CN109900256A - A kind of mobile sound tomographic system in adaptive ocean and method - Google Patents
A kind of mobile sound tomographic system in adaptive ocean and method Download PDFInfo
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Abstract
A kind of mobile sound tomographic system in adaptive ocean and method, the system includes the multiple water surface movable platforms laid in observation sea area periphery, there are three hydrophones for each water surface movable mesa base dress, accurate positioning for underwater underwater acoustic transducer, each water surface movable platform is connect by tow cable with underwater low frequency and high frequency underwater acoustic transducer, water surface movable platform has positioning and time service device, it realizes the self poisoning of water surface movable platform and makes underwater acoustic transducer is synchronous to issue detection sound wave, high frequency underwater acoustic transducer emits high frequency acoustic signal and cooperates with three hydrophones, to realize the accurate positioning of high and low frequency underwater acoustic transducer, frequency acoustic signals in low-frequency underwater acoustic transducer transmitting, the signal of transmitting is mutually received with the low-frequency underwater acoustic transducer of other water surface movable platforms, realize that the sound of marine hydrology information chromatographs observation.Using adaptive ocean movement sound tomographic system of the invention and method, the precision of marine hydrology information measurement can be significantly improved.
Description
Technical field
The present invention relates to marine monitoring technology fields, more particularly to a kind of mobile sound tomographic system in adaptive ocean and side
Method.
Background technique
Marine acoustic tomography is the important technical of Measuring Oceanic hydrographic information, it is passed in ocean using sound wave
Broadcast variation inverting ocean environment parameter of speed, including ocean current, extra large temperature etc..Marine acoustics chromatography is obtaining Ocean environment information side
Face has the advantage that
1) since sound wave is propagated in the seawater with small advantage is lost, a wide range of Ocean environment information can be obtained.
2) it is based on acoustic propagation multi-path effect, limited sound chromatography node can be used, obtains the three-dimensional knot of marine environment field
Structure
3) sound chromatography is a kind of method of non-cpntact measurement, can lay the shadow generated to marine environment to avoid due to instrument
It rings.
Scheme is more that sound chromatographic apparatus is fixed on buoy or bank base for existing marine acoustics chromatography, (such as marine acoustics survey
Measure buoyage, publication number: CN106965905A), measuring node position is fixed, hydrographic information can only be measured in fixed position,
Compared with traditional CT, node is less, sound ray limited amount, causes measurement error uncontrollable；In inverting observation scope hydrographic information
When, it is also easy to produce accumulated error；Carry measuring device platform fix, not can be carried out it is adaptively sampled, can not pass through adjust sampling
Position is put to reach the minimum of observation error；When buoy is influenced oblique attitude by oceanographic phenomenas such as wave, interior wave fields, just
The position that cannot accurately determine observation device, can also have an impact measurement accuracy.
Summary of the invention
It is a primary object of the present invention to overcome the deficiencies of the prior art and provide a kind of mobile sound chromatography in adaptive ocean system
System and method, to improve the precision of marine hydrology information measurement.
To achieve the above object, the invention adopts the following technical scheme:
A kind of mobile sound tomographic system in adaptive ocean, multiple water surface movables including laying in observation sea area periphery are flat
Platform, there are three hydrophones for each water surface movable mesa base dress, and for the accurate positioning of underwater underwater acoustic transducer, each water surface is moved
Moving platform is connect by tow cable with underwater low-frequency underwater acoustic transducer and high frequency underwater acoustic transducer, the water surface movable platform
With positioning and time service device, for realizing the water surface movable platform self poisoning and make underwater acoustic transducer is synchronous to issue
Sound wave is detected, the high frequency underwater acoustic transducer cooperates for emitting high frequency acoustic signal and three hydrophones, to realize
The accurate positioning of high frequency underwater acoustic transducer and the low-frequency underwater acoustic transducer is stated, the low-frequency underwater acoustic transducer is for low in emitting
Frequency acoustic signal, low-frequency underwater acoustic transducer corresponding with other water surface movable platforms mutually receives the signal of transmitting, to realize sea
The sound of foreign hydrographic information chromatographs observation.
Further:
The water surface movable platform is wave aerodone, AUV, unmanned boat or artificial ship.
The positioning and time service device are GPS or BEI-DOU position system.
