WO2004083890A1 - Procede et systeme de mesure de la vitesse de couches d'ecoulement a l'aide de mesures par sonar de correlation de vitesses - Google Patents

Procede et systeme de mesure de la vitesse de couches d'ecoulement a l'aide de mesures par sonar de correlation de vitesses Download PDF

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Publication number
WO2004083890A1
WO2004083890A1 PCT/CN2003/001059 CN0301059W WO2004083890A1 WO 2004083890 A1 WO2004083890 A1 WO 2004083890A1 CN 0301059 W CN0301059 W CN 0301059W WO 2004083890 A1 WO2004083890 A1 WO 2004083890A1
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WO
WIPO (PCT)
Prior art keywords
matrix
module
data
sonar
fitting
Prior art date
Application number
PCT/CN2003/001059
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English (en)
Chinese (zh)
Inventor
Weiqing Zhu
Changhong Wang
Original Assignee
Institute Of Acoutics, Chinese Academy Of Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CNB031196667A external-priority patent/CN1166959C/zh
Priority claimed from CN 200310115154 external-priority patent/CN1284004C/zh
Application filed by Institute Of Acoutics, Chinese Academy Of Sciences filed Critical Institute Of Acoutics, Chinese Academy Of Sciences
Priority to AU2003289649A priority Critical patent/AU2003289649A1/en
Priority to US10/549,199 priority patent/US7720629B2/en
Publication of WO2004083890A1 publication Critical patent/WO2004083890A1/fr

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Classifications

    • 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
    • G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave

