LU503251B1 - Underwater imaging sonar measurement and calibration device and method thereof - Google Patents

Underwater imaging sonar measurement and calibration device and method thereof Download PDF

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Publication number
LU503251B1
LU503251B1 LU503251A LU503251A LU503251B1 LU 503251 B1 LU503251 B1 LU 503251B1 LU 503251 A LU503251 A LU 503251A LU 503251 A LU503251 A LU 503251A LU 503251 B1 LU503251 B1 LU 503251B1
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Luxembourg
Prior art keywords
calibration
sonar
sonar device
experimental
rails
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LU503251A
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German (de)
Inventor
Yicheng Liu
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Tianjin Research Inst Water Transp Engineering Mot
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Priority to LU503251A priority Critical patent/LU503251B1/en
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • 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
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
    • G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention discloses an underwater imaging sonar measurement and calibration device, comprising an experimental pool, a rail module and a calibration module, wherein the rail module is arranged at a top end of the experimental pool to adjust different positions and attitudes of a sonar device, the rail module comprises first rails respectively arranged on any two symmetrical sides of the experimental pool, and between two first rails are vertically and slidingly connected second rails; on the second rails are connected two experimental platforms, the sonar device is mounted on a bottom end of any one of the experimental platforms through connecting rods; and the calibration module is used to receive and calibrate the sonar device, and comprises a receiving assembly and a processing assembly which are in electrical connection, and the receiving assembly is mounted on a bottom end of another of the experimental platforms.

Description

Description (0503251
Underwater imaging sonar measurement and calibration device and method thereof
Technical Field
The present invention relates to the technical field of detection equipment, in particular to an underwater imaging sonar measurement and calibration device and method thereof.
Background Technology
Underwater imaging sonar systems refer to physical performance testing instruments used in fields like earth science, engineering and technical science basic discipline, hydraulic engineering, by which seafloor morphology and targets can be detected, and seafloor acoustic imaging can be visually provided based on a principle that incident acoustic waves from transducer sectors are backscattered by underwater sediments. In recent years, underwater imaging sonar systems have been widely utilized in water transportation engineering, underwater rescue, port construction and channel dredging, seabed target detection (such as detecting sunk ships, aircraft, missiles and torpedoes), ocean mapping, marine resources development and other aspects. The development of scanning sonar measurement and calibration procedures is conducive to providing accurate underwater sonar images and sediment classification data for the industry, and laying standard technical foundation for judging various underwater landforms and obstacles directly.
Sonar calibration tests in China are generally carried out in pools by installing sonars onto rotating columns and extending the rotating columns into water, which however, cannot truly simulate natural water environment, resulting in inaccurate calibration; meanwhile, existing sonar devices has so tedious and complicated installation and adjustment processes, resulting in low calibration efficiency. Therefore, an underwater imaging sonar measurement and calibration device with high calibration efficiency is urgently needed to solve the above problems.
Summary of the Invention
The present invention aims to provide an underwater imaging sonar measurement and calibration device and method thereof, so as to solve technical problems mentioned above.
In order to achieve above purposes, the present invention offers following technical solutions:
An underwater imaging sonar measurement and calibration device comprises an experimental pool, a rail module and a calibration module, wherein the experimental pool is used to calibrate a sonar device; the rail module is arranged at a top end of the experimental pool to adjust different positions and attitudes of the sonar device; the rail module comprises first rails respectively arranged on any two symmetrical sides of the experimental pool, and between two of the first rails are vertically and slidingly connected second rails; on the second rails are connected two experimental platforms, the sonar device is mounted on a bottom end of any one of the experimental platforms through connecting rods; and the calibration module is used to receive and calibrate the sonar device, and comprises a receiving assembly and a processing assembly which are in electrical connection, and the receiving assembly is mounted on a bottom end of another one of the experimental platforms and corresponds to the sonar device.
Preferably, the first rails comprise support posts fixedly connected to top edges of the experimental pool, at opposite sides of two of the support posts are provided sliding grooves; inside the sliding grooves are rotationally connected screws, the screws are in threaded connection with movable seats, the movable seats are in sliding connection with the sliding grooves; and tips of the second rails are in detachable connection with top ends of the movable seats.
