WO2023006435A1 - Unterwasserfahrzeug mit einer vielzahl von wasserschallwandlern, die ein lineararray bilden - Google Patents
Unterwasserfahrzeug mit einer vielzahl von wasserschallwandlern, die ein lineararray bilden Download PDFInfo
- Publication number
- WO2023006435A1 WO2023006435A1 PCT/EP2022/069699 EP2022069699W WO2023006435A1 WO 2023006435 A1 WO2023006435 A1 WO 2023006435A1 EP 2022069699 W EP2022069699 W EP 2022069699W WO 2023006435 A1 WO2023006435 A1 WO 2023006435A1
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- WO
- WIPO (PCT)
- Prior art keywords
- linear array
- underwater vehicle
- waterborne sound
- waterborne
- spatial information
- Prior art date
Links
- 230000005236 sound signal Effects 0.000 claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000005096 rolling process Methods 0.000 claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 14
- 238000003491 array Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000009941 weaving Methods 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
- 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
- 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
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- 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
- G01S7/52003—Techniques for enhancing spatial resolution of targets
Definitions
- the invention relates to improving the (sonar) imaging of linear arrays of hydrophones.
- Waterborne sound transducers are used to generate images or general spatial information of the environment using (active) sonar.
- the hydrophones can be arranged in various configurations.
- One configuration is the linear array (also called line array).
- the hydrophones are arranged in a line, typically horizontally.
- the line can be completely straight or have a curvature in depth, i.e. in the measurement plane. In other words, the line lies in a plane in which the image or the spatial information is displayed.
- the fact that the linear array has a vertical opening angle of a few degrees is neglected in this consideration.
- the line array enables imaging in two dimensions, i.e. the determination of two-dimensional spatial information.
- the distance of an object can be determined via the signal propagation time (i.e. the propagation time of a ping) and by means of direction formation, the so-called beamforming, the direction of the object can be determined in the plane in which the line array is arranged (i.e. typically the horizontal direction).
- Another configuration is the area array.
- the waterborne sound transducers are arranged in one, optionally curved, plane.
- the area array also has a vertical expansion. This makes it possible to carry out beamforming both vertically and horizontally. Together with the depth information, a three-dimensional image of the environment is created. This means that an object in the image can be determined in terms of its horizontal and vertical position relative to the underwater vehicle and its distance from the underwater vehicle.
- the surface array is significantly more expensive, since at least twice the number of waterborne sound transducers must be provided, typically, however, at least three times the number or even more hydrophones are used than for a comparable line array.
- the object of the present invention is therefore to create an improved concept for underwater vehicles.
- Exemplary embodiments show an underwater vehicle with a multiplicity of underwater sound transducers, which form a linear array, a control unit and a signal processing unit.
- the waterborne sound transducers are designed to emit waterborne sound signals and to receive reflections of the waterborne sound signals.
- the control unit is designed to control the underwater vehicle from a first position into a second position in such a way that the underwater vehicle executes a rolling movement in order to rotate the linear array.
- the position can include both the local position and the orientation (attitude) of the underwater vehicle.
- control unit is designed to steer the underwater vehicle from the first position to the second position in such a way that the underwater vehicle executes a pitching movement or a movement along the vertical axis or a yawing movement or a movement along the transverse axis or a combination thereof in order to move the linear array perpendicular to an extent of the linear array.
- the linear array is shifted in parallel by the movement of the underwater vehicle.
- the predominant portion of the movement of the submersible will be a pitching motion to move the linear array perpendicular to its extension.
- the extension of the linear array is understood to mean the direction in which the hydrophones are arranged. However, any curvature of the line in the plane of the main direction of emission of the sound waves is not taken into account.
- the signal processing unit is designed to emit a first underwater sound signal by means of the linear array in the first position of the underwater vehicle and to emit a second underwater sound signal by means of the linear array in the second position of the underwater vehicle.
- the signal processing unit then processes reflections of the first waterborne sound signal received by means of the linear array and reflections of the second waterborne sound signal received by means of the linear array in such a way that three-dimensional (sonar) spatial information is created.