The water surface movable platform is wave aerodone, and the wave aerodone includes waterborne vessel, underwater traction body and company
The umbilical cables of the waterborne vessel Yu the underwater traction body are connect, the waterborne vessel is moved by the dragging of the underwater traction body
Dynamic, the high frequency underwater acoustic transducer and the low-frequency underwater acoustic transducer are mounted on the underwater traction body.
The bottom of the waterborne vessel is fixed with the hydrophone bracket, and the hydrophone bracket has between any two at 120
Three connecting rods of angle are spent, three hydrophones are installed respectively in three connecting rods.
The waterborne vessel is equipped with gyroscope, opposite to obtain each hydrophone for measuring the posture of the waterborne vessel
The position of the waterborne vessel, and match with the location information of the water surface movable platform determined by the positioning and time service device
It closes, obtains the physical location of three hydrophones, the system passes through at 3 points according to the physical location of three hydrophones
Localization method determines the high frequency underwater acoustic transducer and the low-frequency underwater acoustic transducer being mounted on the underwater traction body
Accurate location.
The initial samples point of the multiple water surface movable platform is uniformly distributed in area periphery circumference to be observed, the multiple
Water surface movable platform circumferentially random movement carries out multiple repairing weld；The multiple water surface movable platform is preferably that five waves are sliding
Xiang machine.
After the low-frequency underwater acoustic transducer of each water surface movable platform completes sound wave transmitting, it is converted into reception pattern；Each water surface
The sound wave that the low-frequency underwater acoustic transducer that other water surface movable platforms of mobile platform reception carry issues, and calculate each sound wave and reach
Delay；When each water surface movable platform receives the low-frequency sound wave that other all water surface movable platforms issue, that is, complete primary
Measurement；After initial samples point is completed to measure, sequence and propagation that the position including low-frequency underwater acoustic transducer, sound wave are reached
Time including related data bank base sent back by the communication system that water surface movable platform carries analyzed, Inversion Calculation
Observation area corresponds to the marine hydrology information at moment；Preferably, entire observation area measures every time shares 10 sound ray coverings.
A kind of mobile sound chromatography method in adaptive ocean carries out sea using the mobile sound tomographic system in the adaptive ocean
The sound of foreign hydrographic information chromatographs observation, it is preferable that wherein the determination process of the physical location of three hydrophones includes:
1) position location for choosing water surface movable platform is world coordinate system origin, and X-axis is positive east to Y-axis is along due north
Direction constitutes right-handed coordinate system OXYZ；
2) center for choosing three hydrophones is that origin O', the X' axis of hydrophone coordinate system is directed toward the right side of water surface movable platform
The side of a ship, Y' axis are directed toward the head direction of water surface movable platform, constitute right-handed coordinate system O'X'Y'Z', hydrophone coordinate origin is in the world
Coordinate in coordinate system is P0=(xo, yo, zo)T；
3) the coordinate p according to three hydrophones at coordinate system O'X'Y'Z'i=(xi, yi, zi)T, i=1,2,3, determine water
Listen device coordinate system to the transformation of world coordinate system are as follows:
R=RxRyRz,
Wherein roll, pitch, yaw are respectively the angle rotated around tri- reference axis of XYZ, are listened from world coordinate system to water
Device coordinate system is rotated according to elder generation around X-axis, is rotated around Y-axis, and the sequence finally rotated about the z axis carries out, thus from hydrophone coordinate
When being to world coordinate system, order change is first to rotate about the z axis, rotates further around Y-axis, finally rotates progress around X-axis；Rx, Ry, Rz
Transformation matrix when respectively rotating around three reference axis, R are the transformation matrix from hydrophone coordinate system to world coordinate system；
4) determine that position of three hydrophones in world coordinate system is Pi=(Xi, Yi, Zi)T, i=1,2,3
Pi=Rpi+P0。
Further, mobile node optimum arrangement position is found by neural network algorithm: when water surface movable platform is first
After beginning sampled point completes observation, observation data are transferred to by bank base by the communication device of water surface movable platform and are analyzed, are led to
The hydrographic information that measurement data inverting is observed in sea area is crossed, evaluated error is obtained；The neural network algorithm is surveyed with having observed
Data are measured as training sample, predict optimal target position of layouting, since ocean dynamical environment changes over time, water surface movable is flat
The optimal location of platform also changes over time, and obtained optimal position of layouting is the optimal of current time；Water surface movable platform according to
The optimal objective position that bank base is analyzed carries out position adjustment, then carries out repeated measures, after completing measurement, again by data