Preferably, at the top ends of the movable seats are provided relief slots and the tips of the 032°] second rails are clamped into the relief slots.
Preferably, the second rails comprise clamping blocks arranged at both ends thereof, the clamping blocks are clamped with the relief slots; at opposite sides of two of the clamping blocks are provided racks and sliding rods, the racks and the sliding rods are parallel and symmetrically arranged; and the experimental platforms are in sliding connection with the racks and the sliding rods.
Preferably, the experimental platforms comprise mounting seats, both the sliding rods and the racks penetrate and are in sliding connection with the mounting seats, inside the mounting seats are provided power gears, the power gears are arranged between the racks and the sliding rods and mesh with the racks, bottom ends of the mounting seats are provided with bosses, top ends of the sliding rods are rotationally connected with the bosses, at top ends of the mounting seats are fixedly provided low-speed motors, output ends of the low-speed motors (20) are fixedly connected with power shafts, and the power shafts penetrate gear center shafts and are detachably connected with center shafts of the connecting shafts.
Preferably, both top ends of the mounting seats and centers of the bosses are provided with bearings, inner rings of the bearings are fixedly connected with the power shafts, inside central holes of the power gears are fixedly connected first deformable sleeves coaxial with the power gears, the power shafts penetrate and are detachably connected with the first deformable sleeves, and the first deformable sleeves are in electrical connection with the processing assembly.
Preferably, at top ends of the connecting rods are opened connecting holes, inside the connecting holes are embedded and connected second deformable sleeves, ends of the power shafts away from the low-speed motors extend into and are detachably connected with the second deformable sleeves, and the second deformable sleeves are in electrical connection with the processing assembly.
. . . . . LU503251
Preferably, inner walls of the experimental pool are laid with sound-absorbing layers for absorbing and isolating sound waves.
An underwater imaging sonar measurement and calibration method comprises following steps of: installation of the underwater imaging sonar measurement and calibration device; working frequency calibration of a sonar device, i.e., adjusting transmission mode parameters of the sonar device, processing sonic waves through the receiving assembly, transmitting processed sonic waves to the processing assembly, and obtaining calibration results; wave beam width calibration of the sonar device, i.e., adjusting an emission sector of the sonar device into horizontal, adjusting the receiving assembly up and down step by step, collecting open circuit voltages at corresponding angular positions, and calculating width indication errors of horizontal wave beams; adjusting the emission sector of the sonar device to rotate horizontally step by step, collecting open circuit voltages at positions perpendicular to the corresponding angular positions, and calculating width indication errors of vertical wave beams; stepping interval calibration of the sonar device, i.e., rotating the sonar device continuously, and collecting signals through the receiving assembly to obtain stepping interval calibration data; imaging distance calibration of the sonar device, i.e., expanding a distance between the sonar device and a side wall of the experimental pool until an image disappears, measuring an actual distance between the side wall of the experimental pool and the sonar device, and calibrating an imaging distance of sonar device; identification threshold calibration of the sonar device, i.e., adjusting a minimum stepping interval of the sonar device, scanning a target block at a bottom portion of the experimental pool, calibrating the identification threshold; and data processing for obtaining calibration results. (0508251
Preferably, in the step of installation of the underwater imaging sonar measurement and calibration device, sonic wave emission points of the sonar device are aligned with receiving points of the receiving assembly.
The present invention has following beneficial effects:
By means of the underwater imaging sonar measurement and calibration device and method thereof disclosed in the present invention, a sonar device could be arranged into an experimental pool for calibration without any outdoor operation, which is more convenient and securer, and improves calibration efficiency; further, at a top end of the experimental pool is provided a rail module comprising first rails and second rails, at the second rails are provided experimental platforms, at bottom ends of the experimental platforms are provided the sonar device and a receiving module, and positions of both the sonar device and the receiving module could be adjusted at will so that multiple sets of calibration data could be obtained, thereby improving calibration accuracy; and a calibration module is also arranged and comprises a receiving assembly and a processing assembly, the receiving assembly is arranged corresponding to the sonar device for receiving sonic signals from the sonar device and transmitting the sonic signals to the processing assembly so as to obtain calibration data. The underwater imaging sonar measurement and calibration device of the present invention is simple in structure, easy to use and adjust and applicable for calibration of various sonars. And the present invention further discloses an imaging depth-sensing measurement calibration method which is not only simple and convenient, but also achieves more accurate calibration in a more effective manner.
