step of re-calculating the optimal particles may set the position information of the next-generation particles based on the position information of the particles, the individual optimal particles, and the cluster optimal particles.

According to the above-described underwater location tracking device and its control method, it is possible to track the position, moving direction and speed of an underwater object by target motion analysis using a curved azimuth line.

1 shows the concept of an underwater location tracking device and an underwater object according to an embodiment.
Figure 2 is a schematic block diagram of an underwater location tracking device according to an embodiment.
3 is a detailed block diagram of an underwater positioning device according to an embodiment.
Figure 4 shows the orientation information of the underwater object location tracking of the underwater location tracking device according to an embodiment.
5A illustrates the paths of non-reflected and reflected sound waves according to an embodiment.
5B illustrates the speed of sound according to water depth according to an exemplary embodiment.
6A illustrates vertical angle information of a reflected sound signal according to an exemplary embodiment.
6B illustrates azimuth information and curved azimuth lines of a reflected sound signal according to an exemplary embodiment.
7 illustrates changes in azimuth information and curved azimuth lines of an acoustic signal according to time according to an exemplary embodiment.
8 is a diagram illustrating a change in a curved azimuth line according to the movement of an underwater position measuring device and an underwater object according to time according to an embodiment.
9 illustrates a set value of a PSO algorithm according to an embodiment.
10A illustrates initially set positions of particles in a PSO algorithm according to an embodiment.
10B illustrates an initially set velocity of particles in a PSO algorithm according to an embodiment.
10C illustrates a location established in a fourth generation of PSO algorithm particles according to an embodiment.
10D illustrates the speed established in the fourth generation of PSO algorithm particles according to one embodiment.
10E illustrates a location established in the eighth generation of PSO algorithm particles according to an embodiment.
10F illustrates the speed set in the eighth generation of PSO algorithm particles according to one embodiment.
10G illustrates the location established in the last generation of PSO algorithm particles according to one embodiment.
10H illustrates the speed established in the last generation of PSO algorithm particles according to one embodiment.
11 is a flowchart of a control method of an underwater location tracking device according to an embodiment.
12A illustrates a tracking time of azimuth information according to an embodiment.
12B illustrates a tracking time of orientation information according to another embodiment.
12C shows a tracking time of orientation information according to another embodiment.
13A illustrates a position of an underwater object tracked by the PSO algorithm according to the first embodiment.
13B illustrates the velocity of an underwater object tracked by the PSO algorithm according to the first embodiment.
14A illustrates the position of the underwater object tracked by the PSO algorithm according to the second embodiment.
14B illustrates the velocity of an underwater object tracked by the PSO algorithm according to the second embodiment.
15A illustrates the position of the underwater object tracked by the PSO algorithm according to the third embodiment.
15B illustrates the velocity of an underwater object tracked by the PSO algorithm according to the third embodiment.
16 shows a comparison table of results of tracking the location information of an underwater object according to the first to third embodiments.
17A illustrates the position of the underwater object tracked by the PSO algorithm according to the fourth embodiment.
17B shows the velocity of an underwater object tracked by the PSO algorithm according to the fourth embodiment.
18A illustrates the position of the underwater object tracked by the PSO algorithm according to the fifth embodiment.
18B shows the velocity of an underwater object tracked by the PSO algorithm according to the fifth embodiment.
19A illustrates the position of the underwater object tracked by the PSO algorithm according to the sixth embodiment.
19B illustrates the velocity of an underwater object tracked by the PSO algorithm according to the sixth embodiment.
20 shows a comparison table of results of tracking the location information of an underwater object according to the fourth to sixth embodiments.

Hereinafter, the present invention will be described in detail so that those skilled in the art can easily understand and reproduce the invention through the embodiments described with reference to the accompanying drawings. However, when it is determined that a detailed description of a known function or configuration related to the invention may unnecessarily obscure the gist of the embodiments of the invention, the detailed description thereof will be omitted.

The terms used below are terms selected in consideration of functions in the embodiment, and the meaning of the terms may vary according to the intention or custom of the user or operator. Therefore, the meaning of the terms used in the embodiments to be described below, when specifically defined below, follow the definition, and when there is no specific definition, it should be interpreted as a meaning generally recognized by those skilled in the art.

In addition, the aspects or configurations of the embodiments selectively described below can be freely combined with each other, unless it is clear that there is a technical contradiction to those skilled in the art, unless otherwise stated, even if shown as a single integrated configuration in the drawings. should be understood as possible.

Hereinafter, an embodiment of an underwater positioning device and a control method of the underwater positioning device will be described with reference to the accompanying drawings.

Hereinafter, an embodiment of the underwater location tracking device will be described with reference to FIGS. 1 to 3 .