Definitions

  • the present invention relates to a method for measuring the velocity of a fluid medium, and more particularly, to a method and a system thereof for measuring the velocity of a stratosphere with a relevant velocity sonar. Background technique
  • the above method has obvious shortcomings when measuring the stratospheric velocity of a fluid medium: (1) The theoretical expression of its sonar array space-time correlation function is quite complicated, and it is difficult to apply in practice, but a simple table derived from experience The formula lacks sufficient physical foundation. This is the most critical technology for related speed sonar systems. (2) Based on the maximum likelihood principle, it is not the best method to fit the theoretical and experimental space-time correlation functions with simplex. (3) The velocity corresponding to the maximum value of the sonar array space-time correlation function is used as the initial value of the velocity estimation, which is not the best method. Summary of the invention
  • the main object of the present invention is to provide a better theoretical fluid medium sonar array spatiotemporal correlation function for fitting data.
  • Another object of the present invention is to improve the data processing method of the data spatiotemporal correlation function matrix.
  • the present invention provides a method for measuring stratospheric velocity by a related velocimetry sonar, including the following steps:
  • step (3) extracting a data matrix for fitting from the data space-time correlation function matrix of the stream layer in step (3); the data matrix used for fitting is the data space-time correlation function matrix of the stream layer, or The data matrix used for fitting is a localized spatio-temporal correlation function absolute value matrix, and the localized spatio-temporal correlation function absolute value matrix is obtained through the following steps ⁇
  • a fitting operation is performed on the data matrix used for fitting in step (4) with a theoretical function; the fitting operation is based on the maximum likelihood principle.
  • Rate, c is the speed of sound, and are the components in the x and x directions, and and are the transmit beam width and the receive beam width, respectively.
  • step (6) From the fitting result of step (6), get the mean value of the relative velocity of the stratosphere to the carrier fc, and then combine the velocity of the carrier with the bottom to get the absolute velocity of the stratosphere.
  • steps (1) to (7) can be repeated for the next measurement of stratospheric velocity.
  • step (5) the average of the average value of the relative velocity of the stratosphere obtained from the previous or multiple measurements is taken as The initial value of the search range for the unknown parameter ensemble.
  • the present invention also provides a related speed measurement sonar system, which includes a sonar array 200 and an electronic extension.
  • the electronic extension includes a computer 406, which is characterized in that the computer 406 includes:
  • a signal encoding module configured to select a transmission code of an acoustic pulse, and the transmission code has a peak when the correlation delay is non-zero;
  • the transmitting / receiving module is configured to transmit the acoustic pulse into the fluid medium according to the transmission code selected by the signal encoding module, and receive the echo signal back-scattered by the stratosphere;
  • Demodulation and filtering module for demodulating and filtering the stream layer echo signal received in the transmitting / receiving module;
  • Matrix calculation module for calculating the space-time correlation of the stream layer data according to the demodulated and filtered stream layer echo signal Function matrix
  • a matrix extraction module configured to extract a data matrix used for fitting from the data space-time correlation function matrix of the stream layer in the matrix calculation module; the extracted data matrix used for fitting is a data space-time correlation function matrix of the stream layer, Or a localized spatio-temporal correlation function absolute value matrix.
  • the matrix extraction module includes an absolute value operation unit, configured to perform an absolute value operation on the stream-layer data spatio-temporal correlation function matrix. Obtain the absolute value matrix of the spatiotemporal correlation function of the stream layer data;
  • a localization unit configured to select the maximum value E M ⁇ from the absolute value matrix of the spatio-temporal correlation function of the data and set a threshold value T, where 0 ⁇ ; ⁇ 1 ; the module is also used for the data In the spatio-temporal correlation function absolute value matrix, the value is less than The elements of are set to zero, and the elements whose values are greater than or equal to remain the same.
  • the absolute value matrix of the spatial-temporal correlation function of the stratosphere is obtained; the parameter module is used to store the unknown parameter ensemble ⁇ - ⁇ ⁇ , ⁇ ⁇ ,; search range of ⁇ , where ⁇ is the mean value of the relative velocity of the stratosphere in the x and y directions, ⁇ ⁇ ; ( , ⁇ ⁇ ;, respectively The variance, ⁇ is a width factor; the unknown parameter ensemble stored in the parameter module "9, the initial value of the search range is preferably the average of the average of the relative velocity of the stratosphere measured in the last or multiple times;
  • Rate, c is the speed of sound, ⁇ and are the components of if in X and: ⁇ directions, and and are the transmit beam width and the receive beam width, respectively;
  • the speed storage module is configured to store the mean value of the relative velocity of the stream layer and the carrier fc ⁇ obtained from the fitting result of the fitting module.
  • the theoretical space-time correlation function of a sonar array of a fluid medium provided by the present invention is applicable not only to the far-field region, that is, the plane wave region, but also to the Fraunhofer region, that is, a spherical wave. Area.
  • the existing acoustic correlation velocity measurement theory is only applicable to the far field region. Therefore, good data cannot be obtained in a relatively large short distance. The theory of the present invention makes this distance much smaller.