Brief Description of the Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Apparently, the accompanying drawings in the following description are only embodiments of the present 909251 invention, and those skilled in the art can obtain other accompanying drawings according to the provided drawings without creative work.
Figure 1 is a top view of an underwater imaging sonar measurement and calibration device of the present invention.
Figure 2 is a structural view of the underwater imaging sonar measurement and calibration device of the present invention.
Figure 3 is a partial sectional enlarged view of part “A” in figure 2.
Figure 4 is a structural view of an experimental platform of the present invention.
Figure 5 is a partial sectional enlarged view of part “B” in figure 3.
The markups in the drawings are indicated as follows: 01- experimental pool; 02- sonar device; 03- first rail; 04- second rail; 05- experimental platform; 06- connecting rod; 07- receiving assembly; 08- processing assembly; 09- support post; 10- sliding groove; 11- screw; 12- movable seat; 13- relief slot;
14- clamping block; (0508251 15- rack; 16- sliding rod; 17- mounting seat; 18- power gear; 19- boss; 20- low-speed gear; 21- power shaft; 22- bearing; 23- first deformable sleeve; 24- connecting hole; 25- second deformable sleeve; 26- sound-absorbing layer; 27- amplifier; 28- signal collector; 29- computer; 30- environmental simulator; and 31- regulating motor.
Specific Embodiments
The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present inventions. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to protection scope of the present invention.
In order to make the above purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further explained in detail in combination with the attached drawings and specific embodiments.
Please refer to figures 1~5, the present invention provides an underwater imaging sonar 909251 measurement and calibration device, comprising an experimental pool 1, a rail module and a calibration module, wherein the experimental pool 1 is used to calibrate a sonar device 2; the rail module is arranged at a top end of the experimental pool 1 to adjust different positions and attitudes of the sonar device 2; the rail module comprises first rails 3 respectively arranged on any two symmetrical sides of the experimental pool 1, and between two of the first rails 3 are vertically and slidingly connected second rails 4; on the second rails 4 are connected two experimental platforms 5, the sonar device 2 is mounted on a bottom end of any one of the experimental platforms 5 through connecting rods 6; and the calibration module is used to receive and calibrate the sonar device 2, and comprises a receiving assembly 7 and a processing assembly 8 which are in electrical connection, and the receiving assembly 7 is mounted on a bottom end of another one of the experimental platforms and corresponds to the sonar device 2.
By means of the underwater imaging sonar measurement and calibration device and method thereof disclosed in the present invention, a sonar device 2 could be arranged into an experimental pool 1 for calibration without any outdoor operation, which is more convenient and securer and improves calibration efficiency; further, at a top end of the experimental pool is provided a rail module comprising first rails 3 and second rails 4, at the second rails 4 are provided experimental platforms 5, at bottom ends of the experimental platforms 5 are provided the sonar device 2 and a receiving module 7, and positions of both the sonar device 2 and the receiving module 7 could be adjusted at will so that multiple sets of calibration data could be obtained, thereby improving calibration accuracy; and a calibration module is also arranged and comprises a receiving assembly 7 and a processing assembly 8, the receiving assembly 7 is arranged corresponding to the sonar device 2 for receiving sonic signals from the sonar device 2 and transmitting the sonic signals to the processing assembly 8 so as to obtain calibration data. (0503251
Further, inside the experimental pool 1 is arranged an environmental simulator 30 to simulate wind and wave conditions of natural water bath, so that environmental conditions in the experimental pool 1 is closer to those in natural water, and therefore, more accurate calibration is achieved when the sonar device 2 under natural conditions is calibrated with the device and method provided in the present invention.