1 shows the concept of an underwater positioning device and an underwater object, FIG. 2 is a schematic block diagram of the underwater positioning device, and FIG. 3 is a detailed block diagram of the underwater positioning device.

Referring to FIG. 1 , the underwater location tracking device 1 may be located underwater or on the water surface to track location information of an underwater object ob. The underwater object ob that tracks the location information may be mainly an underwater vessel ob1 such as a submarine or an aquatic organism ob2 such as whales and fish groups. The underwater location tracking device (1) is not an active sonar system that detects an underwater object (ob) by emitting sound waves to ensure stealth, but a passive sonar system that receives and detects an acoustic signal radiated from an underwater object (ob) , may include a senior row sonar (10).

Referring to FIG. 2 , the underwater location tracking device 1 may include a senior heat sonar 10 , a curved azimuth line calculation unit 20 , a motion analysis unit 30 , a power supply unit, an output unit, an input unit, and a memory. In addition, the preheated sonar 10, the curved azimuth line calculation unit 20, the motion analysis unit 30, the power supply unit, the output unit, the input unit, and the memory may be connected through a bus.

The senior heat sonar 10 may receive the acoustic signal of the underwater object ob, and convert it into a digital signal. The preheated sonar 10 is provided on the outer surface of the underwater location tracking device 1 to receive the acoustic signal of the underwater object ob that is straight, refraction, and reflected in the underwater environment.

The curved azimuth calculation unit 20 calculates a curved azimuth line based on the acoustic signal received from the senior row sonar 10, and the motion analyzer 30 analyzes the curved azimuth line to track the position information of the underwater object ob. can do. The curve bearing line calculating unit 20 and the motion analyzing unit 30 will be described with reference to FIG. 3 below.

The power supply unit may supply power to operate the components of the underwater positioning device (1). The power supply may include GRID power and DC LINK power. The GRID power supply is a power supply device that provides AC power, such as a DC link power supply. GRID power can receive external power and deliver it as DC LINK power, or convert chemical energy into electrical energy like a battery and deliver it to DC LINK power. The DC LINK power supply converts the AC power supplied from the GRID power source into a DC power source to provide the electrical energy required to drive the underwater positioning device (1). The DC LINK power supply may include a rectifier circuit, a power factor correction circuit, and a smoothing circuit. The rectifier circuit may convert AC power supplied from GRID power into DC power. The rectifier circuit may have a form in which four diodes of a full-bridge form are disposed, or a form in which two diodes and two capacitors of a half-bridge form are disposed. In addition, various types of circuit configurations capable of converting AC power to DC power may be used as an example of the rectifying circuit. The power factor correction circuit may adjust the size of the power converted into the DC type. Specifically, the power factor correction circuit may receive the determined compensation value or the DC power command and adjust the size of the DC power to reduce the loss of the power converter. The smoothing circuit may remove noise of the DC power compensated by the power factor correction circuit. Specifically, the smoothing circuit may be configured as a low-pass filter to remove high-frequency noise. For example, the smoothing circuit may have a type in which a capacitor is connected to two nodes in parallel, or a type in which a buffer is connected to the capacitor in parallel. In addition, various types of circuit configurations for removing noise from the DC power supply may be used as an example of the smoothing circuit.

The output unit may visually and aurally provide the process and result of the underwater location tracking device 1 tracking the location information of the underwater object ob. For example, the output unit may include a display. The display is a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel (Plasma Display Penal), a liquid crystal display (LCD) panel, an electro luminescence (Electro Luminescence: EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel, or Organic Light Emitting Diode (OLED) panel, etc. may be provided, but is not limited thereto. In addition, the output unit may include a central processing unit (CPU), a graphic processing unit (GPU), and various types of storage devices implemented with a microprocessor or the like, and such devices include built-in printing devices. It may be provided on a printed circuit board (PCB).

The input unit is a combination of a plurality of operation buttons for selecting the operation of the underwater positioning device (1). The input unit may be in the form of pressing the operation button in the form of a push button, may operate the operation of the underwater location tracking device 1 desired by the user, such as a slide switch, and may input the operation desired by the user in the form of a touch. In addition, various types of input devices for inputting the operation of the underwater location tracking device 1 desired by the user may be used as an example of the input unit.

The memory is used to perform the acoustic signal detected by the senior row sonar 10, the variable and the curved azimuth calculated in the calculation process by the curved azimuth calculation unit 20, and the curved azimuth line, and the motion analysis unit 30 to perform the PSO (Particle Swarm Optimization) algorithm It is possible to store the set variables and preset values. The memory may include a non-volatile memory such as a ROM, a high-speed random access memory (RAM), a magnetic disk storage device, a flash memory device, or other non-volatile semiconductor memory device. For example, a memory is a semiconductor memory device, such as a Secure Digital (SD) memory card, a Secure Digital High Capacity (SDHC) memory card, a mini SD memory card, a mini SDHC memory card, a TF (Trans Flach) memory card, and a micro SD memory card. , micro SDHC memory card, memory stick, CF (Compact Flach), MMC (Multi-Media Card), MMC micro, XD (eXtreme Digital) card, etc. may be used. The memory may also include network attached storage devices that are accessed via a network.

