CN110988887B - Hanging type search and rescue sonar device, system and azimuth measurement method - Google Patents
Hanging type search and rescue sonar device, system and azimuth measurement method Download PDFInfo
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- CN110988887B CN110988887B CN201911352819.3A CN201911352819A CN110988887B CN 110988887 B CN110988887 B CN 110988887B CN 201911352819 A CN201911352819 A CN 201911352819A CN 110988887 B CN110988887 B CN 110988887B
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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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
- G01S7/523—Details of pulse systems
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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
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本发明公开了一种吊放式搜救声呐装置、系统和方位测量方法，可用于对沉船信标和飞机黑匣子信标进行搜寻和定位，其包括矢量水听器阵、水密电子舱、承重光电复合缆、光电调制解调器、便携式处理器、GPS定位仪；其利用矢量水听器的测向原理来对失事船只或者飞机的黑匣子信标进行测向，再结合异地的多次测向结果和GPS定位仪输出的测量点位置，采用多点交汇及坐标转换方法来估计出声信标的绝对位置，是实施对失事船只和失事飞机进行救援的前提条件。本搜救声呐成本低廉、系统构成简单，可在参与救援的直升机或者船只上吊放使用。
The present invention discloses a suspended search and rescue sonar device, system and azimuth measurement method, which can be used to search and locate shipwreck beacons and aircraft black box beacons, and includes a vector hydrophone array, a watertight electronic compartment, a load-bearing photoelectric composite cable, a photoelectric modem, a portable processor and a GPS locator; the device uses the direction finding principle of the vector hydrophone to find the direction of the black box beacon of the wrecked ship or aircraft, and then combines the multiple direction finding results of different places and the measurement point position output by the GPS locator, and uses the multi-point intersection and coordinate conversion method to estimate the absolute position of the sound beacon, which is a prerequisite for implementing the rescue of the wrecked ship and the wrecked aircraft. The search and rescue sonar has low cost and simple system structure, and can be suspended and used on helicopters or ships participating in the rescue.
Description
Technical Field
The invention relates to the technical field of underwater sonar, in particular to a hanging type search and rescue sonar device, a hanging type search and rescue sonar system and an azimuth measuring method.
Background
The black box is used as information recording equipment, can record data before failure, provides basis for analyzing accident reasons, and when the black box is sunk into the seabed, the working time of the acoustic beacon in the black box is generally not more than 30 days, and for underwater search and rescue work, the positioning of the acoustic beacon of the black box is a precondition for maritime search and rescue work. If the black box is not found after 30 days of accident, the aircraft or the ship is difficult to find out, and searching for the black box acoustic beacon is a problem which is very urgent to solve at present.
Under the background, the invention provides a lifting type search and rescue sonar which can be lifted and put on a helicopter and a ship for use, and a means is added for positioning a black box beacon for underwater search and rescue.
Disclosure of Invention
In order to solve the defects and problems in the prior art, the inventor provides an effective, efficient and high-precision underwater quick search and rescue sonar technology, and the invention is particularly realized in such a way that the suspended search and rescue sonar device comprises wet end equipment, dry end equipment and a bearing photoelectric composite cable connected with the wet end equipment and the dry end equipment, wherein the wet end equipment comprises a vector hydrophone array and a watertight electronic cabin which are connected with each other, and the dry end equipment comprises a photoelectric modem connected with the other end of the bearing photoelectric composite cable, is connected with a portable processor through a network, and is connected with a GPS (global positioning system) positioning instrument connected with the portable processor.
Furthermore, the vector hydrophone array comprises a plurality of hydrophones which are arranged vertically in sequence.
Furthermore, two hydrophones positioned at the upper and lower poles of the vector hydrophone array are sound pressure hydrophones, a plurality of hydrophones positioned at the middle section are differential pressure vector hydrophones, the front of the differential pressure vector hydrophone array is subjected to consistency test and is formed by an array element array with high receiving directivity matching degree, and the direction of each array element is consistent during the array.