Further, the processing assembly 8 and the receiving assembly 7 are in electrical connection with an amplifier 27, an output end of the amplifier 27 is electrically connected with a signal collector 28, an output end of the signal collector 28 is electrically connected with a computer 29; the receiving assembly 7 receives sonic signals from the sonar device 2 and transmits the same to the amplifier 27, the sonic signals then are amplified and transmitted by the amplifier 27 to the signal collector 28, after then, the signal collector 28 filters out noise from amplified sonic signals and transmit filtered sonic signals to the computer 29; and the computer 29 processes the filtered sonic signals to obtain calibration data results; meanwhile, the computer 29 also could control parameters like position and depth of the sonar device 2, distance between the sonar device 2 and the receiving assembly 7, thereby achieving automatic control of the present invention, which improves control efficiency and reduces workload of manual control. The receiving assembly 7, the amplifier 27, the signal collector 28, hardware of the computer 29 as well as internal operating programs thereof all belong to the prior art, and will not be repeated here.
As a further technical solution, the first rails 3 comprise support posts 9 fixedly connected to top edges of the experimental pool 1, at opposite sides of two of the support posts 9 are provided sliding grooves 10; inside the sliding grooves 10 are rotationally connected screws 11, the screws 11 are in threaded connection with movable seats 12, the movable seats 12 are in sliding connection with the sliding grooves 10; and tips of the second rails 4 are in detachable connection with top ends of the movable seats 12; at the top ends of the movable seats 12 are provided relief slots 13, and the tips of the second rails 4 are clamped into the relief slots 13;
ends of the screws are in transmission connection with regulating motors 31, when the 203201 regulating motors 31 rotate, the screws 11 are driven to rotate, and the sliding grooves 10 limited by the movable seats 12 translate along directions of the screws 11 instead of rotating with the screws 11, so that two movable seats 12 move to drive corresponding second rails 4 to translate, thereby adjusting positions of the second rails 4 in the experimental pool 1.
As a further technical solution, the second rails 4 comprise clamping blocks 14 arranged at both ends thereof, the clamping blocks 14 are clamped with the relief slots 13; at opposite sides of two of the clamping blocks 14 are provided racks 15 and sliding rods 16, the racks 15 and the sliding rods 16 are parallel and symmetrically arranged; and the experimental platforms 5 are in sliding connection with the racks 15 and the sliding rods 16. The second rails 4 are clamped with the movable seats 12 through the clamping blocks 14 so as to prevent inaccurate positioning, deflection and other problems; tooth surfaces of the racks 15 face the sliding rods 16, the experimental platforms 5 slide along the racks and the sliding rods 16 to move the sonar device 2 and the receiving assembly 7, which is convenient for position adjustment and different parameter calibration, and is conducive to obtaining more accurate and reliable calibration data.
As a further technical solution, the experimental platforms 5 comprise mounting seats 17, both the sliding rods 16 and the racks 15 penetrate and are in sliding connection with the mounting seats 17, inside the mounting seats 17 are provided power gears 18, the power gears 18 are arranged between the racks 15 and the sliding rods 16, and mesh with the racks 15, bottom ends of the mounting seats 7 are provided with bosses 19, top ends of the sliding rods 6 are rotationally connected with the bosses 19, at top ends of the mounting seats 17 are fixedly provided low-speed motors 20, output ends of the low-speed motors 20 are fixedly connected with power shafts 21, and the power shafts 21 penetrate gear center shafts and detachably connect with center shafts of the connecting shafts 6. The mounting seats 17 serve as main bodies of the experimental platforms, the connecting shafts 6 are arranged at bottom ends of the mounting seats 17 for installing and fixing the sonar device 2 and the receiving assembly 7, the mounting seats 17 are in sliding connection with the sliding rods 16 and the racks 15, so as to adjust positions of the sonar device 2 and the receiving assembly 7; the low-speed motors 1503251 are in detachable connection respectively with the power gears 18 and the connecting rods 6 through the power shafts 21, so as to independently drive the power gears 18 and the connecting rods 6 to rotate; when the power gears 18 rotate, the power gears 18 roll and translate along the racks 15 and then drive the mounting seats 17 to translate through the power shafts 17 due to engagement between the power gears 18 and the racks 15; and when the power shafts 21 drive the connecting rods 16 to rotate, orientations of the sonar device 2 and the receiving assembly 7 can be adjusted and individual control is achieved, which is more convenient and flexible.