It passes bank base back to be analyzed, and so on；
Wherein, using the error of inverting hydrographic information as the input of neural network, the error being finally inversed by is the entire area of observation coverage
The error of domain difference, data volume is related with grid dividing, and the number of input layer is equal with number of errors；Preferably,
In data before use, being normalized；Preferably, using small-sized neural network, it includes one to two hidden that network, which is arranged,
Hide layer；
Preferably, using the position of five observation points as the output of neural network, it is 10 that neural network output layer, which is arranged,
Neuron respectively represents the one-component in the two-dimensional position of observation point, corresponding five observation positions；Objective function:
L=Lδ(y,f(e))+Ls(e),
Wherein Lδ(y, f (e)) is Huber loss function, as follows:
Wherein, e is the control information of input, and y indicates that actual observation position, f (e) are the optimal observation point of prediction
It sets, δ is convergent radius；Use Huber function as objective function, guarantee each component near actual observation position,
By adjusting hyper parameter δ, while reducing the sensitivity to data abnormal point, guarantee at the end of gradient declines soon not
Optimum point can be missed；Preferably, in addition setting assists loss function, Ls(e)=Ce, wherein e is that the hydrology of corresponding observation point misses
Difference, C are penalty coefficient, guarantee that resulting observation point tolerance is relatively small using Auxiliary goal function；
Network is assessed simultaneously in regulating networks parameter, randomly selects the sample of setting ratio as verifying sample；
It carries out take turns to train, and record cast parameter and verifying score, it is optimal that the highest model parameter prediction of score is verified in final selection more
It layouts position；Wherein, the position of five wave aerodones is adjusted to optimal observation point, carries out repeated measures；It is completed in target point
After observation, by the location information of observation point and hydrographic information out is multiplied, is added in training sample, due to optimal observation point
It sets and changes over time, a length of T, T when sample fails are set and is chosen according to observation area hydrological environment, training sample is concentrated
It is more than the sample deletion of T there are the time, re -training neural network predicts new optimal observation point position, and so on.
The invention has the following beneficial effects:
The present invention is relatively fixed for existing sound chromatographic technique existing measurement range when observing Ocean environment information, surveys
The uncontrollable defect of error is measured, a kind of mobile sound tomographic system in adaptive ocean is proposed, including what is laid in observation sea area periphery
Multiple water surface movable platforms, each water surface movable platform, which respectively has there are three hydrophone, positioned at underwater low frequency and the high frequency underwater sound, to be changed
Energy device and positioning and time service device, positioning and time service device realize the self poisoning of the water surface movable platform and make water
Sonic transducer is synchronous to issue detection sound wave, and high frequency underwater acoustic transducer emits high frequency acoustic signal and cooperates with three hydrophones, realizes
The accurate positioning of high frequency and low-frequency underwater acoustic transducer, low-frequency underwater acoustic transducer transmitting in frequency acoustic signals, with other waters surface move
The corresponding low-frequency underwater acoustic transducer of moving platform mutually receives the signal of transmitting, to realize the sound chromatography observation of marine hydrology information.
The present invention is this to carry Acoustic observation using water surface movable platform (such as wave aerodone, autonomous underwater vehicle, unmanned boat)
The mobile sound that device measures chromatographs scheme, and measuring node position in Conventional marine acoustics chromatography can be overcome relatively-stationary
The adaptively sampled of observer nodes may be implemented in defect, significantly improves the measurement accuracy of marine hydrology information；It is moved based on each water surface
Three real-time three-point fixs of hydrophone of moving platform, it is accurately fixed to carry out to the underwater underwater acoustic transducer of each water surface movable platform
Position, realizes the accurate positioning of observation device；Further, mobile sound tomographic system and method proposed by the present invention, make full use of
The mobility of water surface movable platform realizes that observation device optimal location lays and adjusts using neural network algorithm, passes through nerve
Network algorithm finds the optimal method layouted, and realizes to the adaptively sampled of different structure marine environment field, can overcome each
Influence of the kind oceanographic phenomena to measurement accuracy, realizes the minimum of measurement error.
Detailed description of the invention
Fig. 1 is that the water surface movable platform structure schematic diagram of an embodiment of the present invention (is moved using wave aerodone as the water surface
For moving platform), Fig. 1 a is the bottom view of the waterborne vessel of water surface movable platform.