  • the space-time correlation function of the sonar array of the fluid medium of the present invention is succinctly represented by the Kummer function, which is in good agreement with the experiment.
  • Existing theories are either expressed by the series of Bessel functions and Legendre functions, which are inconvenient to use, or they are expressed by empirical formulas, which lack sufficient physical basis.
  • the fitting algorithm of the present invention uses a sequence quadratic programming method based on the maximum likelihood principle or the nonlinear least squares principle to fit the measured data and the theoretical sonar array space-time correlation function to obtain the speed.
  • the method of the present invention has faster convergence speed and higher measurement accuracy.
  • the non-linear least squares principle to estimate the speed compared with the maximum likelihood principle, it is more robust.
  • the amount is small, especially in the actual working situation of the relevant speed sonar, the environmental noise is often uneven in space, there is inconsistency in the amplitude and phase of the sonar array primitives, and they adversely affect the principle of least squares. It is significantly smaller than the effect on the maximum likelihood principle.
  • the present invention adopts a method of calculating and localizing an absolute value matrix of the spatiotemporal correlation function matrix of the data fluid medium, and using a region with a large amplitude in the absolute value matrix of the data spatiotemporal correlation function to calculate the velocity.
  • the absolute value of the correlation function is only related to the average horizontal motion speed and y , and because the area with low signal-to-noise ratio is removed, the two signal processings improve the measurement accuracy.
  • the average speed measured from the Nth to the Nth times is used as the initial value of the N + 1th speed estimation, which obviously improves the operation speed and reduces the hardware overhead.
  • Figure 1 is a schematic diagram of the working of a relevant speed measurement sonar system
  • FIG. 2 is a schematic diagram of a device of a related speed measurement sonar system
  • FIG. 3 is a software flowchart of a related speed measurement sonar system
  • FIG. 4 is a detailed flowchart of step 609 in the flowchart of FIG. 3;
  • Fig. 5 is a comparison of the measured stratospheric velocities between the relevant speed measuring sonar system (ACCP) and the RDI phased array acoustic Doppler current profiler (PAADCP) according to the present invention.
  • the water depth is 150 meters;
  • the speed amplitudes 701 and 703 measured by the devices are respectively, and
  • FIG. 5b is the speed directions 702 and 704 measured by the two devices, respectively.
  • the related velocimetry sonar system generally includes a sonar array 200 and an electronic extension.
  • the electronic extension includes: an underwater electronic extension 300, a dry end 400, and a terminal 500.
  • the sonar array 200 and the underwater electronic extension 300 are installed underwater, and the 1000 terminal and 500 terminal are installed on the water.
  • the sonar array 200 the sonar array emits acoustic pulses into the water.
  • a pulse-width acoustic pulse 102 propagates in the water and intersects the ocean floor on the ring 103.
  • a stream echo and a bottom echo are generated. The echo is echoed by the sonar array.
  • the receiving sonar array in 200 receives and then processes the electronic extension to obtain the velocity of each stratosphere.
  • the detailed structure of the relevant speed measurement sonar system is shown in FIG. 2 and includes a sonar array 200 and an electronic extension; the sonar array 200 includes a receiving transducer 203, a transmitting transducer 202, and a transceiving transducer 201. Energy 203 and the transceiving transducer 201 form a receiving sonar array, and the transmitting transducer 203 and the transceiving transducer 201 form a transmitting sonar array.
  • the underwater electronic extension 300 includes a plurality of preamplifiers 302 connected to the receiving transducer 203 and the transceiving transducer 201, and a transceiving converter 301 is also connected between the preamplifier 302 and the transceiving transducer 201; water
  • the lower electronic extension 300 further includes a temperature sensor 303, a water leakage sensor 304, and an attitude sensor 305, which are respectively connected to the sonar interface control board 407 in the dry end 400.
  • the transmitter 401 in the dry end 400 is connected to the transmitting transducer 202, the multiple receiver 402 is connected to the preamplifier 302, the multiple synchronous data acquisition board 403 is connected to the multiple receiver 402, and the DSP processor 404 and multiple Synchronous data acquisition board 403 is connected; Thousand-end 400 also includes a computer 406, and is connected to the DSP processor 404 and the multi-channel synchronous data acquisition board 403 through the data / control bus 405; The dry-end 400 also includes a sonar interface control board 407 Connected to multiplex receiver 402, transmitter 401, DSP processor 404 and computer 406 respectively; AC / DC power supply 408 is connected to sonar interface control board 407, multiplex receiver 402, transmitter 401, data / control bus respectively 405. The temperature sensor 303, the water leakage sensor 304, and the attitude sensor 305 are connected.
  • the dry end 400 further includes a GPS 409 and a gyrocompass 410 connected to the computer 406.
  • the terminal 500 includes a remote computer 502 connected to a computer 406 through a network 501.
  • the special speed measurement program of the system is loaded in the memory of the computer 406, and the program includes an initialization module, a signal encoding module, a transmitting / receiving module, a demodulation filtering module, a matrix calculation module, a matrix extraction module, a parameter module, a fitting module, and a speed
  • the memory module is executed according to the steps in the flowchart shown in FIG. 3.
  • Step 601 is a starting step.