As a further technical solution, both top ends of the mounting seats 17 and centers of the bosses 19 are provided with bearings 22, inner rings of the bearings 22 are fixedly connected with the power shafts 21, inside central holes of the power gears 18 are fixedly connected first deformable sleeves 23 coaxial with the power gears 18, the power shafts 21 penetrate and are detachably connected with the first deformable sleeves 23, and the first deformable sleeves 23 are in electrical connection with the processing assembly 8. The bearings 22 reduce influence of friction between the power shafts 21 and the mounting seats 17, thereby reducing power consumption; the power shafts 21 penetrate the first deformable sleeves 23, and under action of currents, the first deformable sleeves 23 deform and lock inner edges thereof with the power shafts 21 to transmit rotation of the power shafts 21 to the power gears 18, so that the power gears 18 rotate with the power shafts 21 to adjust positions of the mounting seats 17; when the first deformable sleeves 23 are powered off or connected with reverse currents, the first deformable sleeves 23 shrink and deform to separate from the power shafts 21, so that the rotation of the power shafts 21 has no effect on the power gears 18 and the mounting seats 17 remain stable.
As a further technical solution, at top ends of the connecting rods 6 are opened connecting holes 24, inside the connecting holes 24 are embedded and connected second deformable sleeves 25, ends of the power shafts 21 away from the low-speed motors 20 extend into and are detachably connected with the second deformable sleeves 25, and the second deformable sleeves 25 are in electrical connection with the processing assembly 8. The second deformable 2022] sleeves 25 deform in a same manner as the first deformable sleeves 23, i.e., the second deformable sleeves deform when powered on, the power shafts 21 then are locked at tail ends thereof to transmit rotation of the power shafts 21 to the connecting rods 6, and the connecting rods 6 are driven to rotate; when powered off or connected with reverse currents, the second deformable sleeves 25 shrink to separate from the power shafts 21 and the connecting rods 6 remain stationary.
Further, both the first deformable sleeves 23 and the second deformable sleeves 25 are preferably made of piezoelectric ceramics so as to deform when powered on, return to original shapes when powered off, and deform reversely when reverse currents are charged, which are rapid in deformation and easy for control.
Further, the low-speed motors 20, the first deformable sleeves 23, and the second deformable sleeves 25 are all in electrical connection with the computer 29, and working states thereof are controlled by the computer 29 so as to achieve one-button control of the present invention, which is convenient and fast.
Further, inner walls of the experimental pool 1 are laid with sound-absorbing layers 26 for absorbing and isolating sound waves. The sound-absorbing layers are laid on inner walls of the experimental pool 1 so as to prevent sonic signals emitted by the sonar device 2 from interfering with primary wave signals after being reflected by inner walls and affecting stability of the primary waves; at the same time, the sound-absorbing layers can also reduce influence of external vibration on the experimental pool 1, improve authenticity of calibration data and realize accurate calibration.