- the signal processing unit will typically calculate two pieces of two-dimensional spatial information and superimpose the pieces of spatial information in such a way that three-dimensional spatial information is produced therefrom.
- the transmission of a waterborne sound signal (using the linear array), receiving the reflections (using the linear array) and generating the associated two-dimensional spatial information is also referred to as measurement.
- a first measurement is thus obtained with the first waterborne sound signal and a second measurement is obtained with the second waterborne sound signal.
- the three-dimensional spatial information can be determined based on the first and the second measurement.
- Spatial information is understood to mean, in particular, information that makes it possible to localize an object to be detected, ie to determine its location.
- Two-dimensional spatial information can therefore define the location of the object in two spatial directions.
- Three-dimensional spatial information can define the location of the object in three spatial directions.
- the spatial information indicates the location of the object relative to the underwater vehicle.
- the spatial information can also be output as an image, for example on a monitor.
- the idea is to emulate a cross array (Mills Cross) or a surface array with the linear array.
- two pieces of spatial information can be recorded or calculated with the linear array, in which case the linear array has been rotated or shifted in parallel (or both).
- the signal processing unit is designed to emit a waterborne sound signal in each case in a large number of positions of the underwater vehicle and to process the reflections of the waterborne sound signals in such a way that three-dimensional spatial information is produced.
- the three-dimensional spatial information is calculated from the reflections of at least three waterborne sound signals. This is advantageous, for example, when the linear array is translated in order to obtain more information. This enables the simulation of an area array.
- three-dimensional spatial information can also be generated.
- control unit is designed to roll the underwater vehicle between 80 degrees and 100 degrees, preferably between 85 degrees and 95 degrees, for example 90 degrees, in order to bring the watercraft from the first position into the second position.
- This exemplary embodiment is advantageous in order to calculate the three-dimensional spatial information using exactly two waterborne sound signals.
- Waterborne sound signals which are emitted by linear arrays that are (almost) perpendicular to one another, are best suited for this purpose.
- beamforming for example, the horizontal position of an object can be determined based on the reflections of the first waterborne sound signal and, for example, the vertical position of the object can be determined based on the reflections of the second waterborne sound signal.
- Exemplary embodiments further show the control unit being designed to perform a rolling movement of more than 90°, preferably at least 135°, particularly preferably perform at least 170 degrees of the submersible and assume a variety of positions during the roll motion.
- the underwater vehicle can pause briefly at the positions, but it can also not be externally recognizable when the underwater vehicle has assumed the positions.
- the signal processing unit is designed to emit a waterborne sound signal at each of the positions and to process reflections of the waterborne sound signals in such a way that three-dimensional spatial information is produced.
- Exemplary embodiments show that the linear array is arranged at the bow of the underwater vehicle. This arrangement simplifies the corresponding movement of the linear array. In addition, the object to be localized can thus best be targeted by the underwater vehicle.
- a method and a computer program for simulating a surface array with a linear array comprising a multiplicity of waterborne sound transducers, with the following steps: a) determining first spatial information by emitting a first waterborne sound signal by means of the linear array and receiving a reflection of the first waterborne sound signal by means of the linear array in a first position of the linear array; b) determining second spatial information by emitting a first waterborne sound signal by means of the linear array and receiving a reflection of the first waterborne sound signal by means of the linear array in a second position of the linear array, the second position being obtained by rotating the linear array or by moving the linear array perpendicular to an extension of the linear array is obtained from the first position; c) Combining the information of the first spatial information and the second spatial information to form a three-dimensional spatial information.
- Fig. 1 shows a schematic front view of an underwater vehicle 20.
- the underwater vehicle 20 comprises a plurality of hydrophones 22 forming a linear array, a control unit 24, a signal processing unit 26 and a body 28.
- the hydrophones 22 are below the body 28, advantageously on the bow of the body, i.e. at the tip or at least in the front quarter of the body 28 of the underwater vehicle 20.