The watertight electronic cabin comprises a watertight electronic cabin body, wherein the watertight electronic cabin body comprises a watertight electronic cabin body, a watertight electronic cabin body and a watertight electronic cabin body, the watertight electronic cabin body comprises a hardware circuit, an attitude sensor and an uninterrupted power supply assembly, the hardware circuit comprises a power supply circuit, a front amplifying circuit, a signal conditioning circuit, a controllable gain amplifying circuit, an AD acquisition circuit, an isolation circuit, a photoelectric conversion circuit, a main control circuit and an upper bottom plate circuit and a lower bottom plate circuit, the other circuits except the upper bottom plate circuit and the lower bottom plate circuit are in a disc shape, the watertight electronic cabin body is connected with the upper bottom plate circuit and the lower bottom plate circuit through connectors in sequence, the upper bottom plate circuit and the lower bottom plate circuit supply power for the watertight electronic cabin body, and a signal wiring between the circuit boards is provided.
The invention further discloses a hanging type search and rescue sonar system, which comprises a wet end module, a dry end module and a bearing photoelectric composite cable connected with the wet end module and the dry end module, wherein the wet end module is used for measuring acoustic signals in an underwater sound field, acquiring vector information of the sound field, converting the vector information into a network data packet after processing the network data packet, transmitting the network data packet to the dry end equipment through the bearing photoelectric composite cable, and the dry end module is used for obtaining azimuth information of each frequency point from FFT (fast Fourier transform) measurement results of a sound pressure channel and the vector channel in the network data packet, and processing the azimuth information of each frequency point through azimuth results of a beacon pulse signal time frequency point and an effective pulse signal.
Furthermore, the wet end module is further used for acquiring triaxial attitude data in the wet end module, and the main control circuit is realized by the FPGA so as to complete gain control, power supply control, multi-path vector array element signal addition, multi-path signal FFT operation, asynchronous serial communication, data packaging and network communication.
Further, the dry end module is further configured to acquire three-axis gesture data and convert relative azimuth information of the vector information of the acquired sound field into north-pointing absolute azimuth information based on the three-axis gesture data.
Further, the dry end module is further configured to grab a network data packet uploaded by the wet end module, parse the data packet to obtain FFT results of the sound pressure channel and the vector channel and posture sensor data, obtain azimuth information of each frequency point by adopting a sound pressure vibration velocity conjugate cross spectrum method, obtain an effective beacon pulse signal time frequency point by utilizing a time spectrogram of the sound pressure channel, perform statistical azimuth estimation on an azimuth result at the effective pulse signal by adopting a threshold extraction method, and finally perform coordinate conversion by combining with data of the posture sensor, convert a relative measurement azimuth into a north-pointing absolute azimuth, and record coordinate data and an absolute azimuth result of a measurement point of the current GPS positioning instrument.
The invention also provides a hanging search and rescue sonar azimuth measuring method, which is characterized by comprising the following steps of:
S1, measuring acoustic signals in an underwater sound field by a vector hydrophone array arranged under the water, acquiring vector information and attitude information of the sound field, converting the vector information and the attitude information into network data packets after FFT operation processing, and transmitting the network data packets;
S2, acquiring the network data packet in the step 1, analyzing the data packet to obtain FFT results of a sound pressure channel and a vector channel and posture sensor data, and acquiring azimuth information of each frequency point by adopting a sound pressure vibration speed conjugate cross spectrum method;
S3, acquiring effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, and carrying out statistical azimuth estimation on azimuth results at the effective pulse signals by adopting a threshold extraction method to obtain azimuth estimation data;
s4, carrying out coordinate conversion on the azimuth estimation data in combination with the gesture information in the step S1, converting the relative measured azimuth into a north-pointing absolute azimuth, and recording coordinate data of a measuring point and an absolute azimuth result of the current GPS positioning instrument.
Further, the method also comprises the step S5 of calculating the estimated value of the absolute position of the beacon through a planar multi-point cross method if two or more remote measurement data with far phase difference exist in the coordinate data of the measurement point and the absolute azimuth result, and adding the signals of all array elements to form a beam with a certain opening angle during measurement, so that the detection signal is enhanced, isotropic noise can be restrained, and a signal with a high signal-to-noise ratio is obtained.