An underwater imaging sonar measurement and calibration method comprises following steps: installation of the underwater imaging device for sonar measurement and calibration; i.e, installing the sonar device 2 on a bottom end of one of the connecting rods 6, installing the receiving assembly 7 on a bottom end of another one of the connecting rods 6, hoisting the 032°] second rails 4 though a car or crane (which is not shown in the drawings), then clamping two ends of the second rails 4 into relief slots 13 of the first rails 3, and making ends installed with connecting rods face water surface of the experimental pool 1 while hoisting, and connecting electrical parts as required; working frequency calibration of the sonar device 2, i.e. adjusting transmission mode parameters of the sonar device 2, processing sonic waves through the receiving assembly 7 and transmitting processed sonic waves to the processing assembly 8 to obtain a calibration result; adjusting the sonar device 2 to an appropriate height below the water surface, making emission points of sonic waves face the receiving assembly 7, adjusting receiving points of the receiving assembly 7 to align with the emission points of sonic waves so as to be a same plane of an emission sector of sonar device; electrifying the first deformable sleeve 23 to make the same larger, driving the mounting seats 17 to translate, and adjusting a test distance between the sonar device 2 and the receiving assembly 7 to meet free-field and far-field conditions required by GB/T 7965; adjusting emission module parameters of the sonar device 2 (like frequency, pulse width, etc.) , collecting signals by the receiving assembly 7, and recording and saving the same by a display control computer; conducting spectral analysis on the signals by the processing assembly 8 to obtain a frequency value as a standard value, and subtracting the standard value from set working frequencies of the sonar device 2 to obtain indicator errors; and measuring all nominal working frequencies of the sonar device 2, and taking an indication error with a largest absolute value among all indication errors as a calibration result; wave beam width calibration of the sonar device 2, i.e., adjusting the emission sector of the sonar device 2 into horizontal, adjusting the receiving assembly 7 up and down step by step 0021 collecting open circuit voltages at corresponding angular positions, and calculating width indication errors of horizontal wave beams; adjusting the emission sector of the sonar device 2 to rotate horizontally step by step, collecting open circuit voltages at positions perpendicular to the corresponding angular positions, and calculating width indication errors of vertical wave beams; adjusting the emission sector of the sonar device 2 to be horizontal so as to make the receiving assembly 7 be a same depth as the sonar device 2 with a horizontal distance of 10m~15m in between; adjusting the receiving assembly 7 up and down at a stepping interval of 0.5cm, collecting open circuit voltages at corresponding angular positions within horizontal beam angles, and calculating a sound pressure level at each angular position according to formula (1)
SL =201ge +20lgd -M_-120 (1), wherein “SL” refers to a sound pressure level and a unit of measurement thereof is “dB”; “Con refers to an open circuit voltage of the receiving assembly 7 and a unit of measurement thereof is “VV”; “d” refers to a distance between a transducer of the tested sonar device 2 and the receiving component 7 and a unit of measurement thereof is “m”; and «Mn refers to a voltage sensitivity level of free-filed of the receiving assembly 7 and a unit of measurement thereof is “dB”; according to provisions of GB/T7965 "determination of directivity pattern, beam width and maximum side lobe level", drawing a rectangular coordinate diagram to represent a directivity diagram of horizontal beam angles of the sonar device 2; and taking an angle between left and right directions when a maximum response from a main axis drops by 3dB as a beam width of the horizontal beam angles, subtracting the same from nominal horizontal beam widths of the sonar device 2 to obtain indication errors of the horizontal beam widths; keeping the receiving assembly 7 stationary on an axis of the horizontal beam angle, adjusting
_ a LU503251 the emission sector of the sonar device (2) to rotate horizontally with a stepping interval of 0.1°, collecting open circuit voltages at corresponding angular positions within vertical beam angles, and then converting the same into sound pressure levels according to formula (1); according to provisions of GB/T7965 "determination of directivity pattern, beam width and maximum side lobe level", drawing a rectangular coordinate diagram to represent a directivity diagram of vertical beam angles of the sonar device 2; and taking an angle between left and right directions when a maximum response from a main axis drops by 3dB as a beam width of the vertical beam angles, subtracting the same from nominal horizontal beam widths of the sonar device 2 to obtain indication errors of the vertical beam widths; stepping interval calibration of the sonar device 2, i.e., rotating the sonar device 2 continuously, and collecting signals through the receiving assembly 7 to obtain stepping interval calibration data; arranging stepping intervals of the sonar device 2 and keep the same rotating continuously at 360°, and continuously collecting pulse signals generated during stepping process of the sonar device 2 by the receiving assembly 7 and recording and saving by the processing assembly 8; drawing a 360° directivity diagram of the sonar device 2, counting number of horizontal beam angles (n), and calculating stepping intervals of the sonar device 2 as standard values according to following formula (2), and subtracting the same from nominal stepping intervals set by the sonar device to obtain indication errors; , 360
S=—- fi (2), wherein “S” refers to a standard value. measuring all the nominal stepping intervals of the sonar device 2, and taking an error value with a largest absolute value among all indication errors as a calibration result.
