CN119881801A - Underwater ship body positioning method and positioning system based on time delay and array topology - Google Patents
Underwater ship body positioning method and positioning system based on time delay and array topology Download PDFInfo
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
本发明属于水下目标检测技术领域，具体涉及基于时延和阵列拓扑的水下船体定位方法及定位系统，其包括：S1、获取水下目标船体的图像数据，发射声波进行探测，并接收回波；S2、基于时间差定位算法中的时延算法分析处理声波接收装置收到的声波信号；S3、建立水下三维空间模型，根据阵列拓扑结构确定水下目标船体的位置信息；S4、根据水下目标船体的位置信息，进行聚类分析识别船体类型。本发明通过声波进行探测水下船体，使用基于时间差定位算法中的时延算法和阵列拓扑结构确定水下目标船体的准确位置信息，并使用K‑Means算法进行聚类分析，快速定位准确识别船体类型，为后续水下维修作业工作提供保障。
The present invention belongs to the technical field of underwater target detection, and specifically relates to an underwater hull positioning method and positioning system based on time delay and array topology, which includes: S1, obtaining image data of the underwater target hull, transmitting sound waves for detection, and receiving echoes; S2, analyzing and processing the sound wave signal received by the sound wave receiving device based on the time delay algorithm in the time difference positioning algorithm; S3, establishing an underwater three-dimensional space model, and determining the position information of the underwater target hull according to the array topology structure; S4, performing cluster analysis to identify the hull type according to the position information of the underwater target hull. The present invention detects the underwater hull through sound waves, uses the time delay algorithm and array topology structure in the time difference positioning algorithm to determine the accurate position information of the underwater target hull, and uses the K-Means algorithm for cluster analysis, quickly locates and accurately identifies the hull type, and provides guarantee for subsequent underwater maintenance operations.
Description
Technical Field
The invention belongs to the technical field of underwater target detection, and particularly relates to an underwater ship body positioning method and an underwater ship body positioning system based on time delay and array topology.
Background
The position location identification of the underwater portion of the hull is critical during maintenance and repair of the vessel. For large ships, the underwater part has complex structure, comprises parts such as a ship bottom, a propeller and the like, and is beneficial to improving the maintenance efficiency and reducing the maintenance cost.
There are a number of drawbacks to the current conventional underwater positioning methods. The positioning method based on the single sensor cannot accurately judge the position of the ship body by utilizing the multi-angle information of the signals, and the positioning recognition error is larger because the accuracy of time delay and the optimization of array topology are not fully considered in a complex underwater environment based on the multi-sensor method. For example, in shallow sea and deep sea environments, due to the difference of sound velocity profiles, sound velocity correction and array topology adaptive adjustment are not performed for different environments, resulting in significant degradation of positioning accuracy.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an underwater ship body positioning method based on time delay and array topology, which is used for detecting an underwater target ship body through sound waves, determining the position information of the underwater target ship body by using a time delay algorithm and an array topology structure in a time difference positioning algorithm, and finally, obtaining the ship body type by using a K-Means algorithm for cluster analysis, acquiring the underwater target position data, quickly positioning, relieving the workload and providing data guarantee for the subsequent underwater maintenance work.