The working principle of the invention is introduced:
On hardware, a vector hydrophone array is built, the horizontal circumferential receiving sensitivity fluctuation of the sound pressure hydrophone in the working frequency band is small, and two sound pressure hydrophones after the array are arranged on the upper pole and the lower pole of the hydrophone array. The differential pressure vector hydrophone needs consistency test before the array is assembled, array elements with higher receiving directivity matching degree are selected for the array, and each array element needs to ensure the consistent direction during the array. During measurement, signals of array elements are added to form a beam with a certain opening angle, so that detection signals are enhanced, isotropic noise can be restrained, signals with higher signal-to-noise ratio are obtained, and the detection capability of search and rescue sonar is improved. And the relative azimuth result measured by the vector hydrophone array is converted into an absolute north-orientation result by signal processing and communication transmission and coordinate conversion by combining the three-axis attitude data, so that accurate measurement position data is obtained.
The hanging type search and rescue sonar device, the hanging type search and rescue sonar system and the azimuth measuring method have the advantages that the hanging type search and rescue sonar device is scientific and reasonable in structure, simple, low in cost and flexible to use, the effects of high positioning accuracy and wide in searching range are achieved on the aspects of the system and the measuring method, the hanging type search and rescue sonar device can be hung on a helicopter or a ship participating in search and rescue tasks in application, and the hanging type search and rescue sonar device is a good supplement to underwater rescue equipment.
Drawings
FIG. 1 is a working block diagram of a hanging search and rescue sonar of the present invention;
FIG. 2 is a block diagram of a vector hydrophone array;
FIG. 3 is a view showing the internal construction of the watertight electronic compartment;
FIG. 4 is a flow chart of search and rescue sonar data processing.
The device comprises 1-wet end equipment, 2-dry end equipment, a 3-bearing photoelectric composite cable, a 4-vector hydrophone array, a 5-watertight electronic cabin, a 6-portable processor, a 7-GPS (global positioning system) positioning instrument, an 8-photoelectric modem, a 9-sound pressure hydrophone and a 10-differential pressure vector hydrophone.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Embodiment 1A hanging type search and rescue sonar device comprises wet end equipment 1, dry end equipment 2 and a bearing photoelectric composite cable 3 connected with the wet end equipment and the dry end equipment, wherein the wet end equipment 1 comprises a vector hydrophone array 4 and a watertight electronic cabin 5 which are connected with each other, the dry end equipment 2 comprises a photoelectric modem 8 connected with the other end of the bearing photoelectric composite cable 3, the photoelectric modem is connected with a portable processor 6 through a network, and a GPS positioning instrument 7 connected with the portable processor 6. The vector hydrophone array 4 comprises a plurality of hydrophones which are arranged vertically in sequence. The two hydrophones at the upper and lower poles of the vector hydrophone array 4 are sound pressure hydrophones 9, the plurality of hydrophones positioned at the middle section are differential pressure vector hydrophones 10, the differential pressure vector hydrophones 10 are formed by array element arrays with high receiving directivity matching degree after consistency test before the array is assembled, and the directions of each array element are consistent during the array. The watertight electronic cabin 5 comprises a hardware circuit, an attitude sensor and an uninterruptible power supply assembly, wherein the hardware circuit comprises a power supply circuit, a front-end amplifier circuit, a signal conditioning circuit, a controllable gain amplifying circuit, an AD acquisition circuit, an isolation circuit, a photoelectric conversion circuit and a main control circuit, and because the device is used in a hanging mode, the wet-end device 1 is supported by a photoelectric composite cable, and therefore the photoelectric composite cable which is composed of high-tensile materials and can bear a certain weight and is called as a bearing type photoelectric composite cable in the embodiment must be used.