Hereinafter, with reference to FIG. 3 , the curved bearing line calculating unit 20 and the motion analyzing unit 30 will be described in detail.

Referring to FIG. 3 , the underwater location tracking device 1 may include a curved bearing line calculating unit 20 and a motion analyzing unit 30 .

The curved azimuth calculating unit 20 may calculate the curved azimuth line based on the acoustic signal received from the preheated sonar 10 . A method of calculating the curved azimuth line by the curved azimuth line calculating unit 20 will be described in detail with reference to FIGS. 4 to 8 .

Figure 4 shows the azimuth information for the underwater object location tracking of the underwater positioning device, Figure 5a shows the path of the non-reflected and reflected sound waves, Figure 5b shows the speed of sound according to the water depth, Figure 6a shows the vertical angle information of the reflected acoustic signal, FIG. 6B shows the azimuth information and the curved azimuth of the reflected acoustic signal, and FIG. 7 shows the azimuth information and the change in the curved azimuth of the acoustic signal, FIG. 8 shows changes in a curved azimuth line according to the movement of an underwater positioning device and an underwater object for each time.

으로 표현되고, 수중 위치추적장치(1)가 움직이는 방향과 북의 축이 이루는 각도인 선수각(heading angle)은

로 표현될 수 있다. 수중 위치추적장치(1)의 선수각으로부터 수중 대상체(ob)의 상대 방위각은

로 표현되고, 수학식 1에 의해 시간 k에 대한 상대 방위각이 산출될 수 있다.Referring to FIG. 4 , FIG. 4 shows azimuth information, and the true north azimuth angle of the underwater object ob is formed with the axis of the north of the underwater object ob with respect to the underwater location tracking device 1 . at an angle

The heading angle, which is the angle between the direction in which the underwater positioning device 1 moves and the axis of the north, is expressed as

can be expressed as The relative azimuth of the underwater object ob from the bow angle of the underwater positioning device 1 is

, and a relative azimuth with respect to time k may be calculated by Equation (1).

로 표현되고, 음향신호가 해저면에 반사되어 수중 위치추척장치로 입사되는 선과 수중 위치추적장치(1)의 진행방향과 이루는 원뿔각(conical angle)은

로 표현되고, 수학식 2에 의해 시간 k에 대한 원뿔각이 산출될 수 있다. 여기서

는 측정 노이즈로 표현될 수 있다.In addition, the acoustic signal of the underwater object ob is reflected through the seabed and is incident on the underwater location tracking device 1, and the vertical angle formed with the horizontal plane (elevation angle) is

is expressed as, and the conical angle formed with the line where the acoustic signal is reflected on the seabed and incident on the underwater positioning device and the direction of movement of the underwater positioning device 1 is

, and the cone angle with respect to time k can be calculated by Equation 2 . here

can be expressed as measurement noise.

In Fig. 4, the sound wave path is expressed in a vertical section of the underwater object ob and the underwater positioning device 1, which is a total depth of 2,000 m, the same sound velocity structure depending on the distance, the underwater positioning device 1 and the underwater It is assumed that the water depth of the object ob is 200 m. Referring to FIG. 5A , a sound wave radiated from an underwater object ob and received by the underwater location tracking device 1 is a sound signal received by being reflected through the seabed. Also, referring to FIG. 5B , it can be seen the change in the sound speed of the sound signal for each depth of water. This is caused by different pressure and temperature for each depth, and sound waves are refracted from a high speed to a low side. For this reason, the path of the sound signal of FIG. 5A may be refracted and transmitted as a curved line, rather than being transmitted in a straight line, which is the shortest path from the underwater object ob, or may be transmitted by being reflected on the sea floor. The acoustic signal transmitted directly to the underwater positioning device 1 without reflection can calculate the azimuth through the horizontal azimuth, but the acoustic signal reflected and transmitted to the seabed cannot be calculated through the horizontal azimuth. In addition, as can be seen from FIG. 5a, the acoustic signal directly transmitted to the underwater location tracking device 1 is about 3km as the maximum tracking distance based on 200m underwater, and there are various problems when calculating the orientation through the horizontal azimuth. ob) It is advantageous to determine the location information.

