LU100687B1 - Experimental System and Method for Detecting Frequency Target of Underwater Mobile Submerged Body - Google Patents
Experimental System and Method for Detecting Frequency Target of Underwater Mobile Submerged Body Download PDFInfo
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- LU100687B1 LU100687B1 LU100687A LU100687A LU100687B1 LU 100687 B1 LU100687 B1 LU 100687B1 LU 100687 A LU100687 A LU 100687A LU 100687 A LU100687 A LU 100687A LU 100687 B1 LU100687 B1 LU 100687B1
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- underwater vehicle
- underwater
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 20
- 229910052744 lithium Inorganic materials 0.000 claims description 20
- 230000009189 diving Effects 0.000 claims description 17
- 238000013528 artificial neural network Methods 0.000 claims description 12
- 239000000919 ceramic Substances 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 10
- 238000004611 spectroscopical analysis Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 239000013535 sea water Substances 0.000 claims description 2
- 238000012795 verification Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims 2
- 230000001427 coherent effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 claims 1
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000002474 experimental method Methods 0.000 abstract description 2
- 239000000969 carrier Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
- G01H11/08—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means using piezoelectric devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H3/00—Measuring characteristics of vibrations by using a detector in a fluid
- G01H3/04—Frequency
- G01H3/06—Frequency by electric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G9/00—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines
- B63G2009/005—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines of sonic watch equipment, e.g. low-frequency or sonar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Oceanography (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The utility model discloses an experimental system and a method for detecting a frequency target of an underwater mobile submerged body. The experimental system of the utility model comprises an underwater vehicle (501), an underwater vehicle (502), an underwater vehicle (503), a survey vessel base station and a underwater mobile submerged body (20) respectively, and the survey vessel base station controls the motion attitude, data acquisition and processing of the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) through wireless communication. Based on the impedance analysis theory, the experimental method of the utility model detects a frequency target of an underwater mobile submerged body with known frequency and identifies the position thereof by taking the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) as data acquisition carriers. The utility model has the advantages of simple structure, high detection efficiency and long detection range, and thus can detect and identify an underwater mobile target of known frequency. Fig. 1
Description
Experimental System and Method for Detecting Frequency Target of Underwater Mobile Submerged Body
Technical Field
The present invention relates to an experimental system and a method for detecting a frequency target of an underwater mobile submerged body, in particular to the technical field of detecting a frequency target of a mobile submerged body.
Background
The method for detecting an underwater submarine is mainly realized by anti-submarine patrol aircraft or surface ship.
The anti-submarine patrol aircraft may detect an underwater submarine by a sonobuoy, a magnetic anomaly detector and a dipping sonar. Among them, the sonobuoy is widely used as a main device for proactively searching submarines in modem anti-submarine warfare aircrafts when an extensive sea area with potential submarine activities will be searched in a short time, or when a hostile submarine may pass a navigation channel that is to be blocked, or when an anti-submarine patrol aircraft serves as an anti-submarine guard for important targets. The magnetic anomaly detector detects submarines in a passive mode and is an essential device equipped in general anti-submarine patrol aircrafts. The detector is well concealed, highly reliable and immune to marine noise interference, but it is limited to low or ultralow altitude detection due to short operating distance. Therefore, it is generally used to verify and accurately position a submarine after its general location is determined by other detection measures.A surface ship detects an underwater submarine mainly by hull sonar, variable depth sonar or towed linear array sonar. Any submarine below the spring layer is nearly undetectable to the hull sonar of the surface ship unless a towed sonar is adopted and allowed to enter the spring layer. The towed variable depth sonar is a passive sonar, which requires that an array is mounted in a towed body towed by an anti-submarine surface ship, a mine sweeper or an anti-submarine aircraft for carrying out such tasks as active submarine-searching operation, mine detection, seabed exploration, etc. with a detection depth of from hundreds of meters to kilometers. The towed linear array sonar is an active sonar developed from the towed variable depth sonar and has the advantage of high detection accuracy, with a detection depth of tens of meters. Through sonar detection, a target of an underwater submerged body may be detected but cannot be identified.
The experimental system and method of the invention for detecting a frequency target underwater mobile submerged body is based on the impedance analysis theory, and an underwater vehicle (501) is adopted to detect and identify the position of an underwater submerged body of known frequency. The detection method of the invention has the advantages of simple structure, high detection efficiency and long detection range, and thus can detect and identify an underwater mobile target of known frequency.