  • the terminal computer 502 issues an instruction, transmits the instruction to the computer 406 via the network 501, starts a program in the memory of the computer 406, and makes the sonar system in a working state.
  • an initialization module in the program initializes software and system hardware.
  • the transmission coding module selects a transmission coding according to the layered thickness and flow velocity range of the fluid medium, and the transmission coding has a peak value when the correlation delay is non-zero.
  • the transmitting / receiving module causes the DSP processor 404 to generate a transmission signal to drive the transmitter 401 via the data / control bus 405 and the instruction from the computer 406, and then drives the transceiving transducer 201 and the transmitting transducer via the transceiving converter 301. 202. Send an acoustic pulse to a fluid medium.
  • the transmitting / receiving module controls the receiving transducer 203 and the transceiving transducer 201 to receive the echo signal backscattered from the fluid medium, and feeds it to the multiple receiver 402 through the preamplifier 302, and then the multiple receiver 402,
  • the synchronous data acquisition board 403 is fed to the DSP processor 404.
  • the demodulation and filtering module controls the DSP processor 404 to demodulate and filter the received echo signal.
  • the matrix calculation module calculates a data space-time correlation function matrix of the stream layer according to the demodulated and filtered stream layer echo signal.
  • the matrix extracting module extracts a The combined data matrix is fitted to a theoretical function provided by the present invention in step 612. Specifically, in step 610, the matrix extraction module may directly use the temporal and spatial correlation function matrix of the stream layer data obtained in step 609 as a data matrix for fitting, or use the temporal and spatial correlation function matrix of the stream layer data obtained in step 609 as After further processing as a data matrix for fitting. In the latter case, the matrix extraction module includes an absolute value operation unit and a localization unit. The specific process is shown in FIG. 4. In FIG.
  • the absolute value operation module performs an absolute value operation on the data spatiotemporal correlation function matrix to obtain an absolute value matrix of the temporal spatiotemporal correlation function of the stream layer, and then the localization unit performs a localization operation on the absolute value matrix of the data spatiotemporal correlation function. Finally, the localized matrix is used as the data matrix for fitting.
  • the localization here refers to: selecting the maximum value E M ⁇ from the absolute value matrix of the spatio-temporal correlation function of the stratosphere data, and setting a threshold value ⁇ where 0 ⁇ 1, and then the absolute value matrix Elements whose median value is less than; are set to zero, and the value is greater than or equal to
  • TE ⁇ The elements of TE ⁇ remain unchanged, and after performing this operation on all elements, a stream-layer localized space-time correlation function absolute value matrix can be obtained.
  • the element of ⁇ ⁇ that is, only the area with a large signal-to-noise ratio is taken, and the area with a small signal-to-noise ratio is discarded, which further simplifies the calculation and improves the measurement accuracy.
  • the threshold z is preferably between 0.7 and 1.
  • the fitting operation of the data matrix and the theoretical function matrix will be performed, so as to obtain the relative velocity of each stream layer to the carrier from the fitting result.
  • the theoretical space-time correlation function form of the sonar array of fluid medium is
  • C is a constant.
  • the absolute value of the spatio-temporal correlation function of the theoretical fluid medium described by formula (2) is formed into a matrix. This matrix is called the theoretical absolute value matrix of the spatio-temporal correlation function of the fluid medium, and it is only related to and. This simplifies calculations and improves accuracy. In practice, it is often sufficient to just need ⁇ and ⁇ .
  • the range is set as large as possible, so that the true stratospheric velocity value is included in the range.
  • the fitting module controls the DSP processor 404 to perform a fitting operation with the data matrix obtained by the matrix extraction module in step 610 for fitting with formula (2) to obtain the relative velocity of each stream layer relative to the carrier.
  • the fitting algorithm may use a sequence quadratic programming method based on the maximum likelihood principle, or more preferably a sequence quadratic programming method based on the nonlinear least squares principle.
  • step 613 the speed storage module feeds the fitting result obtained in step 612 to the computer 406 via the data / control bus 405, and stores the result in the memory. After step 613, return to step 605 to perform the next measurement.
  • the absolute velocity of each stream layer can be obtained by averaging the relative velocity of each stream layer with respect to the carrier 100 in step 612 in combination with the bottom velocity of the carrier 100.
  • the data of the temperature sensor 303, the water leakage sensor 304, and the attitude sensor 305 can also be fed to the computer 406 through the sonar interface controller 407.
  • the computer 406 then fuses the data of the GPS 409 and the gyrocompass 410, and the final result is fed to the terminal computer 502 via the network 501.
  • Fig. 5 is a velocity diagram of the troposphere at 350 m below the sea surface measured by the relevant speed measurement sonar system of the present invention at a center frequency of 23.5 kHz and a bandwidth of 4.41 cHz and a soppler current profiler.
  • Fig. 5a shows the magnitudes of the stratospheric velocities 701 and 703 measured by the two devices at different times, and the abscissa is time and the ordinate is the velocity amplitude;
  • Fig. 5b shows the two devices respectively measured at different times.
  • the directions of the stratospheric velocity are 702 and 704, the abscissa is time, and the ordinate is angle. The two are quite consistent.