에 대한 음향신호 경로와 수중 대상체(ob)의 수심을 고려하여 수중 대상체(ob)의 거리를 도출할 수 있다. 수중 대상체(ob)의 수심을 연결한 수평선(L1)과 음향신호 경로의 교차점이 수중 대상체(ob)의 위치

를 의미하며, 수중 대상체(ob)에서 해저면에 수직한 방향으로의 수직선(L2)이 해저면과 만나는 거리를

로 표현할 수 있다. 또한, 도 6b와 같이 수중 대상체(ob)가 식별자 i일 경우, 상대 방위각은

로 표현되고, 원뿔각은

로, 원뿔각을 2차원 평면상에서 선으로 표현한 원뿔각선은 L3로 표현된다. 이 경우, 개별 후보군 식별자 i에 대한 수중 대상체(ob)의 위치

가 파악되고 이를 식별자 i 별로 연결한 것이 곡선방위선(L4)이다. 여기서 곡선방위선은 특정 시간에 수중 대상체(ob)가 위치할 수 있는 후보군의 집합을 의미한다. 구체적으로, 곡선방위선은 수학식 3과 같은 2x1의 행렬의 집합으로 표현될 수 있다. 수학식 3에서 d는 행렬의 성분을 의미한다. 구체적으로, d가 1이면 x축, d가 2이면 y축을 의미한다. 또한, k는 시간, i는 개별 후보군의 식별자를 의미한다. 또한, x축 상의 위치는

, y축 상의 위치는

로 표현될 수 있다.As shown in Fig. 6a, the vertical angle in the azimuth of the identifier i

The distance of the underwater object ob may be derived in consideration of the acoustic signal path and the depth of the underwater object ob. The position of the underwater object ob at the intersection of the horizontal line L1 connecting the water depth of the underwater object ob and the sound signal path

means the distance where the vertical line (L2) in the direction perpendicular to the sea floor in the underwater object (ob) meets the sea floor

can be expressed as In addition, when the underwater object ob is the identifier i as shown in FIG. 6b , the relative azimuth is

is expressed as, and the cone angle is

As a result, the cone angle line, which expresses the cone angle as a line on a two-dimensional plane, is expressed as L3. In this case, the position of the underwater object ob with respect to the individual candidate group identifier i

is identified and connected by identifier i is the curved bearing line (L4). Here, the curved azimuth line means a set of candidate groups in which the underwater object ob can be located at a specific time. Specifically, the curved azimuth line may be expressed as a set of 2x1 matrices as in Equation (3). In Equation 3, d denotes a component of a matrix. Specifically, when d is 1, it means the x-axis, and when d is 2, it means the y-axis. In addition, k denotes time and i denotes an identifier of an individual candidate group. Also, the position on the x-axis is

, the position on the y-axis is

can be expressed as

In addition, the position on the x, y coordinates according to time k of the underwater positioning device 1 may be expressed as a matrix of 2x1 as in Equation 4.

Referring to FIG. 7 , a change according to time k of the curved azimuth line described in FIG. 6B can be seen. At time k = 1, the cone angle L31 and the curved azimuth line L41 have a steep slope, and the vertical axis (Y axis) has a larger range than the horizontal axis (X axis), whereas at time k = K, the underwater object ( ob) and the underwater positioning device (1) move, the cone angle (L3K) and the curved bearing line (L4K) have a gentle slope, and it can be seen that the range of the horizontal axis (X-axis) rather than the vertical (Y-axis) has changed significantly. can

Referring to FIG. 8 , an example of a curved azimuth line according to the movement of the underwater object ob and the underwater location tracking device 1 at regular time intervals can be seen. The corresponding curved azimuth line indicates that the initial position of the underwater object ob is 0m, the initial position of the y-axis is 3,000m, the initial velocity of the x-axis is 0m/s, and the initial velocity of the y-axis is -3m/s, and the The initial position of the x-axis is 2,000 m, the initial position of the y-axis is -7,000 m, the initial velocity of the x-axis is 2.6 m/s, and the initial velocity of the y-axis is 1.5 m/s. In addition, the underwater location tracking device (1) measured 10 signals with a sample time period of 60 seconds from 0 seconds to 540 seconds, and changed the direction of movement every 180 seconds at 60° in azimuth to secure the observability of the underwater object (ob). Assuming that the needle changes once in a direction of 30°, a curved bearing line was calculated.

Referring again to FIG. 3 , the motion analyzer 30 may analyze the curved azimuth line to track the position information of the underwater object ob. Here, the position information of the underwater object ob may include a position, a moving direction, and a speed of the underwater object ob. Specifically, the motion analysis unit 30 may include a particle calculating unit 31 , an objective function calculating unit 32 , a PSO performing unit 33 , and a motion determining unit 34 .

The particle calculation unit 31 sets the curved bearing line calculated by the curved bearing line calculation unit 20 as the initial (first generation) particle position information of the PSO algorithm, and preset based on the maximum and average velocity of the underwater object ob. The velocity within the range is randomly selected and set as the initial (first generation) particle velocity information. In addition, the particle calculating unit 31 may set the position and speed of the next-generation particles based on the position information of the individual optimal particle, the cluster optimal particle, and the particles of the current generation.