Fig. 2 is the hydrophone fitting arrangement of the three-point fix of an embodiment of the present invention.
Fig. 3 is sound ray horizontal transmission schematic diagram between each mobile node of an embodiment of the present invention.
Fig. 4 is that optimal layout of an embodiment of the present invention adjusts schematic diagram.
Fig. 5 is the observation program overview flow chart of an embodiment of the present invention.
Specific embodiment
It elaborates below to embodiments of the present invention.It is emphasized that following the description is only exemplary,
The range and its application being not intended to be limiting of the invention.
Refering to fig. 1 to Fig. 5, in one embodiment, a kind of mobile sound tomographic system in adaptive ocean is included in observation sea
Multiple water surface movable platforms that overseas cloth is put, there are three hydrophones 9,10,11 for each water surface movable mesa base dress, are used for water
The accurate positioning of lower underwater acoustic transducer, each water surface movable platform by tow cable and underwater low-frequency underwater acoustic transducer 5 and
High frequency underwater acoustic transducer 6 connects, and the water surface movable platform has positioning and time service device, flat for realizing the water surface movable
The self poisoning of platform and make underwater acoustic transducer is synchronous to issue detection sound wave, the high frequency underwater acoustic transducer 6 is for emitting high frequency
Acoustic signal and three hydrophones 9,10,11 cooperate, to realize that the high frequency underwater acoustic transducer 6 and the low frequency underwater change
The accurate positioning of energy device 5, the low-frequency underwater acoustic transducer 5 is for frequency acoustic signals in emitting, with other water surface movable platforms
Corresponding low-frequency underwater acoustic transducer 5 mutually receives the signal of transmitting, to realize the sound chromatography observation of marine hydrology information.
In the particular embodiment, the water surface movable platform can be wave aerodone, AUV, unmanned boat or Artificial Ship
Only.
In the particular embodiment, the positioning and time service device can be GPS or BEI-DOU position system.
In a preferred embodiment, the water surface movable platform is wave aerodone, and the wave aerodone includes the water surface
The umbilical cables 3 of ship 1, underwater traction body 2 and the connection waterborne vessel 1 and the underwater traction body 2, the waterborne vessel 1 pass through institute
The dragging for stating underwater traction body 2 is moved, and the high frequency underwater acoustic transducer 6 and the low-frequency underwater acoustic transducer 5 are mounted on institute
It states on underwater traction body 2.
In a more preferred embodiment, the bottom of the waterborne vessel 1 is fixed with the hydrophone bracket 4, the hydrophone
Bracket 4 has between any two at three connecting rods of 120 degree of angles, and three hydrophones 9,10,11 install described three respectively
In a connecting rod.
In a more preferred embodiment, the waterborne vessel 1 is equipped with gyroscope 7, for measuring the appearance of the waterborne vessel 1
State, to obtain the position of the relatively described waterborne vessel 1 of each hydrophone, and with the water determined by the positioning and time service device
The location information of face mobile platform matches, and obtains the physical location of three hydrophones 9,10,11, the system is according to institute
The physical location for stating three hydrophones 9,10,11 determines the institute being mounted on the underwater traction body by three-point positioning method
State the accurate location of high frequency underwater acoustic transducer 6 and the low-frequency underwater acoustic transducer 5.
In a preferred embodiment, the initial samples point of the multiple water surface movable platform is uniformly distributed in region to be observed
Peripheral circumferential, the multiple water surface movable platform circumferentially random movement carry out multiple repairing weld；The multiple water surface movable platform
Preferably five wave aerodones.
In a preferred embodiment, it after the low-frequency underwater acoustic transducer 5 of each water surface movable platform completes sound wave transmitting, is converted into
Reception pattern；Each water surface movable platform receives the sound wave that the low-frequency underwater acoustic transducer 5 of other water surface movable platforms carrying issues,
And calculate the delay that each sound wave reaches；When each water surface movable platform receives the low frequency that other all water surface movable platforms issue
When sound wave, that is, complete one-shot measurement；It will include position, the sound of low-frequency underwater acoustic transducer 5 after initial samples point is completed to measure
Related data including the time of sequence and propagation that wave reaches sends back bank by the communication system that water surface movable platform carries
Base is analyzed, and Inversion Calculation observation area corresponds to the marine hydrology information at moment；Preferably, entire observation area measures every time
Share 10 sound ray coverings.