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

Abstract

L'invention porte sur un procédé et un système de mesure de la vitesse de couches d'écoulement à l'aide de mesures de corrélation de vitesses par sonar. Elle est l'expression d'une nouvelle théorie de fonctions de corrélation temporelles et spatiales dans des réseaux de sonars pour milieux fluides dans lesquels la vitesse de chacune des couches d'écoulement dérive d'opérations d'ajustement entre des données expérimentales, et une fonction théorique, ou d'opérations d'ajustement entre des données expérimentales ramenées à leur valeur absolue et traitées par localisation, et une fonction théorique. Ladite fonction de corrélation, qui a sensiblement la forme d'une fonction de Kummer et coïncide bien avec les valeurs expérimentales, s'applique non seulement à une région de domaine lointain c.-à-d. d'un domaine d'ondes planes, mais également à la région de Fraunhofer c.-à-d. d'un domaine d'ondes sphériques. L'invention présente l'avantage: d'une grande précision des mesures, d'un volume de calculs réduit, d'une bonne robustesse, et d'une vitesse élevée de convergence.
PCT/CN2003/001059 2003-03-19 2003-12-12 Procede et systeme de mesure de la vitesse de couches d'ecoulement a l'aide de mesures par sonar de correlation de vitesses WO2004083890A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2003289649A AU2003289649A1 (en) 2003-03-19 2003-12-12 Method and system for measuring flow layer velocities using correlation velocity measuring sonar
US10/549,199 US7720629B2 (en) 2003-03-19 2003-12-12 Method and system for measuring flow layer velocities using correlation velocity measuring sonar

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CNB031196667A CN1166959C (zh) 2003-03-19 2003-03-19 相关测速声纳测量流层速度的方法及其系统
CN03119666.7 2003-03-19
CN200310115154.7 2003-11-24
CN 200310115154 CN1284004C (zh) 2003-11-24 2003-11-24 一种相关测速声纳测量流层速度的方法及其系统

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102185952A (zh) * 2011-04-21 2011-09-14 深圳市同洲电子股份有限公司 优先选取多号码联系人电话号码的方法、装置及移动终端
CN112906198A (zh) * 2021-01-21 2021-06-04 西南交通大学 任意平面测量控制网非线性最小二乘平差数据处理方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5315562A (en) * 1992-10-23 1994-05-24 Rowe, Deines Instruments Inc. Correlation sonar system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5315562A (en) * 1992-10-23 1994-05-24 Rowe, Deines Instruments Inc. Correlation sonar system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102185952A (zh) * 2011-04-21 2011-09-14 深圳市同洲电子股份有限公司 优先选取多号码联系人电话号码的方法、装置及移动终端
CN112906198A (zh) * 2021-01-21 2021-06-04 西南交通大学 任意平面测量控制网非线性最小二乘平差数据处理方法

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