이고, d가 2이면 y축상 위치인

이고, d가 3이면 x축상 속도인

이고, d가 4이면 y축상 속도인

이다.Specifically, the particle calculating unit 31 may be expressed as a 1x4 matrix as in Equation 5. In Equation 5, n is the number of generations, m is the number of particles, and d is the matrix component. That is, if d is 1, the position on the x-axis is

, and if d is 2, the position on the y-axis is

, and if d is 3, the speed on the x-axis is

, and if d is 4, the y-axis velocity is

am.

,

및

는 입자 속도 가중치,

및

는 0에서 1사이의 임의의 값을 의미한다. 또한,

는 목적함수 연산부(32)에서 선정한 개인 최적입자,

는 목적함수 연산부(32)에서 선정한 군집 최적입자를 의미한다.In addition, the particle calculating unit 31 may set the position and speed of the particles of the next generation as shown in Equations 6 to 9. In Equations 6 to 9

,

and

is the particle velocity weighted,

and

is any value between 0 and 1. In addition,

is the individual optimal particle selected by the objective function calculating unit 32,

denotes a cluster optimal particle selected by the objective function calculating unit 32 .

The objective function calculating unit 32 may calculate the objective function value of the current generation by performing a preset objective function for each particle according to the position and velocity of the particles of the current generation set by the particle calculating unit.

Specifically, the objective function calculating unit 32 may calculate a value obtained by summing the minimum distances perpendicular to the curved azimuth line from the set positions on the x and y axes for each particle for each time period as the objective function. In addition, according to an embodiment, an objective function including the distance between the position on the x and y axes of each particle and the underwater position tracking device 1 may be calculated as a denominator. Equation 10 is a formula expressing the objective function calculated by the objective function calculating unit 32 according to an embodiment, and Equation 11 is an expression expressing the objective function calculated by the objective function calculating unit 32 according to another embodiment.

The PSO performing unit 33 analyzes the objective function for each particle calculated by the objective function calculating unit 32 to select individual optimal particles and cluster optimal particles, and either terminates the PSO algorithm execution in the current generation or performs the PSO algorithm of the next generation. can decide whether to Specifically, the PSO performing unit 33 calculates the standard deviation of the objective function for each particle, and when the calculated standard deviation is less than or equal to a preset value, terminates the PSO algorithm as the current generation, and when the calculated standard deviation exceeds a preset value The PSO algorithm may be determined to perform the next-generation PSO algorithm. The PSO performing unit 33 may instruct the particle calculating unit 31 to set the next generation of particles when it is determined that the next generation of the PSO algorithm needs to be performed because the calculated standard deviation exceeds a preset value. In this case, the preset value is a value set empirically through an experiment as a setting value at the time of design or manufacture of the underwater positioning device (1). For example, the standard deviation for the position is 100m, and the standard deviation for the speed is 0.2m/s In addition, various set values may be set.

When the motion determining unit 34 determines that the PSO algorithm is terminated with the current generation with a standard deviation equal to or less than a preset value in the PSO performing unit 33, the position and velocity of the cluster optimal particles determined through the PSO algorithm of the current generation are included. It is possible to determine the position information of the underwater object (ob) as the position information.

The curve bearing line calculation unit 20 and the motion analysis unit 30 include a memory for storing the control program and control data retrieved from the memory, and a microprocessor for performing calculation operations according to the control program and control data stored in the memory. may include The memory may include a volatile memory such as SRAM or D-Lab. However, the present invention is not limited thereto, and in some cases, the memory may include a non-volatile memory such as a flash memory or an erasable programmable read only memory (EPROM).

The microprocessor performs an arithmetic operation for controlling various components included in the underwater location tracking device 1 according to the control program and control data stored in the memory. In addition, the microprocessor may be a processing device in which an arithmetic logic operator, a register, a program counter, an instruction decoder or a control circuit are provided on at least one silicon chip.

In addition, the microprocessor may include a graphic processing unit (GPU) for graphic processing of an image or video. The microprocessor may be implemented in the form of a system on chip (SoC) including a core and a GPU. A microprocessor may include single-core, dual-core, triple-core, quad-core and multiple cores thereof.

Hereinafter, a process in which the motion analyzer 30 determines the position information of the underwater object ob through a curved azimuth line and a PSO algorithm will be described by way of example with reference to FIGS. 9 to 10H .

은 0.79, 입자 속도 가중치

는 0.1, 입자 속도 가중치

는 0.2, 임의의 값

,

는 0에서 1까지의 임의의 수로 설정하였다.9 shows the set values of the PSO algorithm. As shown in FIG. 9 , the number of particles m in an example for performing the PSO algorithm is 200, matrix component d is 4, and the number of generations is expressed as n, the preset value of the standard deviation for the position is 100 m, and the standard deviation for the speed Preset value of 0.2m/s, particle velocity weighted

is 0.79, particle velocity weighted

is 0.1, the particle velocity weighted

is 0.2, any value

,

is set to any number from 0 to 1.