In another embodiment, the mobile sound chromatography method in a kind of adaptive ocean, is moved using the adaptive ocean
The sound that dynamic sound tomographic system carries out marine hydrology information chromatographs observation.
In certain embodiments, a kind of mobile sound in ocean chromatographs observation system, by laying in observation sea area periphery
Multiple water surface movable platforms realize that water surface movable platform can be the autonomous observation device such as wave aerodone, AUV, unmanned boat,
It can be realized by artificial ship.Water surface movable platform realizes self poisoning and time service, the purpose of time service by GPS or Beidou
It is to issue detectable signal in order to ensure multiple observation devices are synchronous.Water surface movable mesa base is filled there are three hydrophone 9,10,11,
Accurate positioning for underwater underwater acoustic transducer.Water surface movable platform is connected by tow cable and two underwater underwater acoustic transducers
It connects, one of underwater acoustic transducer transmitting high frequency acoustic signal is matched with three hydrophones 9,10,11 mounted in mobile platform bottom
It closes, the accurate positioning of underwater underwater acoustic transducer is realized by three-point positioning method；Low frequency in the transmitting of another underwater acoustic transducer
Acoustic signal, underwater acoustic transducer corresponding with other mobile platforms mutually receive the signal of transmitting, realize marine hydrology information
Sound chromatography observation.
The overall procedure of the observation method of system is as shown in Figure 5.Following water surface movable platform is with five wave aerodones
Example is illustrated the mobile sound chromatography method in adaptive ocean.
Firstly, the waterborne vessel 1 of wave aerodone is dragged to initial samples point, such as by umbilical cables 3 by underwater traction body 2
Shown in Fig. 3, initial samples point is uniformly distributed in A peripheral circumferential in region to be observed, and the waterborne vessel 1 of five wave aerodones is circumferentially
Random movement carries out multiple repairing weld.After five wave aerodones reach initial samples point, pass through each wave aerodone water surface
The GPS8 carried in the cabin of ship completes the time service of system, it is ensured that all underwater acoustic transducers are simultaneously emitted by detection sound wave.Wave is sliding
The low-frequency underwater acoustic transducer 5 and high frequency underwater acoustic transducer 6 that Xiang machine carries, while frequency acoustic signals and high-frequency acoustic are issued respectively
Signal, wave aerodone record the time of sound wave transmitting.As shown in Fig. 2, pacifying between any two at three hydrophones of 120 degree of angles
On hydrophone bracket 4, hydrophone bracket 4 is bolted on the bottom of waterborne vessel 1.Since three connecting rod bars are long
Know, after the gyroscope 7 by installing in 1 cabin of waterborne vessel measures the posture of waterborne vessel 1, can be obtained each hydrophone with respect to water
The position of face ship 1, then cooperate with the position of waterborne vessel 1 determined by GPS8, it can be obtained the physical location of three hydrophones.Position
It is as follows to set determining method:
1. the position for choosing the GPS8 that wave aerodone carries is world coordinate system origin O, X-axis is positive east to Y-axis edge
Direct north constitutes right-handed coordinate system OXYZ.
2. choosing the starboard that origin O', the X' axis that hydrophone carriage center is hydrophone coordinate system is directed toward waterborne vessel 1, Y' axis
It is directed toward fore direction, constitutes right-handed coordinate system O'X'Y'Z', coordinate of the hydrophone coordinate origin in world coordinate system is P0
=(xo, yo, zo)T。
3. since bar is long and the angle of hydrophone is it is known that seat of available three hydrophones at coordinate system O'X'Y'Z'
Mark pi=(xi, yi, zi)T, i=1,2,3, the transformation from hydrophone coordinate system to world coordinate system can indicate are as follows:
R=RxRyRz,
Wherein roll, pitch, yaw are respectively the angle rotated around tri- reference axis of XYZ, are listened from world coordinate system to water
Device coordinate system is rotated according to elder generation around X-axis, is rotated around Y-axis, and the sequence that finally rotates about the z axis carries out, therefore from hydrophone coordinate
When being to world coordinate system, order change is first to rotate about the z axis, rotates further around Y-axis, finally rotates progress around X-axis.Rx, Ry, Rz
Transformation matrix when respectively rotating around three reference axis, R are the transformation matrix from hydrophone coordinate system to world coordinate system.