imaging distance calibration of the sonar device 2, i.e., expanding a distance between the sonar device 2 and a side wall of the experimental pool 1 until an image disappears, measuring an actual distance between the side wall of the experimental pool 1 and the sonar device 2, and calibrating the imaging distance of sonar device 2; and arranging the sonar device 2 onto the bottom end of one of the connecting rods 6 on the mounting seat 17 of the experimental pool 1, making the emission sector of the sonar device 2 perpendicular to the water surface, and interpreting imaging of the sonar device 2 to determine whether the side wall of the experimental pool is within an imaging distance of the sonar device 2; gradually expanding the distance between the mounting seat 17 and the side wall of experimental pool 1 until the sonar image cannot display the side wall of experimental pool 1; using a total station or GNSS (not shown in the figure) to position and scan a horizontal distance between the side wall of the experimental pool 1 and the sonar device 2 which is taken as a standard value of a maximum imaging distance of the sonar device 2, subtracting the standard value from a nominal value of the sonar device 2 to obtain an indication error; identification threshold calibration of the sonar device (2), i.e., adjusting a minimum stepping interval of the sonar device 2 to scan a target block at a bottom portion of the experimental pool 1 to calibrate the identification threshold; using a steel tape to measure a side length of each standard target block, and laying a set of standard target blocks on bottom portions of the experimental pool 1; installing the sonar device 2 into a bottom end of a testing vehicle of the experimental pool 1, adjusting the sonar device 2 to be at a depth of 3m, and a vertical distance of 5m and a horizontal distance of 5m away from a standard target block; and controlling the sonar device 2 to scan the target blocks at a constant speed with a smallest stepping interval, and identifying a smallest target block that can be measured in an sonic image: LU503251 data process for obtaining calibration results, i.e., acquiring accuracy of the sonar device 2 according to data of calibration results, and then calibrating the sonar device 2.
In the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" ", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are merely used to facilitate description of the present invention, and do not indicate or imply that devices or elements referred to must have specific orientations, be constructed and operate in specific orientations, and thus should not be construed as limiting the present invention.
The above embodiments are only to describe the preferred mode of the invention, not to limit the scope of the present invention. Under the premise of not departing from the design spirit of the present invention, various modifications and improvements made by those skilled in the art to the technical solution of the present invention shall fall within the scope of protection determined by the claims of the present invention.

Claims (10)

Claims LU503251
1. An underwater imaging sonar measurement and calibration device, comprising an experimental pool (1), a rail module and a calibration module, wherein the experimental pool (1) is used to calibrate a sonar device (2); the rail module is arranged at a top end of the experimental pool (1) to adjust different positions and attitudes of the sonar device (2); the rail module comprises first rails (3) respectively arranged on any two symmetrical sides of the experimental pool (1), and between two of the first rails (3) are vertically and slidingly connected second rails (4); on the second rails (4) are connected two experimental platforms (5), the sonar device (2) is mounted on a bottom end of any one of the experimental platforms (5) through connecting rods (6); and the calibration module is used to receive and calibrate the sonar device (2), and comprises a receiving assembly (7) and a processing assembly (8) which are in electrical connection, and the receiving assembly (7) is mounted on a bottom end of another one of the experimental platforms (5) and corresponds to the sonar device (2).
2. The underwater imaging sonar measurement and calibration device according to claim 1, wherein the first rails(3) comprise support posts (9) fixedly connected to top edges of the experimental pool (1), at opposite sides of two of the support posts (9) are provided sliding grooves (10); inside the sliding grooves (10) are rotationally connected screws (11), the screws (11) are in threaded connection with movable seats (12), the movable seats (12) are in sliding connection with the sliding grooves (10); and tips of the second rails (4) are in detachable connection with top ends of the movable seats (12).
3. The underwater imaging sonar measurement and calibration device according to claim 2, wherein at the top ends of the movable seats (12) are provided relief slots (13), and the tips of the second rails (4) are clamped into the relief slots (13).