First, the results of the first generation PSO algorithm will be described with reference to FIGS. 10A and 10B . Fig. 10a shows the position established in the first generation of PSO algorithm particles, and Fig. 10b shows the generation established velocity in the first generation of PSO algorithm particles.

The particle calculation unit sets the position of each particle of the first generation as the curved bearing line calculated by the curved bearing line calculation unit 20 as shown in FIG. In FIG. 10A , it can be seen that the position OP of the cluster optimal particle, which is the particle having the smallest objective function, is different from the position FP of the actual underwater object ob through the first generation of the PSO algorithm. In addition, the particle calculating unit has a circular pattern by setting the speed in a preset range for the speed per particle of the first generation as the speed per particle as shown in FIG. 10B . Also, like the position, the velocity (OV) of the cluster optimal particle, which is the particle with the smallest objective function, is different from the actual velocity (FV) of the underwater object ob through the first generation of the PSO algorithm. .

Next, a fourth generation PSO algorithm result will be described with reference to FIGS. 10C and 10D . Fig. 10c shows the position established in the fourth generation of PSO algorithm particles, and Fig. 10d shows the velocity established in the fourth generation of PSO algorithm particles.

The particle calculation unit sets the position of each particle of the fourth generation as the position of each particle of the fourth generation based on the position of the third generation, the position of individual optimal particles, and the position of the cluster optimal particle as shown in FIG. Each particle has a location pattern. In Fig. 10c, through the fourth generation of the PSO algorithm, it was found that the difference between the position (OP) of the cluster optimal particle, which is the particle with the smallest objective function, and the position (FP) of the actual underwater object (ob) was closer than that of the first generation. can In addition, as shown in FIG. 10D , the particle calculation unit sets the speed for each particle of the fourth generation as the speed for each particle of the fourth generation based on the position of the third generation, the position of each optimal particle, and the position of the cluster optimal particle, and sets the velocity for the first generation. has a more concentrated pattern than that of Also, like the position, the difference between the velocity (OV) of the cluster optimal particle, which is the particle with the smallest objective function, and the velocity (FV) of the actual underwater object (ob) through the 4th generation of the PSO algorithm, compared to the first generation. It can be seen that they are adjacent.

Next, the results of the 8th generation PSO algorithm will be described with reference to FIGS. 10E and 10F . Fig. 10e shows the position established in the 8th generation of PSO algorithm particles, and Fig. 10f shows the velocity established in the 8th generation of PSO algorithm particles.

The particle calculation unit sets the position of each particle of the 8th generation as the position of each particle of the 8th generation based on the position of the 7th generation, the position of each optimal particle, and the position of the optimal cluster particle as shown in FIG. Each particle has a location pattern. In Fig. 10e, through the performance of the 8th generation of the PSO algorithm, it was found that the difference between the position (OP) of the cluster optimal particle, which is the particle with the smallest objective function, and the position (FP) of the actual underwater object (ob) was closer than that of the 4th generation. can In addition, the particle calculation unit sets the velocity of each particle of the 8th generation as the velocity of each particle of the 8th generation based on the position of the 7th generation, the position of each optimal particle, and the position of the cluster optimal particle as shown in FIG. has a more concentrated pattern than that of Also, like the position, the difference between the velocity (OV) of the cluster optimal particle, which is the particle with the smallest objective function, and the velocity (FV) of the actual underwater object (ob), through the performance of the 8th generation of the PSO algorithm, compared to the 4th generation. It can be seen that they are adjacent.

Finally, the results of the PSO algorithm of the last (31st) generation will be described with reference to FIGS. 10G and 10H. Fig. 10g shows the position established in the last generation of PSO algorithm particles, and Fig. 10h shows the velocity established in the last generation of PSO algorithm particles.

The particle calculation unit sets the position of each particle of the 31st generation as the position of each particle of the 31st generation based on the position of the 30th generation, the position of each optimal particle, and the position of the optimal cluster particle as shown in FIG. Each particle has a location pattern. In FIG. 10H , it can be seen that the position OP of the cluster optimal particle, which is the particle having the smallest objective function, is substantially the same as the position FP of the actual underwater object ob through the 31st generation of the PSO algorithm. In addition, the particle calculation unit sets the speed of each particle of the 31st generation to the speed of each particle of the 31st generation based on the position of the 30th generation, the position of each optimal particle, and the position of the cluster optimal particle as shown in FIG. has a more concentrated pattern than that of Also, it can be seen that the velocity (OV) of the optimal particle cluster, which is the particle with the smallest objective function, becomes almost the same as the velocity (FV) of the underwater object ob through the performance of the 31st generation of the PSO algorithm. . In this case, the PSO performing unit 33 determines that the standard deviation of the position and speed is less than or equal to a preset value and terminates the PSO execution, and the motion determining unit 34 determines the position and speed of the cluster optimal particle in the underwater object ob ) can be determined by the position and velocity of

Hereinafter, a method of controlling the underwater location tracking device 1 will be described with reference to FIG. 11 .