4. position of three hydrophones in world coordinate system can be expressed as Pi=(Xi, Yi, Zi)T, i=1,2,3
Pi=Rpi+P0
Three hydrophones on hydrophone bracket 4 pass through calculating for receiving the signal of the sending of high frequency underwater acoustic transducer 6
The delay that sound wave reaches can determine that high frequency underwater acoustic transducer 6 arrives the distance x of each hydrophonei, i=1,2,3.According to calculating
The accurate location of three hydrophones arrived is the accurate location that can determine High-frequency water sonic transducer 6 by three-point positioning method,
Obtain the accurate location of low-frequency underwater acoustic transducer 5.
After low-frequency underwater acoustic transducer 5 completes sound wave transmitting, it is converted into reception pattern.It is sliding that wave aerodone receives other waves
The sound wave that the low-frequency underwater acoustic transducer 5 that Xiang machine carries issues, and calculate the delay that each sound wave reaches.Entire observation area is each
Measurement shares 10 sound ray S coverings.When each wave aerodone receives the low-frequency sound wave that other all wave aerodones issue,
Complete one-shot measurement.After initial samples point is completed to measure, by related data (position of low-frequency underwater acoustic transducer 5, sound wave
The time etc. of the sequence and propagation that reach) it bank base is sent back by the communication system that wave aerodone carries is analyzed, inverting
Calculating observation region corresponds to the hydrographic informations such as the temperature at moment, flow velocity and hydrographic information error.
In addition, making full use of the mobility of mobile platform, in a preferred embodiment, is found and moved by neural network algorithm
Node optimum arrangement position.When mobile platform initial samples point complete observe after, pass through the communication of mobile platform water surface part
Observation data are transferred to bank base and analyzed by device, are observed the hydrographic information in sea area by measurement data inverting, are obtained
Evaluated error.Neural network algorithm predicts optimal target position of layouting, due to sea to have observed measurement data as training sample
Foreign dynamic environment changes over time, so the optimal location of mobile platform is also the optimal cloth changed over time, therefore obtain
Point is set to the optimal of current time.Mobile platform carries out position adjustment according to the optimal objective position that bank base is analyzed, and
After carry out repeated measures, after completing measurement, pass data back bank base again and analyze, and so on.
Using the error of inverting hydrographic information as the input of neural network, the error being finally inversed by is that entire observation area is different
The error of point, data volume is related with grid dividing, and the number of input layer is equal with number of errors；Due to each feature
Value range differs greatly, and in data before use, being normalized, while sample size is less, in order to avoid over-fitting
Phenomenon, using small-sized neural network, it includes one to two hidden layers that network, which is arranged,.Using the position of five observation points as nerve
The output of network, setting neural network output layer are 10 neurons, respectively represent one point in the two-dimensional position of observation point
Amount, corresponding five observation positions.Objective function:
L=Lδ(y,f(e))+Ls(e),
Wherein Lδ(y, f (e)) is Huber loss function, as follows:
Wherein, e is the control information of input, and y indicates that actual observation position, f (e) are the optimal observation point of prediction
It sets, δ is convergent radius.Use Huber function as objective function, guarantee each component near actual observation position,
By adjusting hyper parameter δ, it can guarantee to decline in gradient and soon tie while reducing the sensitivity to data abnormal point
Optimum point will not be missed when beam.In addition setting auxiliary loss function, Ls(e)=Ce, wherein e is that the hydrology of corresponding observation point misses
Difference, C are penalty coefficient, and Auxiliary goal function guarantees that resulting observation point tolerance is relatively small, to consider to coordinate in practical application
Error and positional relationship, i.e. Ls(e) and Lδ(y,f(e))。
In order to assess simultaneously network in regulating networks parameter, a certain proportion of sample is randomly selected as verifying sample
This (such as 20% sample is as verifying).More wheel training, and record cast parameter and verifying score are carried out, it is final to choose verifying point
The highest model parameter of number predicts optimal position of layouting.Fig. 4 is that optimal layout adjusts schematic diagram, adjusts five wave aerodones
Position carries out repeated measures to optimal observation point.After target point completes observation, by the location information of observation point and multiply out
Hydrographic information is added in training sample, since optimal observation point position changes over time, when setting sample fails
A length of T, T according to observation area hydrological environment choose, in the presence of training sample is concentrated between be more than T sample deletion, instruct again
Practice neural network, predicts new optimal observation point position, and so on.