Summary of the Invention
The invention provides an experimental system and a method for detecting a frequency target of an underwater mobile submerged body, through which the following experiments can be accomplished: © controlling the surfacing and diving of the underwater vehicle (501): when the underwater vehicle (501) is surfacing or diving, the survey vessel base station (11) commands the single-chip microcomputer (5) to control the opening or closing of the pure water hydraulic pump (3); and the lithium battery pack (7) is boosted to power the pure water hydraulic pump (3); (2) controlling the moving of the underwater vehicle (501): when the underwater vehicle (501) is moving forward or backward, the survey vessel base station (11) commands the single-chip microcomputer (5) to control synchronized rotation of the propellers on the left power propulsion unit (21) and the right power propulsion unit (8) in forward or backward direction, so as to achieve the purpose of travelling forward or backward; and (3) a method for detecting a mobile frequency target: the survey vessel base station (11) commands the single-chip microcomputer (5) to control the starting or stopping of the scanning frequency operation of the impedance analyzer (6); in surveying a frequency signal received by a piezoelectric transducer (4) from an underwater mobile submerged body (20), the scanning frequency operation of the impedance analyzer (6) obtains resonance spectroscopy, of which the peak frequency is the resonance frequency produced when scanning the signal and the underwater mobile submerged body (20); ® a method for identifying the position of the underwater mobile submerged body (20); (5) determining the trajectory of the underwater mobile submerged body (20).
The technical solution for the technical problem in the invention is as follows:
As shown in FIGs. 1, 2, 3 and 4, the experimental system of the present invention comprises a cabin (1), a left middle balance wing (15), a right middle balance wing (16), a left rear balance wing (17), a right rear balance wing (18), a balance tail wing (19), a surfacing and diving section (101) of the underwater vehicle, a surveying section (102) of the underwater vehicle, a power section (103) of the underwater vehicle and a wireless communication section (104) of the underwater vehicle respectively. The surfacing and diving section (101) of the underwater vehicle mainly a water tank (2), a pure water hydraulic pump (3) and a lithium battery pack (7); the surveying section (102) of the underwater vehicle comprises a surveying piezoelectric transducer (4), a single-chip microcomputer (5), an impedance analyzer (6) and a lithium battery pack (7); the power section (103) of the underwater vehicle comprises a lithium battery pack (7), a left power propulsion unit (21) and a right power propulsion unit (8); and the wireless communication section (104) of the underwater vehicle comprises a single-chip microcomputer (5), a lithium battery pack (7), an antenna (9), a buoy (13) and a double-ended threaded hose (14).
The method of the experimental system for detecting a frequency target of an underwater mobile submerged body (20) is characterized by comprising the following steps: (D Method for controlling the surfacing and diving of the underwater vehicle (501) (2) Method for controlling the moving of the underwater vehicle (501) (3) Method for finding a target on the surveying section (102) of the underwater vehicle (D Control of communication flow between the survey vessel base station (11) and the wireless communication section (104) of the underwater vehicle (5) Method for identifying the underwater mobile submerged body (20) (6) Determining the trajectory of the underwater mobile submerged body (20)
Compared with the related art, the invention has the following beneficial effects:
Through the experimental system and method of the present invention, the following steps can be accomplished: (1) controlling the surfacing and diving of the underwater vehicle (501); (2) controlling the moving of the underwater vehicle (501); (3) detecting a frequency target; (4) completing the communication between the survey vessel base station (11) and the wireless communication section (104) of the underwater vehicle; (5) identifying the position of the underwater mobile submerged body (20); (6) determining the trajectory of the underwater mobile submerged body (20). The invention provides a new solution and design basis for detecting a target of an underwater submerged body.
Brief Description of the Drawings
The invention will be further described in combination with drawings and embodiments.
Fig. 1 is a test schematic diagram of the invention.
Fig. 2 is a 3D schematic diagram 1 of the underwater vehicle (501) of the invention.
Fig. 3 is a 3D schematic diagram 2 of the underwater vehicle (501) of the invention.
Fig. 4 is a test schematic frame diagram of the invention.
In FIGs 1, 2, 3 and 4, 1. cabin, 2. water tank, 3. pure water hydraulic pump, 4. surveying piezoelectric transducer, 5. single-chip microcomputer, 6. impedance analyzer, 7. lithium battery pack, 8. right power propulsion unit, 9. antenna, 10. GPS positioning assembly, 11. survey vessel base station, 12. cabin door, 13. buoy, 14. double-ended threaded hose, 15. left middle balance wing, 16. right middle balance wing, 17 left rear balance wing, 18. right rear balance wing, 19. balance tail wing, 20. underwater mobile submerged body, 21. left power propulsion unit, 101. surfacing and diving section of underwater vehicle, 102. surveying section of underwater vehicle, 103. power section of the underwater vehicle, 104. wireless communication section of the underwater vehicle, underwater vehicle (501), underwater vehicle (502) and underwater vehicle (503).