In order to achieve the above purpose, the invention discloses an underwater ship body positioning method based on time delay and array topology, which comprises the following steps:
S1, acquiring image data of an underwater target ship body, transmitting sound waves for detection, and receiving echoes;
the method comprises the steps of obtaining image data of an underwater target ship body through camera shooting, detecting the underwater target ship body by using an acoustic wave transmitting device to obtain ship body depth information, and receiving acoustic wave signals reflected back by the surface of the underwater target ship body by using an acoustic wave receiving device;
S2, analyzing and processing the acoustic wave signals received by the acoustic wave receiving device based on a time delay algorithm in a time difference positioning algorithm;
determining a distance difference delta d between a sound source signal and a microphone array element by using the sound wave receiving device, setting a1 st microphone array element in the sound wave receiving device as a reference point, and obtaining the sound wave signal received by an nth microphone array element at the moment k as follows:
yn(k)＝αns(k-t-τn1)+vn(k)
=αns[k-t-Fn(τ)]+vn(k)
=xn(k)+vn(k)
Wherein y n (k) is a signal finally received by an nth array element at k time, alpha n (n=1, 2,.. N) is attenuation of the signal in a propagation process, s is a sound source signal, k is a time parameter, t is propagation time between the sound source and the 1 st array element, tau n1 is a signal delay difference received by the 1 st microphone array element and the 2 nd microphone array element, v n (k) is additive noise received by the nth array element, F n (tau) is a signal delay function between the nth array element and the 1 st array element, and x n (k) is variable quantity of the nth array element along with the time k;
s3, establishing an underwater three-dimensional space model, and determining the position information of an underwater target ship body according to the array topological structure;
S2, determining the direction angle and the distance of the sound wave signals according to the geometric relation between the sound source signals and the array, setting the axial direction of the array as a reference direction, calculating an included angle formed by the connecting line of the sound source signals and the center of the array and the axial direction of the array, and taking the included angle as the direction angle of the sound wave signals;
and S4, scanning a water area where the underwater target ship body is located by using a laser radar to obtain water area point cloud data according to the position information of the underwater target ship body obtained in the step S3, performing noise elimination and coordinate conversion, performing cluster analysis on the water area point cloud data by using a K-Means algorithm, identifying the type of the ship body, and sending the obtained underwater target ship body data to a detection center subsystem.
Preferably, the distance L between the two points in space is obtained by using a formula of the distance between the two points, and is:
Wherein L is the distance of the underwater target ship body, x 0 is the horizontal coordinate of the array center, y 0 is the vertical coordinate of the array center, z 0 is the vertical coordinate of the array center, x is the horizontal coordinate of the sound source signal, y is the vertical coordinate of the sound source signal, and z is the vertical coordinate of the sound source signal.
Preferably, in step S2, the distance difference Δd between the arrival of the sound source signal at the microphone array element is determined by using the acoustic wave receiving apparatus, specifically:
Analyzing the relative time difference of the sound wave signal reaching the microphone array element in the sound wave receiving device, obtaining the time delay between the corresponding signal waveforms, extracting the time difference delta t of the microphone array element, and obtaining the distance difference of the sound source signal reaching the microphone array element as follows:
Δd=v*Δt
wherein Deltad is the distance difference between the sound source and the microphone array element, v is the propagation speed of the underwater ultrasonic wave, and Deltat is the time difference between the microphone array elements.
Preferably, in the step S3, the K-Means algorithm is used for carrying out clustering analysis on the water area point cloud data, specifically, the point cloud data or the image characteristic data of the laser radar are used as data points to be clustered, and the data points with similar characteristics are clustered together according to the distance similarity measurement standard, so that the category of the underwater target ship body is divided.
The invention provides an underwater hull positioning system based on a time delay and array topology underwater hull positioning method, which comprises a central processing subsystem, a target detection and positioning subsystem, a wireless transmission subsystem and a detection center subsystem;
The input end of the central processing subsystem is electrically connected with the output end of the target detection and positioning subsystem through a wire, the output end of the central processing subsystem is electrically connected with the input end of the wireless transmission subsystem through a wire, and the wireless transmission subsystem is in bidirectional connection with the detection center subsystem through wireless;
The target detection and positioning subsystem comprises a detection unit and a data processing unit, wherein the detection unit comprises an acoustic wave transmitting device and an acoustic wave receiving device, the output end of the detection unit is electrically connected with the input end of the serial port communication module through a wire, the output end of the serial port communication module is electrically connected with the input end of the data processing unit through a wire, and the output end of the data processing unit is electrically connected with the input end of the feedback module through a wire.
Preferably, the detection unit comprises a laser radar, a camera and a transmitting transducer, and the output end of the laser radar is electrically connected with the input end of the clustering module through a wire.