- the linear array is shown as a horizontal linear array, i.e. the hydrophones 22 are arranged horizontally. The slightly curved arrangement in the direction of the longitudinal axis of the body 28 does not conflict with the horizontal arrangement.
- the control unit 24 controls the underwater vehicle 20.
- the control unit 24 can thus control the underwater vehicle 20 in such a way that it executes a rolling movement, indicated by the arrow 30.
- the linear array can be rotated.
- the control unit 24 can control the underwater vehicle 20 in such a way that it carries out a pitching movement upwards (indicated by the arrow 32a) or downwards (indicated by the arrow 32b).
- the control unit can also control the underwater vehicle 20 in such a way that it executes a movement along the vertical axis of the underwater vehicle or the body thereof (indicated by arrow 32c). Both lead to a parallel displacement of the linear array.
- a vertically arranged linear array it is advantageous if the underwater vehicle has a yawing movement instead of the pitching movement or instead of the Movement along the vertical axis carries out a movement along the transverse axis.
- the signal processing unit 26 processes the reflections of the waterborne sound signals that are detected by the waterborne sound transducers 22 .
- the signal processing unit 26 can also control when the waterborne sound transducers emit the waterborne sound signals.
- the signal processing unit 26 can do this, for example, when the underwater vehicle has assumed a predetermined position.
- the signal processing unit 26 calculates the beamforming based on the reflections of the waterborne sound signals, for example, and can use this to calculate the two-dimensional (sonar) spatial information in a conventional manner.
- Three-dimensional spatial information can now be calculated from the reflections for two two-dimensional spatial information. In principle, this is done in the same way as with a surface array, but it is advantageous to adapt the positions of the spatial information to one another in advance.
- the underwater vehicle can, in addition to the desired movement, also perform a movement that is undesirable for the evaluation of the sound waves, e.g. due to propulsion or a current.
- the signal processing unit 26 can now carry out a comparison of the spatial information. This means, for example, that the determined direction and distance of the second measurement can be corrected by the relative movement of the underwater vehicle between the first and the second measurement. It is also possible to align the underwater vehicle based on the first measurement in such a way that the linear array is aimed at the object to be detected during the second measurement, in particular if the linear array is at an angle between 80° and 100°, for example 90°, after the first measurement °, is rotated to perform the second measurement. This is advantageous, for example, when the object to be detected is in the edge area of the detection area of the linear array. If the linear antenna is rotated by 90°, for example, to carry out the second measurement, the otherwise the vertical opening angle of the linear antenna may be too small to detect the object.
- the (water) sound transducers disclosed are designed for use under water, in particular in the sea.
- the sound converters are designed to convert waterborne sound into an electrical signal (e.g. voltage or current) corresponding to the sound pressure, the waterborne sound signal.
- the sound converters are designed to convert an applied electrical voltage into waterborne sound. Accordingly, the sound converters can be used as waterborne sound receivers and/or as waterborne sound transmitters.
- the sound transducers have a piezoelectric material, for example a piezoceramic, as the sensory material.
- the transducers can be used for (active and/or passive) sonar (sound navigation and ranging). The transducers are not suitable for medical applications.
- aspects have been described in the context of a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also constitute a description of a corresponding block or detail or feature of a corresponding device.
- embodiments of the invention may be implemented in hardware or in software. Implementation can be performed using a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory, on which electronically readable control signals are stored, which can interact with a programmable computer system in such a way or interact that the respective method is carried out. Therefore, the digital storage medium can be computer-readable.
- Some embodiments according to of the invention thus comprise a data carrier which has electronically readable control signals which are capable of interacting with a programmable computer system in such a way that one of the methods described herein is carried out.
- embodiments of the present invention can be implemented as a computer program product with a program code, wherein the program code is effective to carry out one of the methods when the computer program product runs on a computer (for example the CPU - Central Processing Unit and/or the GPU - Graphics Processing Unit) expires.
- the program code can also be stored on a machine-readable carrier, for example.
- Other exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.