The above content is combine it is specific/further detailed description of the invention for preferred embodiment, cannot recognize
Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modifications can also be made to the embodiment that these have been described,
And these substitutions or variant all shall be regarded as belonging to protection scope of the present invention.
Claims (10)
1. a kind of mobile sound tomographic system in adaptive ocean, which is characterized in that including the multiple water laid in observation sea area periphery
Face mobile platform, there are three hydrophones for each water surface movable mesa base dress, for the accurate positioning of underwater underwater acoustic transducer, often
A water surface movable platform is connect by tow cable with underwater low-frequency underwater acoustic transducer and high frequency underwater acoustic transducer, the water surface
Mobile platform have positioning and time service device, for realizing the water surface movable platform self poisoning and make underwater acoustic transducer
Synchronous to issue detection sound wave, the high frequency underwater acoustic transducer cooperates for emitting high frequency acoustic signal and three hydrophones,
To realize the accurate positioning of the high frequency underwater acoustic transducer and the low-frequency underwater acoustic transducer, the low-frequency underwater acoustic transducer is used for
Frequency acoustic signals in transmitting, low-frequency underwater acoustic transducer corresponding with other water surface movable platforms mutually receive the signal of transmitting,
To realize the sound chromatography observation of marine hydrology information.
2. the mobile sound tomographic system in ocean as described in claim 1 adaptive, which is characterized in that the water surface movable platform is
Wave aerodone, AUV, unmanned boat or artificial ship.
3. the mobile sound tomographic system in adaptive ocean as described in claim 1, which is characterized in that the positioning and time service device
For GPS or BEI-DOU position system.
4. the mobile sound tomographic system in adaptive ocean as claimed in claim 1 or 3, which is characterized in that the water surface movable is flat
Platform is wave aerodone, and the wave aerodone includes waterborne vessel, underwater traction body and the connection waterborne vessel and described underwater
The umbilical cables of traction body, the waterborne vessel are moved by the dragging of the underwater traction body, the high frequency underwater acoustic transducer
It is mounted on the underwater traction body with the low-frequency underwater acoustic transducer.
5. the mobile sound tomographic system in adaptive ocean as claimed in claim 4, which is characterized in that the bottom of the waterborne vessel is solid
Surely there is a hydrophone bracket, the hydrophone bracket has between any two into three connecting rods of 120 degree of angles, and described three
Hydrophone is installed respectively in three connecting rods.
6. the mobile sound tomographic system in adaptive ocean as described in claim 4 or 5, which is characterized in that the waterborne vessel installation
Have gyroscope, for measuring the posture of the waterborne vessel, to obtain the position of the relatively described waterborne vessel of each hydrophone, and with institute
The location information for stating the water surface movable platform determined by positioning and time service device matches, and obtains three hydrophones
Physical location, the system are determined described in being mounted on according to the physical location of three hydrophones by three-point positioning method
The accurate location of the high frequency underwater acoustic transducer and the low-frequency underwater acoustic transducer on underwater traction body.
7. such as the mobile sound tomographic system in adaptive ocean as claimed in any one of claims 1 to 6, which is characterized in that the multiple
The initial samples point of water surface movable platform is uniformly distributed in area periphery circumference to be observed, and the multiple water surface movable platform is along circle
All random movements carry out multiple repairing weld；The multiple water surface movable platform is preferably five wave aerodones.
8. the mobile sound tomographic system in adaptive ocean as described in any one of claim 1 to 7, which is characterized in that each water surface moves
After the low-frequency underwater acoustic transducer of moving platform completes sound wave transmitting, it is converted into reception pattern；Each water surface movable platform receives other
The sound wave that the low-frequency underwater acoustic transducer that water surface movable platform carries issues, and calculate the delay that each sound wave reaches；When each water
When face mobile platform receives the low-frequency sound wave that other all water surface movable platforms issue, that is, complete one-shot measurement；When initially adopting
After sampling point completes measurement, by the phase including the time of sequence and propagation that the position of low-frequency underwater acoustic transducer, sound wave reach
Data are closed to send back bank base by the communication system that water surface movable platform carries and analyzed, Inversion Calculation observation area to correspondence when
The marine hydrology information at quarter；Preferably, entire observation area measures every time shares 10 sound ray coverings.