Preferably, the data processing unit comprises a microprocessor, and an input end of the microprocessor is electrically connected with an output end of the depth information acquisition module through a wire;
The input end of the microprocessor is electrically connected with the input end of the underwater sound signal processor through a wire, and the input end of the underwater sound signal processor is electrically connected with the output end of the signal processor through a wire;
The output end of the microprocessor is electrically connected with the input end of the positioning calculation module through a wire, the output end of the positioning calculation module is electrically connected with the input end of the distance acquisition module through a wire, and the output end of the positioning calculation module is electrically connected with the input end of the coordinate positioning module through a wire.
Preferably, the input end of the signal processor is electrically connected with the output end of the sound wave receiving device through a wire.
Preferably, the input end of the depth information acquisition module is electrically connected with the output end of the radar data analysis module through a wire.
Preferably, the acoustic wave receiving apparatus is provided with a linear microphone array uniformly distributed along the surface, and includes n microphone array elements.
Compared with the prior art, the invention has the following beneficial effects:
(1) The underwater target detection method comprises the steps of detecting the underwater target ship body through sound waves, determining the position information of the underwater target ship body through a time delay algorithm and an array topological structure based on a time difference positioning algorithm, and finally, performing cluster analysis through a K-Means algorithm to identify the type of the ship body to obtain the ship body.
(2) According to the invention, the laser radar, the camera, the transmitting transducer and the underwater sound signal processor are adopted to identify and scan the underwater target, acquire the position data of the underwater target, quickly position the underwater target, reduce the workload of personnel and provide data guarantee for subsequent underwater maintenance work.
(3) The output end of the central processing subsystem is electrically connected with the input end of the wireless transmission subsystem through the lead, and the wireless transmission subsystem is in bidirectional connection with the detection center subsystem through the wireless, so that specific positioning data information of a target can be sent to the detection center subsystem, and the follow-up processing is facilitated.
Drawings
FIG. 1 is a control block diagram of the underwater hull positioning method of the present invention based on time delay and array topology;
FIG. 2 is a schematic view of the structure of the underwater hull positioning system of the present invention;
FIG. 3 is a schematic diagram of a target detection and localization subsystem according to the present invention;
FIG. 4 is a schematic diagram of the structure of the detecting unit of the present invention;
Fig. 5 is a schematic diagram of a data processing unit according to the present invention.
The system mainly comprises a central processing subsystem (1), a target detection and positioning subsystem (2), a detection unit (21), a laser radar (211), a camera (212), a camera (213), a clustering module (214), a transmitting transducer (22), a serial communication module (23), a data processing unit (231), a microprocessor (232), a depth information acquisition module (233), a radar data analysis module (234), a hydroacoustic signal processor (235), a signal processor (236), an acoustic wave receiving device (237), a positioning calculation module (238), a coordinate positioning module (239), a distance acquisition module (24), a feedback module (3), a wireless transmission subsystem (4) and a detection central subsystem.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the attached drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides an underwater ship body positioning method based on time delay and array topology, which is shown in figure 1, and comprises the steps of acquiring image data of an underwater target ship body, transmitting sound waves for detection and receiving echoes, analyzing and processing sound wave signals received by a sound wave receiving device based on a time delay algorithm in a time difference positioning algorithm, establishing an underwater three-dimensional space model, determining position information of the underwater target ship body according to an array topology structure, and carrying out clustering analysis to identify the ship body type according to the position information of the underwater target ship body, wherein the method comprises the following steps:
The method comprises the steps of S1, acquiring image data of an underwater target ship body, transmitting sound waves for detection and receiving echoes, acquiring the image data of the underwater target ship body through camera shooting, detecting the underwater target ship body by using a sound wave transmitting device to acquire ship body depth information, and receiving sound wave signals reflected back from the surface of the underwater target ship body by using a sound wave receiving device, wherein a wide-angle camera can be selected by the camera.
And S2, analyzing and processing the sound wave signals received by the sound wave receiving device based on a time delay algorithm in the time difference positioning algorithm.