4. The underwater imaging sonar measurement and calibration device according to any of claim 909251 3, wherein the second rails (4) comprise clamping blocks (14) arranged at both ends thereof, the clamping blocks (4) are clamped with the relief slots (13); at opposite sides of two of the clamping blocks (14) are provided racks (15) and sliding rods (16), the racks (15) and the sliding rods (16) are parallel and symmetrically arranged; and the experimental platforms (5) are in sliding connection with the racks (15) and the sliding rods (16).
5. The underwater imaging sonar measurement and calibration device according to any of claim 4, wherein the experimental platforms (5) comprise mounting seats (17), both the sliding rods (16) and the racks penetrate and are in sliding connection with the mounting seats (17), inside the mounting seats (17) are provided power gears (18), the power gears (18) are arranged between the racks (15) and the sliding rods (16), and mesh with the racks (15), bottom ends of the mounting seats (7) are provided with bosses (19), top ends of the sliding rods (6) are rotationally connected with the bosses (19), at top ends of the mounting seats (17) are fixedly provided low-speed motors (20), output ends of the low-speed motors (20) are fixedly connected with power shafts (21), and the power shafts (21) penetrate gear center shafts and are detachably connected with center shafts of the connecting shafts (6).
6. The underwater imaging sonar measurement and calibration device according to any of claim 5, wherein both top ends of the mounting seats (17) and centers of the bosses (19) are provided with bearings (22), inner rings of the bearings (22) are fixedly connected with the power shafts (21), inside central holes of the power gears (18) are fixedly connected first deformable sleeves (23) coaxial with the power gears (18), the power shafts (21) penetrate and are detachably connected with the first deformable sleeves (23), and the first deformable sleeves (23) are in electrical connection with the processing assembly (8).
7. The underwater imaging sonar measurement and calibration device according to claim 5, wherein at top ends of the connecting rods (6) are opened connecting holes (24), inside the connecting holes (24) are embedded and connected second deformable sleeves (25), ends of the power shafts (21) away from the low-speed motors (20) extend into and are
. | 0503251 detachably connected with the second deformable sleeves (25), and the second deformable sleeves (25) are in electrical connection with the processing assembly (8).
8. The underwater imaging sonar measurement and calibration device according to claim 1, wherein inner walls of the experimental pool (1) are laid with sound-absorbing layers for absorbing and isolating sound waves.
9. An underwater imaging sonar measurement and calibration method of the device according to any of claims 1~8, comprising following steps of: installation of the underwater imaging sonar measurement and calibration device; working frequency calibration of the sonar device (2), i.e., adjusting transmission mode parameters of the sonar device (2), processing sonic waves through the receiving assembly (7), transmitting processed sonic waves to the processing assembly (8), and obtaining calibration results; wave beam width calibration of the sonar device (2), i.e., adjusting an emission sector of the sonar device (2) into horizontal, adjusting the receiving assembly (7) up and down step by step, collecting open circuit voltages at corresponding angular positions, and calculating width indication errors of horizontal wave beams; adjusting the emission sector of the sonar device (2) to rotate horizontally step by step, collecting open circuit voltages at positions perpendicular to the corresponding angular positions, and calculating width indication errors of vertical wave beams; stepping interval calibration of the sonar device (2), i.e., rotating the sonar device (2) continuously, and collecting signals through the receiving assembly (7) to obtain stepping interval calibration data; imaging distance calibration of the sonar device (2), i.e., expanding a distance between the
. . . . . . LU503251 sonar device (2) and a side wall of the experimental pool (1) until an image disappears, measuring an actual distance between the side wall of the experimental pool (1) and the sonar device (2), and calibrating an imaging distance of sonar device (2); identification threshold calibration of the sonar device (2), i.e., adjusting a minimum stepping interval of the sonar device (2), scanning a target block at a bottom portion of the experimental pool (1) and calibrating an identification threshold; and data processing for obtaining calibration results.
10. The sonar measurement and calibration method of the underwater imaging device according to claim 9, wherein in the step of installation of the underwater imaging sonar measurement and calibration device, sonic wave emission points of the sonar device (2) are aligned with receiving points of the receiving assembly (7).
LU503251A 2022-12-23 2022-12-23 Underwater imaging sonar measurement and calibration device and method thereof LU503251B1 (en)

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