11 is a flowchart of a control method of an underwater positioning device. Referring to FIG. 11 , first, the curved azimuth line calculating unit 20 calculates the curved azimuth line, which is a set of candidate groups in which the underwater object ob can be located, with the acoustic signal of the underwater object ob received by the senior sonar 10 . It can be calculated separately (S 100).

In addition, the particle calculator may set position information including the position and velocity of each particle of the initial generation ( S200 ). In this case, the particle calculation unit sets the position on the curved azimuth line as the initial particle position for the position of each particle, and sets the velocity within a preset range as the velocity for each particle at random in consideration of the maximum and average velocity of the underwater object ob. can

In addition, the objective function calculating unit 32 may calculate the objective function according to time for each particle ( S300 ). Here, the objective function may be a value obtained by calculating and summing the minimum distance between the positional information for each particle and the curved azimuth for each time.

The PSO performing unit 33 may select an individual optimal particle and a cluster optimal particle for each particle of the current generation (S400), and calculate a standard deviation for each particle and each location information (S500). In addition, the PSO performing unit 33 compares the calculated standard deviation with a preset value (S600), and when the calculated standard deviation exceeds a preset value, transmits a command to the particle calculating unit to set the next generation of particles, and the particle calculating unit It is possible to set the next-generation particle based on the location information for each particle of the current generation, the individual optimal particle, and the cluster optimal particle (S250). In addition, the PSO performing unit 33 compares the calculated standard deviation with a preset value (S600), and if the calculated standard deviation is less than or equal to a preset value, transmits a command to the exercise determining unit 34, and the exercise determining unit 34 ) may determine the position information of the cluster optimal particle of the current generation as the position information of the underwater object ob (S700).

Hereinafter, the results of tracking the position of the underwater object ob tracked by the PSO algorithm for each measurement noise will be described with reference to FIGS. 12A to 16 .

12A to 12C show tracking times of azimuth information for each embodiment. 12A shows azimuth information when the standard deviation of the measurement noise is 0.2°, FIG. 12B shows the azimuth information when the standard deviation of the measurement noise is 0.4°, and FIG. 12C shows the standard deviation of the measurement noise Azimuth angle information is shown when is 0.6°. Looking at this, it can be seen that the lower the standard deviation of the measurement noise, the smaller the fluctuation of the cone angle, so the azimuth estimate has regularity and thus the accuracy is high.

13A shows the position of an underwater object ob tracked a total of 1,000 times by the PSO algorithm according to the first embodiment, and FIG. 13B is an underwater object ob tracked a total of 1,000 times by the PSO algorithm according to the first embodiment. ) is shown for the speed. 14A shows the position of the underwater object ob tracked a total of 1,000 times by the PSO algorithm according to the second embodiment, and FIG. 14B is an underwater object tracked a total of 1,000 times by the PSO algorithm according to the second embodiment. The speed of (ob) is shown. 15A shows the position of the underwater object ob tracked a total of 1,000 times by the PSO algorithm according to the third embodiment, and FIG. 15B is an underwater object tracked a total of 1,000 times by the PSO algorithm according to the third embodiment. The speed of (ob) is shown. Here, in the first embodiment, the standard deviation of the measurement noise is 0.2°, in the second embodiment, the standard deviation of the measurement noise is 0.4°, and in the third embodiment, the standard deviation of the measurement noise is 0.6°. 13A to 15B, the position (EP) and velocity (EV) of individual particles are concentrated as the standard deviation is smaller, and when the actual position (TP) and actual velocity (TV) are compared with the tracking position and the tracking speed, the tracking position and tracking speed seem to be tracked more closely as the standard deviation of the measurement noise is smaller. When this is quantified and examined, it can be determined that the average position on the right is closer to the actual position and the variance is small as the standard deviation of the measurement noise is smaller in the table of FIG. 16 .

Hereinafter, a result of tracking the position of the underwater object ob tracked by the PSO algorithm according to the number of scans will be described with reference to FIGS. 17A to 20 .