Description of the embodiments of each key section 1 as shown in fig. 2, the vector hydrophone array 4 is composed of 10 differential pressure vector hydrophones 10 and two acoustic pressure hydrophones 9 in order to achieve both hydrophone array size and reception sensitivity. In order to avoid the influence of the physical boundary on the vector array elements, 10 vector array elements are placed in the middle, and two sound pressure hydrophones 9 are placed on two sides of the vector array elements to form a hydrophone array. The smaller and better the fluctuation of the reception sensitivity of the acoustic pressure hydrophone 9 in the horizontal circumferential direction in the operating frequency band is required to be used, and the screening can be performed through the pool test. The differential pressure vector hydrophone 10 needs to be subjected to consistency test before array grouping, array elements with higher receiving directivity matching degree are selected to be assembled, and each array element needs to ensure consistent direction during array grouping, and 10 array element signals are added to form a beam with a certain opening angle during operation, so that the strength of the signals is enhanced, and isotropic noise interference can be restrained, so that a sonar system can obtain signals with higher signal to noise ratio, the detection capability of search and rescue sonar is improved, and the detection range of the search and rescue sonar is widened. 2 as shown in fig. 3, the watertight electronic cabin 5 comprises a hardware circuit, an attitude sensor and an uninterruptible power supply assembly. The hardware circuit comprises a power supply circuit, a front amplifying circuit, a signal conditioning circuit, a controllable gain amplifying circuit, an AD acquisition circuit, an isolation circuit, a photoelectric conversion circuit and a main control circuit, wherein the watertight electronic cabin 5 is limited in space and is a cylindrical internal space, the circuit boards are designed into a round shape, and the round circuit boards are clamped between an upper bottom plate and a lower bottom plate, so that the upper bottom plate and the lower bottom plate also provide power supply and signal wiring of the circuit boards. The main control circuit is realized by an FPGA, mainly completes gain control, power supply control, multi-path vector array element signal addition, multi-path signal FFT operation, asynchronous serial communication for receiving attitude sensor data, data packaging and network communication, the network communication is realized at a data link layer, the attitude sensor needs to output three-axis attitude data, the most main data is north-pointing azimuth data, the relative azimuth result measured by the vector hydrophone array 4 is converted into absolute north-pointing azimuth in post processing, in order to meet the long-time uninterrupted operation of the search and rescue sonar, the requirement of the search and rescue sonar conditioning circuit on a low-noise power supply can be met, an uninterrupted power supply component is added, the search and rescue sonar conditioning circuit is formed by two groups of batteries, a variable-voltage rectifying circuit and a relay switching circuit, a group of battery charging is realized by adopting a high-quality uninterrupted power supply technology through an external 220v alternating current power supply, and the seamless switching control of supplying power to the search and rescue sonar circuit is realized, and the long-time uninterrupted and low-noise power supply is provided for the search and rescue sonar circuit.
The embodiment 2 of the suspended search and rescue sonar system comprises a wet end module, a dry end module and a bearing photoelectric composite cable connected with the wet end module and the dry end module, wherein the wet end module is used for measuring acoustic signals in an underwater sound field, acquiring vector information of the sound field, converting the vector information into a network data packet after processing and transmitting the network data packet to the dry end device through the bearing photoelectric composite cable, and the dry end module is used for obtaining azimuth information of each frequency point from FFT (fast Fourier transform) measurement results of a sound pressure channel and a vector channel in the network data packet and processing the azimuth information of the frequency point through a beacon pulse signal time frequency point and azimuth results of an effective pulse signal. The wet end module is also used for acquiring triaxial attitude data in the wet end module, and a main control circuit is realized by the FPGA so as to complete gain control, power supply control, multi-path vector array element signal addition, FFT operation of multi-path signals, asynchronous serial communication, data packaging and network communication. The dry end module is also used for acquiring three-axis attitude data, converting the relative azimuth information of the vector information of the acquired sound field into north-pointing absolute azimuth information based on the three-axis attitude data, acquiring real part and imaginary part data of FFT operation of one sound pressure channel and two vector channels and attitude sensor data from a network data packet by the dry end device, calculating azimuth values at each frequency point in a beacon transmitting frequency range in an FFT result by utilizing a cross spectrum conjugation algorithm, and then combining the attitude sensor data corresponding to the moment to finish coordinate conversion to obtain the absolute azimuth values at each frequency point. And searching for effective pulses in FFT results of specific duration by a threshold crossing method in combination with the frequency and period characteristics of the beacon pulses, and extracting absolute azimuth results at the effective pulses to serve as measurement results. The method comprises the steps of capturing network data packets uploaded by a wet end module, analyzing the data packets, obtaining FFT results of a sound pressure channel and a vector channel and attitude sensor data, obtaining azimuth information of each frequency point by adopting a sound pressure vibration speed conjugate cross spectrum method, obtaining effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, carrying out statistical azimuth estimation on azimuth results of effective pulse signals by adopting a threshold extraction method, finally carrying out coordinate conversion by combining the data of the attitude sensor, converting relative measured azimuth into north-pointing absolute azimuth, and recording coordinate data and absolute azimuth results of measuring points of a current GPS (global positioning system) locator.