The sound wave receiving device is provided with a linear microphone array which is uniformly distributed along the sound wave receiving device, the distance difference delta d of the sound source signal reaching the microphone array elements is determined by using the sound wave receiving device, the relative time difference of the sound wave signal reaching the microphone array elements in the sound wave receiving device is analyzed, the time delay between corresponding signal waveforms is obtained, the time difference delta t of the microphone array elements is extracted, and the distance difference of the sound source signal reaching the microphone array elements is obtained as follows:
Δd=v*Δt;
wherein Deltad is the distance difference between the sound source and the microphone array element, v is the propagation speed of the underwater ultrasonic wave, and Deltat is the time difference between the microphone array elements.
Setting a1 st microphone array element in the acoustic wave receiving device as a reference point, and obtaining acoustic wave signals received by an n-th microphone array element at the k moment as follows:
wherein y n (k) is a signal finally received by an nth array element at k time, alpha n (n=1, 2,.. The N) is attenuation of the signal in a propagation process, s is a sound source signal, k is a time parameter, t is propagation time between the sound source and the 1 st array element, τ n1 is a signal delay difference between the 1 st microphone array element and the 2 nd microphone array element, v n (k) is additive noise received by the nth array element, F n (τ) is a signal delay function between the nth array element and the 1 st array element, and x n (k) is variable quantity of the nth array element along with the time k.
And step S3, establishing an underwater three-dimensional space model, and determining the position information of the underwater target ship body according to the array topological structure.
According to the geometric relation between the sound source signal and the array obtained in the step S2, determining the direction angle and the distance of the sound wave signal, setting the axial direction of the array as a reference direction, calculating an included angle formed by the connecting line of the sound source signal and the center of the array and the axial direction of the array, and taking the included angle as the direction angle of the sound wave signal, wherein the distance L between two points in space is obtained by utilizing a formula of the distance between two points in space, and is as follows:
Wherein L is the distance of the underwater target ship body, x 0 is the horizontal coordinate of the array center, y 0 is the vertical coordinate of the array center, z 0 is the vertical coordinate of the array center, x is the horizontal coordinate of the sound source signal, y is the vertical coordinate of the sound source signal, and z is the vertical coordinate of the sound source signal.
And S4, scanning a water area where the underwater target ship body is located by using a laser radar 211 according to the position information of the underwater target ship body obtained in the step S3 to obtain water area point cloud data, performing noise elimination and coordinate conversion, performing cluster analysis on the water area point cloud data by using a K-Means algorithm, identifying the type of the ship body, and sending the obtained underwater target ship body data to a detection center subsystem. The K-Means algorithm is used for carrying out clustering analysis on water area point cloud data, specifically, the point cloud data or image characteristic data of the laser radar 211 are used as data points to be clustered, and the data points with similar characteristics are clustered together according to the distance similarity measurement standard, so that the category of the underwater target ship body is divided.
The second aspect of the embodiment of the invention provides an underwater hull positioning system based on a time delay and array topology underwater hull positioning method, as shown in fig. 2, which is a schematic structural diagram of the underwater hull positioning system of the invention, and comprises a central processing subsystem 1, a target detection and positioning subsystem 2, a wireless transmission subsystem 3 and a detection center subsystem 4.
The input end of the central processing subsystem 1 is electrically connected with the output end of the target detection and positioning subsystem 2 through a wire, the output end of the central processing subsystem 1 is electrically connected with the input end of the wireless transmission subsystem 3 through a wire, and the wireless transmission subsystem 3 is in bidirectional connection with the detection central subsystem 4 through wireless. The central processing subsystem 1 is CPU for short, is an operation core and a control core of a computer, and is a final execution unit for information processing and program running.
Fig. 3 shows a schematic structure diagram of a target detection and positioning subsystem according to the present invention, wherein the target detection and positioning subsystem 2 comprises a detection unit 21 and a data processing unit 23, the detection unit 21 comprises a sound wave transmitting device and a sound wave receiving device, an output end of the detection unit 21 is electrically connected with an input end of a serial port communication module 22 through a wire, an output end of the serial port communication module 22 is electrically connected with an input end of the data processing unit 23 through a wire, and an output end of the data processing unit 23 is electrically connected with an input end of a feedback module 24 through a wire.