Detailed Description of the Preferred Embodiments
As shown in FIGs 1, 2, 3 and 4, the experimental system for detecting a frequency target of the underwater mobile submerged body (20) comprises an underwater vehicle (501), an underwater vehicle (502), an underwater vehicle (503), a survey vessel base station and an underwater mobile submerged body (20); in which the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) have identical structure and function. The underwater vehicle (501), as an example, is introduced as follows: the underwater vehicle (501) comprises a cabin (1), a left middle balance wing (15), a right middle balance wing (16), a left rear balance wing (17), a right rear balance wing (18), a balance tail wing (19), a surfacing and diving section (101) of the underwater vehicle, a surveying section (102) of the underwater vehicle, a power section (103) of the underwater vehicle and a wireless communication section (104) of the underwater vehicle respectively. The surfacing and diving section (101) of the underwater vehicle mainly comprises a water tank (2), a pure water hydraulic pump (3) and a lithium battery pack (7); the surveying section (102) of the underwater vehicle comprises a surveying piezoelectric transducer (4), a single-chip microcomputer (5), an impedance analyzer (6) and a lithium battery pack (7); the power section (103) of the underwater vehicle comprises a lithium battery pack (7), a left power propulsion unit (21) and a right power propulsion unit (8); and the wireless communication section (104) of the underwater vehicle comprises a single-chip microcomputer (5), a lithium battery pack (7), an antenna (9), a buoy (13) and a double-ended threaded hose (14).
The left middle balance wing (15), the right middle balance wing (16), the left balance wing (17), the right rear balance wing (18) and the balance tail wing (19) are in welded connection with the cabin (1). The water tank (2) is in welded connection with the lower part of the cabin and the pure water hydraulic pump (3) is in bolted connection with the upper panel of the water tank (2). The surveying piezoelectric transducer (4) is in welded connection with the cabin (1). The single-chip microcomputer (5) is fixed on the mounting rack of the impedance analyzer (6) by bolts. The impedance analyzer (6) is firmly fixed on the mounting plate above the water tank by bolts through the mounting rack. The lithium battery pack (7) is fixed on the mounting plate above the water tank by bolts through the mounting rack. The rack of the left power propulsion unit (21) is directly welded on the cabin (1). The antenna (9) and the single-chip microcomputer (5) are connected by an antenna extension, the lower end of the double-ended threaded hose (14) is in threaded connection with the cabin (1), and the double-ended threaded hose (14) is in threaded connection with the buoy (13). An antenna extension is provided in the double-ended threaded hose (14). The antenna (9) is mounted on the base on the buoy (13), which serves to connect the antenna (9) and the antenna extension. The left power propulsion unit (21) and the right power propulsion unit (8) are directly welded on the cabin (1).
External material of the surveying piezoelectric transducer (4) is cast aluminum and piezoelectric ceramic is uniformly sintered on inner wall of the surveying piezoelectric transducer (4), with the thickness of the piezoelectric ceramic being 0.3 to 0.6 mm.