An embodiment 3 of a method for measuring a position by hanging search and rescue sonar, as shown in fig. 4, comprises the steps of measuring acoustic signals in an underwater sound field by a vector hydrophone array arranged under the water, obtaining vector information of the sound field, adding the signals to form a fixed beam, performing FFT operation according to a vector x, a vector y and a sound pressure p, adding gesture information data, integrally packaging and sending the gesture information data to an upper computer for processing, performing data analysis by the upper computer based on SHAIPPCAP grab packages, obtaining the FFT result of a sound pressure channel and the vector channel and gesture sensor data by adopting a sound pressure vibration velocity conjugate cross spectrum method, obtaining azimuth information of each frequency point, searching pulses, obtaining effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, carrying out statistical azimuth estimation on the azimuth result at the effective pulse signal by adopting a threshold extraction method, carrying out coordinate conversion by matching with gesture information data, obtaining absolute azimuth, and recording the coordinates of a current measuring point and an absolute measuring method, and the method is specifically:
S1, measuring acoustic signals in an underwater sound field by a vector hydrophone array arranged under the water, acquiring vector information and attitude information of the sound field, processing the vector information and the attitude information, converting the processed vector information and attitude information into network data packets, and transmitting the network data packets;
S2, acquiring the network data packet in the step 1, analyzing the data packet to obtain FFT results of a sound pressure channel and a vector channel and posture sensor data, and acquiring azimuth information of each frequency point by adopting a sound pressure vibration speed conjugate cross spectrum method;
S3, acquiring effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, and carrying out statistical azimuth estimation on azimuth results at the effective pulse signals by adopting a threshold extraction method to obtain azimuth estimation data;
S4, carrying out coordinate conversion on the azimuth estimation data in combination with the gesture information in the step S1, converting the relative measured azimuth into a north-pointing absolute azimuth, and recording coordinate data of a measuring point and an absolute azimuth result of the current GPS positioning instrument. And in the measurement, the signals of the array elements are added to form a beam with a certain opening angle, so that the detection signal is enhanced, and isotropic noise can be restrained, and a signal with a higher signal-to-noise ratio is obtained. If two or more remote measurement data with far phase difference exist in the coordinate data of the measurement points and the absolute azimuth result, calculating an estimated value of the absolute position of the beacon by a planar multi-point intersection method;
In practice, the portable processor consists of a general purpose portable computer and host computer software running on the portable computer, where the software defines the functions of the components. The upper computer software is compiled by using Visual C# and borrows a network packet capturing framework in a NET environment, a quote SharpPcap.dll and a PacketDotNet.dll dynamic link library is added in a program, a network data packet uploaded by wet end equipment is captured based on SHARPPCAP technology, real part data, imaginary part data and attitude sensor data of FFT results of a sound pressure channel and a vector channel are obtained after the data packet is analyzed according to a self-defined protocol, azimuth of each time and frequency is obtained by adopting a sound pressure vibration velocity conjugate cross-spectrum method, an effective beacon pulse signal time frequency point is obtained by utilizing a time spectrogram of the sound pressure channel, a threshold extraction method is adopted for carrying out long-time statistical estimation on azimuth results at the effective beacon pulse signal, finally coordinate conversion is carried out by combining with data of an attitude sensor, the relative measurement azimuth is converted into a north-pointing absolute azimuth, and measurement point coordinate data and absolute azimuth results of a current GPS positioning instrument are recorded. When two or more remote measurement data with far difference exist in the recorded data, the plane multipoint cross algorithm is automatically called to calculate the estimated value of the absolute position of the beacon, and the position coordinates are displayed on the interface of the upper computer software for the user to use.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (4)