Fig. 4 shows a schematic structural diagram of a detection unit according to the present invention, wherein the detection unit 21 includes a laser radar 211, a camera 212 and a transmitting transducer 214, and an output end of the laser radar 211 is electrically connected to an input end of the clustering module 213 through a wire.
Fig. 5 is a schematic diagram of the structure of the data processing unit of the present invention. The data processing unit 23 includes a microprocessor 231, an input end of the microprocessor 231 is electrically connected to an output end of the depth information acquisition module 232 through a wire, an input end of the microprocessor 231 is electrically connected to an input end of the underwater sound signal processor 234 through a wire, an input end of the underwater sound signal processor 234 is electrically connected to an output end of the signal processor 235 through a wire, an output end of the microprocessor 231 is electrically connected to an input end of the positioning calculation module 237 through a wire, an output end of the positioning calculation module 237 is electrically connected to an input end of the distance acquisition module 239 through a wire, and an output end of the positioning calculation module 237 is electrically connected to an input end of the coordinate positioning module 238 through a wire.
The input end of the signal processor 235 is electrically connected to the output end of the acoustic wave receiving device 236 through a wire. The input end of the depth information acquisition module 232 is electrically connected with the output end of the radar data analysis module 233 through a wire, and the sound wave receiving device is provided with linear microphone arrays distributed uniformly along the array, and the array comprises n microphone array elements.
The underwater target ship body detection method has the advantages that the underwater target ship body detection method detects the underwater target ship body through sound waves, the time delay algorithm and the array topological structure based on the time difference positioning algorithm are used for determining the position information of the underwater target ship body, finally the ship body type is obtained through identification through clustering analysis by using the K-Means algorithm, the underwater target ship body is identified and scanned through a laser radar, a camera, a transmitting transducer and a underwater sound signal processor, underwater target position data are obtained, two-way connection is achieved through a wireless and detection center subsystem, specific positioning data information of the target is sent to the detection center subsystem, the workload of personnel is reduced, and guarantee is provided for follow-up underwater maintenance operation.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The underwater hull positioning method based on time delay and array topology is characterized by comprising the following steps of:
S1, acquiring image data of an underwater target ship body, transmitting sound waves for detection, and receiving echoes;
the method comprises the steps of obtaining image data of an underwater target ship body through camera shooting, detecting the underwater target ship body by using an acoustic wave transmitting device to obtain ship body depth information, and receiving acoustic wave signals reflected back by the surface of the underwater target ship body by using an acoustic wave receiving device;
S2, analyzing and processing the acoustic wave signals received by the acoustic wave receiving device based on a time delay algorithm in a time difference positioning algorithm;
determining a distance difference delta d between a sound source signal and a microphone array element by using the sound wave receiving device, setting a1 st microphone array element in the sound wave receiving device as a reference point, and obtaining the sound wave signal received by an nth microphone array element at the moment k as follows:
yn(k)＝αns(k-t-τn1)+vn(k)
=αns[k-t-Fn(τ)]+vn(k)
=xn(k)+vn(k)
Wherein y n (k) is a signal finally received by an nth array element at k time, alpha n (n=1, 2,.. N) is attenuation of the signal in a propagation process, s is a sound source signal, k is a time parameter, t is propagation time between the sound source and the 1 st array element, tau n1 is a signal delay difference received by the 1 st microphone array element and the 2 nd microphone array element, v n (k) is additive noise received by the nth array element, F n (tau) is a signal delay function between the nth array element and the 1 st array element, and x n (k) is variable quantity of the nth array element along with the time k;
s3, establishing an underwater three-dimensional space model, and determining the position information of an underwater target ship body according to the array topological structure;
S2, determining the direction angle and the distance of the sound wave signals according to the geometric relation between the sound source signals and the array, setting the axial direction of the array as a reference direction, calculating an included angle formed by the connecting line of the sound source signals and the center of the array and the axial direction of the array, and taking the included angle as the direction angle of the sound wave signals;
and S4, scanning a water area where the underwater target ship body is located by using a laser radar to obtain water area point cloud data according to the position information of the underwater target ship body obtained in the step S3, performing noise elimination and coordinate conversion, performing cluster analysis on the water area point cloud data by using a K-Means algorithm, identifying the type of the ship body, and sending the obtained underwater target ship body data to a detection center subsystem.