- an exemplary embodiment of the method according to the invention is therefore a computer program that has a program code for performing one of the methods described herein when the computer program runs on a computer.
- a further exemplary embodiment of the method according to the invention is therefore a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for carrying out one of the methods described herein is recorded.
- a further exemplary embodiment of the method according to the invention is therefore a data stream or a sequence of signals which represents the computer program for carrying out one of the methods described herein.
- the data stream or sequence of signals may be configured to be transferred over a data communication link, such as the Internet.
- Another embodiment includes a processing device, such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.
- a processing device such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.
- Another embodiment includes a computer on which the computer program for performing one of the methods described herein is installed.
- a programmable logic device e.g., a field programmable gate array, an FPGA
- a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein.
- the methods are performed by any flardware device. This can be universally usable flardware such as a computer processor (CPU) or flardware specific to the method, such as an ASIC.
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
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Priority Applications (1)
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AU2022319816A AU2022319816A1 (en) | 2021-07-27 | 2022-07-13 | Underwater vehicle with a plurality of waterborne sound transducers forming a linear array |
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DE102021208105.3 | 2021-07-27 | ||
DE102021208105.3A DE102021208105A1 (de) | 2021-07-27 | 2021-07-27 | Unterwasserfahrzeug mit einer Vielzahl von Wasserschallwandlern, die ein Lineararray bilden |
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WO2023006435A1 true WO2023006435A1 (de) | 2023-02-02 |
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PCT/EP2022/069699 WO2023006435A1 (de) | 2021-07-27 | 2022-07-13 | Unterwasserfahrzeug mit einer vielzahl von wasserschallwandlern, die ein lineararray bilden |
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AU (1) | AU2022319816A1 (de) |
DE (1) | DE102021208105A1 (de) |
WO (1) | WO2023006435A1 (de) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090270733A1 (en) * | 2008-04-25 | 2009-10-29 | Tetsuo Koide | Ultrasonic imaging apparatus and method |
CN103226828B (zh) * | 2013-04-09 | 2015-09-30 | 哈尔滨工程大学 | 一种水下机器人声视觉三维成像的图像配准方法 |
US20200371233A1 (en) * | 2019-05-21 | 2020-11-26 | Furuno Electric Co., Ltd. | Underwater detection apparatus and underwater detection method |
CN112083432A (zh) * | 2020-09-10 | 2020-12-15 | 天津水聿方舟海洋工程技术有限公司 | 基于声学轨道角动量的超精细三维成像方法 |
Family Cites Families (3)
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WO2002059645A2 (en) | 2001-01-25 | 2002-08-01 | Dynamics Technology, Inc. | Multibeam synthetic aperture sonar |
JP2012108075A (ja) | 2010-11-19 | 2012-06-07 | Furuno Electric Co Ltd | レーダ装置及び物標検出方法 |
CN112505710B (zh) | 2020-11-19 | 2023-09-19 | 哈尔滨工程大学 | 一种多波束合成孔径声呐三维成像算法 |
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2021
- 2021-07-27 DE DE102021208105.3A patent/DE102021208105A1/de active Pending
-
2022
- 2022-07-13 AU AU2022319816A patent/AU2022319816A1/en active Pending
- 2022-07-13 WO PCT/EP2022/069699 patent/WO2023006435A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090270733A1 (en) * | 2008-04-25 | 2009-10-29 | Tetsuo Koide | Ultrasonic imaging apparatus and method |
CN103226828B (zh) * | 2013-04-09 | 2015-09-30 | 哈尔滨工程大学 | 一种水下机器人声视觉三维成像的图像配准方法 |
US20200371233A1 (en) * | 2019-05-21 | 2020-11-26 | Furuno Electric Co., Ltd. | Underwater detection apparatus and underwater detection method |
CN112083432A (zh) * | 2020-09-10 | 2020-12-15 | 天津水聿方舟海洋工程技术有限公司 | 基于声学轨道角动量的超精细三维成像方法 |
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AU2022319816A1 (en) | 2024-02-01 |
DE102021208105A1 (de) | 2023-02-02 |
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