1. A hanging type search and rescue sonar system is characterized by comprising a wet end module, a dry end module and a bearing photoelectric composite cable connected with the wet end module and the dry end module,
The wet end module is used for measuring acoustic signals in the underwater sound field, acquiring vector information of the sound field, converting the vector information into a network data packet after processing, and transmitting the network data packet to the dry end equipment through the bearing photoelectric composite cable;
the dry end module is used for obtaining azimuth information of each frequency point from FFT (fast Fourier transform) measurement results of the sound pressure channel and the vector channel in the network data packet, and processing azimuth results of a beacon pulse signal time frequency point and an effective pulse signal to obtain an absolute azimuth result;
The wet end module is also used for capturing network data packets uploaded by the wet end module, analyzing the data packets to obtain FFT results of a sound pressure channel and a vector channel and attitude sensor data, obtaining azimuth information of each frequency point by adopting a sound pressure vibration velocity conjugate cross spectrum method, obtaining effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, carrying out statistical azimuth estimation on azimuth results at the effective pulse signals by adopting a threshold extraction method, finally carrying out coordinate conversion by combining data of an attitude sensor, converting relative measured azimuth into north-pointing absolute azimuth, and recording measurement point coordinate data and absolute azimuth results of a current GPS (global positioning system).
2. The overhead search and rescue sonar system according to claim 1, wherein the dry end module is further configured to acquire three-axis attitude data and convert relative azimuth information of the vector information of the acquired sound field into north-pointing absolute azimuth information based on the three-axis attitude data.
3. The hanging type search and rescue sonar azimuth measuring method is characterized by comprising the following steps of:
S1, measuring acoustic signals in an underwater sound field by a vector hydrophone array arranged under the water, acquiring vector information and attitude information of the sound field, converting the vector information and the attitude information into network data packets after FFT operation processing, and transmitting the network data packets;
S2, acquiring the network data packet in the step 1, analyzing the data packet to obtain FFT results of a sound pressure channel and a vector channel and posture sensor data, and acquiring azimuth information of each frequency point by adopting a sound pressure vibration speed conjugate cross spectrum method;
S3, acquiring effective beacon pulse signal time frequency points by utilizing a time spectrogram of the sound pressure channel, and carrying out statistical azimuth estimation on azimuth results at the effective pulse signals by adopting a threshold extraction method to obtain azimuth estimation data;
s4, carrying out coordinate conversion on the azimuth estimation data in combination with the gesture information in the step S1, converting the relative measured azimuth into a north-pointing absolute azimuth, and recording coordinate data of a measuring point and an absolute azimuth result of the current GPS positioning instrument.
4. The method for measuring the azimuth of the lifting search and rescue sonar according to claim 3, further comprising the step of S5, if two or more remote measurement data with far differences exist in the coordinate data of the measurement points and the absolute azimuth result, calculating an estimated value of the absolute position of the beacon through a planar multi-point cross method;
And in the measurement, the signals of the array elements are added to form a beam with a certain opening angle, so that the detection signal is enhanced, and isotropic noise can be restrained, and a signal with a higher signal-to-noise ratio is obtained.
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| CN112099019A (en) * | 2020-07-16 | 2020-12-18 | 中国海洋石油集团有限公司 | An underwater sound vector detection device |
| CN112731408A (en) * | 2020-12-31 | 2021-04-30 | 青岛海纳水下信息技术有限公司 | Vector hoisting sonar target detection method, anti-submergence system and anti-submergence method |
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