2. The method for positioning an underwater ship body based on time delay and array topology according to claim 1, wherein the distance L between the underwater ship body and the target ship body is obtained by using a space two-point interval formula is as follows:
Wherein L is the distance of the underwater target ship body, x 0 is the horizontal coordinate of the array center, y 0 is the vertical coordinate of the array center, z 0 is the vertical coordinate of the array center, x is the horizontal coordinate of the sound source signal, y is the vertical coordinate of the sound source signal, and z is the vertical coordinate of the sound source signal.
3. The method for positioning an underwater hull based on time delay and array topology according to claim 1, wherein in step S2, a distance difference Δd between the sound source signal and the microphone array element is determined by using a sound wave receiving device, specifically:
Analyzing the relative time difference of the sound wave signal reaching the microphone array element in the sound wave receiving device, obtaining the time delay between the corresponding signal waveforms, extracting the time difference delta t of the microphone array element, and obtaining the distance difference of the sound source signal reaching the microphone array element as follows:
Δd=v*Δt
wherein Deltad is the distance difference between the sound source and the microphone array element, v is the propagation speed of the underwater ultrasonic wave, and Deltat is the time difference between the microphone array elements.
4. The method for positioning the underwater ship body based on time delay and array topology according to claim 1, wherein in the step S3, the K-Means algorithm is used for carrying out clustering analysis on water area point cloud data, specifically, the point cloud data or image characteristic data of the laser radar are used as data points to be clustered, and the data points with similar characteristics are clustered together according to a distance similarity measurement standard, so that the category of the underwater target ship body is divided.
5. An underwater hull positioning system based on a time delay and array topology according to one of claims 1-4, characterized in that it comprises a central processing subsystem, a target detection and positioning subsystem, a wireless transmission subsystem and a detection center subsystem;
The input end of the central processing subsystem is electrically connected with the output end of the target detection and positioning subsystem through a wire, the output end of the central processing subsystem is electrically connected with the input end of the wireless transmission subsystem through a wire, and the wireless transmission subsystem is in bidirectional connection with the detection center subsystem through wireless;
The target detection and positioning subsystem comprises a detection unit and a data processing unit, wherein the detection unit comprises an acoustic wave transmitting device and an acoustic wave receiving device, the output end of the detection unit is electrically connected with the input end of the serial port communication module through a wire, the output end of the serial port communication module is electrically connected with the input end of the data processing unit through a wire, and the output end of the data processing unit is electrically connected with the input end of the feedback module through a wire.
6. The underwater hull positioning system of claim 5, wherein the detection unit comprises a lidar, a camera and a transmitting transducer, and an output end of the lidar is electrically connected with an input end of the clustering module through a wire.
7. The underwater hull positioning system of claim 5, wherein the data processing unit comprises a microprocessor, and an input end of the microprocessor is electrically connected with an output end of the depth information acquisition module through a wire;
The input end of the microprocessor is electrically connected with the input end of the underwater sound signal processor through a wire, and the input end of the underwater sound signal processor is electrically connected with the output end of the signal processor through a wire;
The output end of the microprocessor is electrically connected with the input end of the positioning calculation module through a wire, the output end of the positioning calculation module is electrically connected with the input end of the distance acquisition module through a wire, and the output end of the positioning calculation module is electrically connected with the input end of the coordinate positioning module through a wire.
8. The underwater hull positioning system of claim 7, wherein the input end of the depth information acquisition module is electrically connected with the output end of the radar data analysis module through a wire.
9. The underwater hull positioning system of claim 5, wherein the input end of the signal processor is electrically connected to the output end of the acoustic wave receiving device through a wire.
10. The underwater hull positioning system of claim 5, wherein the acoustic wave receiving means is provided with a linear array of microphones distributed uniformly along the line, comprising n microphone array elements in total.
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