The method of the experimental system for detecting a frequency target of an underwater mobile submerged body (20) is characterized by comprising the following steps: (D Method for controlling the surfacing and diving of the underwater vehicle (501)
When the underwater vehicle (501) is surfacing or diving, the survey vessel base station (11) commands the single-chip microcomputer (5) to control the opening or closing of the pure water hydraulic pump (3); and the lithium battery pack (7) is boosted to power the pure water hydraulic pump (3); 1 ) Diving of the underwater vehicle (501 )
The pure water hydraulic pump (3) draws water into the water tank (2) from the outside of the underwater vehicle (501) to increase overall weight of the underwater vehicle (501). When the weight of the underwater vehicle (501) exceeds its buoyancy force, the underwater vehicle (501) begins to dive. When the underwater vehicle (501) dives to a certain height, i.e. the buoyancy force of the underwater vehicle (501) is equal to its weight then, the underwater vehicle stops diving. 2) Surfacing of the underwater vehicle (501 )
In order to allow the underwater vehicle (501) to surface, the water in the water tank (2) is extracted into seawater outside by the pure water hydraulic pump (3). Then, the overall weight of the underwater vehicle (501) decreases. When the buoyancy force of the underwater vehicle (501) is greater than its weight, the underwater vehicle (501) surfaces until it reaches the position where its weight is equal to the buoyancy force. (2) Method for controlling the moving of the underwater vehicle (501)
When the underwater vehicle (501) is moving forward or backward, the survey vessel base station (11) commands the single-chip microcomputer (5) to control synchronized rotation of the propellers on the left power propulsion unit (21) and the right power propulsion unit (8) in forward or backward direction, so as to achieve the purpose of travelling forward or backward. If the underwater vehicle (501) is moving to the left, the survey vessel base station (11) commands the single-chip microcomputer (5) to rotate the left propeller slowly and rotate the right propeller quickly, so as to keep the course forward and leftward by ensuring that thrust of the left propeller is greater than that of the right propeller and the force acted on the right side is larger than that on the left side. To move toward the right, the rotational speed of the left propeller is kept to be larger than that of the right propeller, i.e. the force acted on the left side of the underwater vehicle is larger than that on the right side. ® Method for finding a target on the surveying section (102) of the underwater vehicle
The impedance analyzer (6) in the surveying section (102) of the underwater vehicle is boosted by the lithium battery pack (7) for supplying power. In use, the impedance analyzer (6) keeps normally open scanning frequency interface and is connected to the surveying piezoelectric transducer (4) by an external fixture of the impedance analyzer (6) and by a conductive lead of the surveying piezoelectric transducer (4), with the conductive lead being welded on a piezoelectric ceramic wafer. The other part of the fixture on the impedance analyzer (6) is connected to non-piezoelectric ceramic part of the surveying piezoelectric transducer (4) by a conductive lead, and the wire is welded on the non-piezoelectric ceramic wafer. The frequency signal sent from the underwater mobile submerged body (20) has the frequency f and the scanning frequency range of the impedance analyzer (6) is f±0.1 kHz.
The survey vessel base station (11) commands the single-chip microcomputer (5) to control the starting or stopping of the scanning frequency operation of the impedance analyzer (6).
surveying piezoelectric transducer (4) receives a frequency signal from the underwater mobile submerged body (20), the scanning frequency operation of the impedance analyzer (6) obtains resonance spectroscopy, of which the peak frequency is the resonance frequency produced when scanning the signal and the underwater mobile submerged body (20). © Control of communication flow between the survey vessel base station (11) and the wireless communication section (104) of the underwater vehicle
The communication flow between the wireless communication section (104) of the underwater vehicle and the survey vessel base station (11) is controlled as follows: the survey vessel base station (11) is connected to the wireless communication section (104) of the underwater vehicle, the survey vessel base station (11) gives orders to the wireless communication section (104) of the underwater vehicle through wireless transmitter on the vessel, and the wireless communication section (104), after receiving the orders, exchanges data with the single-chip microcomputer (5), which schedules all devices in the underwater vehicle (501) according to the orders from the wireless communication section (104). (5) Method for identifying the underwater mobile submerged body (20)
The method for identifying the position of the underwater mobile submerged body (20) is described by the example below, where the underwater mobile submerged body (20) is in a fixed position and its frequency is 40kHz. 1) The scanning frequency range of the impedance analyzer on the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) is set as from 39.9kHz to 40.1kHz, the 40kHz underwater mobile submerged body (20) is placed into the target sea area, and the three underwater vehicles (501), (502) and (503) are driven to the target sea area. Then, the survey vessel base station (11) sends a scanning frequency instruction to the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503). After the frequency scanning operation of the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503), relevant data are sent to the survey vessel base station (11) for analysis. The underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) can all scan a stable frequency of 40 kHz underwater mobile submerged body (20), indicating that the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) can enter the sea area which can be identified by the underwater mobile submerged body (20). 2) Build a position identification database A. Building of neural network database The collected experimental data will be transmitted to the computer through a transmission interface to create neural network data. A sample of collected data will be set up and the data will be normalized and scaled. During the detection and positioning of the underwater mobile submerged body (20), the position of the underwater mobile submerged body (20) can be displayed through the position code. Then, set different positions as k = 1 to 6, and allow k to correspond to contrast signals 50m, 500m, 1,000m, 2,000m and 3,000m; represent code of different position by 6-order unit matrix E.