9. a kind of mobile sound chromatography method in adaptive ocean, which is characterized in that using as claimed in any one of claims 1 to 8
The sound that the adaptive mobile sound tomographic system in ocean carries out marine hydrology information chromatographs observation, it is preferable that wherein three water is listened
The determination process of the physical location of device includes:
1) position location for choosing water surface movable platform is world coordinate system origin O, and X-axis is positive east to Y-axis is along the positive north
To composition right-handed coordinate system OXYZ；
2) center for choosing three hydrophones is that origin O', the X' axis of hydrophone coordinate system is directed toward the starboard of water surface movable platform,
Y' axis is directed toward the head direction of water surface movable platform, constitutes right-handed coordinate system O'X'Y'Z', and hydrophone coordinate origin is sat in the world
Coordinate in mark system is P0=(xo, yo, zo)T；
3) the coordinate p according to three hydrophones at coordinate system O'X'Y'Z'i=(xi, yi, zi)T, i=1,2,3, determine hydrophone
Transformation of the coordinate system to world coordinate system are as follows:
R=RxRyRz,
Wherein roll, pitch, yaw are respectively the angle rotated around tri- reference axis of XYZ, are sat from world coordinate system to hydrophone
Mark system rotate according to elder generation around X-axis, rotates around Y-axis, the progress of the sequence that finally rotates about the z axis, thus from hydrophone coordinate system to
When world coordinate system, order change is first to rotate about the z axis, rotates further around Y-axis, finally rotates progress around X-axis；Rx, Ry, RzRespectively
Transformation matrix when to rotate around three reference axis, R are the transformation matrix from hydrophone coordinate system to world coordinate system；
4) determine that position of three hydrophones in world coordinate system is Pi=(Xi, Yi, Zi)T, i=1,2,3
Pi=Rpi+P0。
10. the mobile sound chromatography method in adaptive ocean as claimed in claim 9, which is characterized in that
Mobile node optimum arrangement position is found by neural network algorithm: when water surface movable platform is completed to see in initial samples point
After survey, observation data are transferred to by bank base by the communication device of water surface movable platform and are analyzed, measurement data inverting is passed through
The hydrographic information being observed in sea area, obtains evaluated error；The neural network algorithm is to have observed measurement data as training
Sample predicts optimal target position of layouting, since ocean dynamical environment changes over time, the optimal location of water surface movable platform
It changes over time, obtained optimal position of layouting is the optimal of current time；Water surface movable platform is analyzed according to bank base
Optimal objective position carries out position adjustment, then carries out repeated measures, after completing measurement, passes data back bank base again and is divided
Analysis, and so on；
Wherein, using the error of inverting hydrographic information as the input of neural network, the error that is finally inversed by be entire observation area not
With the error put, data volume is related with grid dividing, and the number of input layer is equal with number of errors；Preferably, in number
According to before use, being normalized；Preferably, using small-sized neural network, it includes one to two hidden layers that network, which is arranged,；
Preferably, using the position of five observation points as the output of neural network, setting neural network output layer is 10 nerves
Member respectively represents the one-component in the two-dimensional position of observation point, corresponding five observation positions；Objective function:
L=Lδ(y,f(e))+Ls(e),
Wherein Lδ(y, f (e)) is Huber loss function, as follows:
Wherein, e is the control information of input, and y indicates that actual observation position, f (e) are the optimal observation point position of prediction, and δ is
Convergent radius；Use Huber function as objective function, guarantees that each component near actual observation position, passes through tune
Hyper parameter δ is saved, while reducing the sensitivity to data abnormal point, guarantees to miss at the end of gradient declines soon
Optimum point；Preferably, in addition setting assists loss function, Ls(e)=Ce, wherein e is the hydrology error of corresponding observation point, and C is
Penalty coefficient guarantees that resulting observation point tolerance is relatively small using Auxiliary goal function；
Network is assessed simultaneously in regulating networks parameter, randomly selects the sample of setting ratio as verifying sample；It carries out
More wheel training, and record cast parameter and verifying score, the final highest model parameter of verifying score of choosing predict optimal layout
Position；Wherein, the position of five wave aerodones is adjusted to optimal observation point, carries out repeated measures；It completes to observe in target point
Afterwards, by the location information of observation point and hydrographic information out is multiplied, be added in training sample, since optimal observation point position is
It changes over time, setting sample a length of T when failing, T concentrate presence according to the selection of observation area hydrological environment, by training sample
Time is more than that the sample of T is deleted, and re -training neural network predicts new optimal observation point position, and so on.
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