17A shows the position of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the fourth embodiment, and FIG. 17B shows the speed of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the fourth embodiment, there is. In addition, FIG. 18A shows the position of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the fifth embodiment, and FIG. 18B is the speed of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the fifth embodiment. is showing In addition, FIG. 19a shows the position of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the sixth embodiment, and FIG. 19b is the speed of the underwater object tracked a total of 1,000 times by the PSO algorithm according to the sixth embodiment. is showing Here, the preheated sonar 10 measured a different number of sound signals from 0 seconds to 540 seconds for the total scan time, and in the fourth embodiment, the number of scans is 15 and the scan period is 40 seconds, and the fifth embodiment is The number of scans is 30 and the scan period is 20 seconds, and in the sixth embodiment, the number of scans is 60 times and the scan period is 10 seconds. 17A to 19B, the position (EP) and velocity (EV) tracked by the PSO algorithm are concentrated as the number of scans increases. The location and tracking speed seem to be tracked more closely as the number of scans increases. If this is quantified and reviewed, it can be determined that the average position is closer to the actual position and the variance is small as the number of scans increases in the table of FIG. 20 .

The above description is merely illustrative of the technical idea, and various modifications, changes and substitutions will be possible without departing from the essential characteristics by those skilled in the art of the present invention. Accordingly, the embodiments disclosed above and the accompanying drawings are for explanation rather than limiting the technical idea, and the scope of the technical idea is not limited by these embodiments and the accompanying drawings. The scope of protection should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights.

ob : underwater object
1: Underwater location tracking device
10 : Seonyeol Sona
20: curve bearing line calculation unit
30: motion analysis unit
31: particle calculation unit
32: objective function operator
33: PSO execution unit
34: movement decision unit

Claims (15)

Seon-yeol Sona receiving an acoustic signal of an underwater object;
a curved azimuth line calculating unit for calculating a curved azimuth line that is a set of position candidates for the underwater object based on the received sound signal; and
Set the position information including the position and speed of the particles, calculate the objective function for each particle that is the distance between the position information and the curved azimuth line to calculate the optimal particle, and the position information of the optimal particle to the position of the underwater object a motion analysis unit to determine information;
An underwater positioning device comprising a. According to claim 1,
The motion analysis unit underwater location tracking device, characterized in that for calculating the smallest particle of the objective function as an optimal particle. According to claim 1,
The motion analysis unit sets the position information of the next generation of particles after calculating the optimal particle, and recalculates the objective function to recalculate the optimal particle underwater position tracking device. According to claim 1,
The motion analysis unit an underwater position tracking device for setting the position of the position information of the particles to the curved azimuth line. According to claim 1,
The motion analysis unit is an underwater location tracking device for randomly setting the speed within a preset range among the location information of the particles. 6. The method of claim 5,
The preset range is an underwater location tracking device, characterized in that it is set in consideration of the average speed of the underwater object. 4. The method of claim 3,
The motion analysis unit calculates individual optimal particles and optimal cluster particles when calculating the optimal particles, and determines the position information of the optimal cluster particles as the position information of the underwater object. 8. The method of claim 7,
The motion analysis unit underwater location tracking device, characterized in that for setting the location information of the next generation of particles based on the location information of the particles, the individual optimal particles and the cluster optimal particles. According to claim 1,
The motion analysis unit calculates the standard deviation of the objective function for each particle, and if the calculated standard deviation is less than or equal to a preset value, the underwater position tracking device for determining the position information of the optimal particle as the position information of the underwater object. According to claim 1,
The motion analysis unit calculates the standard deviation of the objective function for each particle, and when the calculated standard deviation exceeds a preset value, sets the position information of the next generation particles to recalculate the objective function to recalculate the optimal particle underwater position tracking device. According to claim 1,
The acoustic signal of the underwater object is an underwater location tracking device including a reflected acoustic signal. calculating a curved azimuth line that is a set of position candidates of the underwater object based on the received acoustic signal of the underwater object;
setting position information including positions and velocities of particles;
calculating an optimal particle by calculating an objective function for each particle that is a distance between the position information and the curved azimuth line; and
determining the calculated position information of the optimal particle as the position information of the underwater object;
A control method of an underwater positioning device comprising a. 13. The method of claim 12,
After calculating the optimal particle,
re-calculating the optimal particle by re-calculating the objective function by setting the position information of the next-generation particles;
Control method of the underwater positioning device further comprising a. 13. The method of claim 12,
In the step of setting the position information, the position of the particles is set as the curved azimuth line, and the velocity of the particles is randomly set within a preset range set in consideration of the average velocity of the underwater object, characterized in that A control method of an underwater location tracking device. 14. The method of claim 13,
The step of calculating the optimal particle is calculating the individual optimal particle and the group optimal particle,
The step of determining the position information of the underwater object determines the position information of the optimal particle cluster as the position information of the underwater object,
The step of re-calculating the optimal particles is a control method of an underwater location tracking device, characterized in that for setting the position information of the next generation particles based on the position information of the particles, the individual optimal particles and the cluster optimal particles.

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