Set the upper limit of the number of network tests to 1,000 times, the convergence rate of the network to 0.01, and the network test error to 0.001. The number of hidden layer nodes in the network is 16 and that of the output layer node in the network is 6. When the final target output vector Ei and E are consistent, the network for detecting and positioning the underwater mobile submerged body (20) is acceptable. B. Verification of neural network database
Take the test data of 1,900m as an example. The neural network is entered to test the data, and it is surveyed that the neural network is effective when the underwater mobile submerged body (20) is nearly 2,000m from the underwater vehicle (501). 3) Determining the position of the underwater mobile submerged body (20)
When the underwater vehicle (501) detects a signal, the underwater mobile submerged body (20) falls within the surveying range of the underwater vehicle (501). At this time, the underwater vehicle (502) and the underwater vehicle (503) are controlled to move around the underwater vehicle (501) and detect signals until the underwater vehicle (502) and the underwater vehicle (503) can detect respective target signals. At time t, it is detected by the GPS positioning assembly (10) that the space coordinates of the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) are (xi,yi,zo), (x2,y2,zo) and (x3,y3,zo). Through neural network analysis, it is determined that the underwater vehicle (501), the distance from the underwater vehicle (501), the underwater vehicle (502) and the underwater vehicle (503) to the underwater mobile submerged body (20) is Li, L2 and L3 respectively. So, the underwater mobile submerged body (20) is certainly located on an underwater intersection of three spherical surfaces which take the underwater vehicle (501) as the center of a circle, the Li as radius; the underwater vehicle (502) as the center of a circle, the L2 as radius; and the underwater vehicle (503) as the center of a L3 as radius respectively.
Based on three-ball space positioning principle, the position coordinates of the three underwater vehicles, i.e. three-ball spherical coordinates (xi, yi, zo), (x2, y2, zo) and (x3, y3, zo), are obtained by the GPS positioning assembly (10). The distance from the three underwater vehicles to the underwater mobile submerged body (20) is Li, L2 and L3 respectively. The underwater vehicle is on the same horizontal plane, so the coordinate zO is unchanged. The equations of three balls are as follows:
At time ti, the intersection Pi(x, y, z) is
The intersection Pi(x, y, z) is the position coordinates of the underwater mobile submerged body (20). (6) Determining the trajectory of the underwater mobile submerged body (20)
The method for identifying the position of the underwater mobile submerged body (20) is described by the example below, where the underwater mobile submerged body (20) is moving at the frequency of 40kHz.
To sum up, at time ti, it is surveyed that the position coordinate of the underwater mobile submerged body (20) is Pi(x, y, z).
Similarly, at time t2, the position coordinate of the underwater mobile submerged body (20) is ?2 (x, y, z); at time t3, the position coordinate of the underwater mobile submerged body (20) is P3 (x, y, z)...; and at time tn, the position coordinate of the underwater mobile submerged body (20) is Pn (x, y, z).
The kinematic trajectory equation of the underwater mobile frequency target at different time can be obtained through curve fitting of the time coordinates ti, t2,...,tn and corresponding position coordinates Pi (x, y, z), P2 (x, y, z),..., Pn (x, y, z) of the underwater mobile submerged body (20).
The fundamental principles, main features and advantages of the invention have been shown and described above. It should be understood by those skilled in the art that the invention is not limited to the above examples, the examples and the specification only describe the principle of the invention, and various changes and improvements can be made to the invention without departing from the spirit and scope of the invention, and the changes and improvements will fall into the protection scope of the invention. The protection scope of the invention is defined by the appended claims and their equivalents.
Claims (8)
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CN106707286B (en) * | 2017-02-06 | 2019-05-10 | 安徽理工大学 | A kind of experimental system and method for underwater mobile submerged body frequency targets detection |
CN107272714A (en) * | 2017-08-09 | 2017-10-20 | 深圳市北航旭飞科技有限公司 | Maritime affairs monitoring system |
CN115195963B (en) * | 2022-07-12 | 2023-07-21 | 江苏科技大学 | Submerged emergency floating experiment device and working method |
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CN102495420B (en) * | 2011-12-13 | 2013-06-05 | 大连海事大学 | Underwater object precision positioning system and method |
CN105629979B (en) * | 2015-12-22 | 2019-01-08 | 中国船舶重工集团公司第七一五研究所 | A kind of the remote status tracking and control method and system of AUV platform |
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CN106707286B (en) * | 2017-02-06 | 2019-05-10 | 安徽理工大学 | A kind of experimental system and method for underwater mobile submerged body frequency targets detection |
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