CN104502915B - Ultra-short baseline underwater positioning method and system based on active target detection principle - Google Patents

Abstract

The invention discloses an ultra-short baseline underwater positioning method based on an active target detection principle. The method comprises the following steps of adopting a microcontroller to generate a GOLD sequence; adopting a modulator to modulate a sinusoidal signal and form a modulating signal according to the GOLD sequence; adopting a matching amplifier to matching and amplifying the modulating signal; adopting an energy converter to emit an ultrasonic incident wave according to the matched and amplified modulating signal; adopting a receiving array to receive a reflected ultrasonic echo wave as the ultrasonic incident wave is contact with an object to be positioned; adopting a filter amplifier to filter and amplify the ultrasonic echo wave; adopting the microcontroller to collect and demodulate the filtered and amplified ultrasonic echo wave to obtain an echo wave sequence signal; utilizing an FFT (Fast Fourier Transform Algorithm) to calculate the period and the phase position of the echo wave sequence signal; adopting a relationship between a physical law and a solid geometry to obtain a three-dimensional coordinate of the object to be positioned according to the period and the phase position. The invention also discloses an ultra-short baseline underwater positioning system based on the active target detection principle. The method and the system can realize multisystem and multitarget detection.

Description

Ultra-short baseline underwater positioning method and system based on active target detection principle

technical field

The invention relates to positioning technology, in particular to an ultra-short baseline underwater positioning method and system based on the principle of active target detection.

Background technique

With the development of science and technology, human beings' development and cognition of resources are not limited to land resources, but gradually began to expand to the ocean. Therefore, the underwater positioning and detection technology has been paid more and more attention by people. The early long baseline positioning and short baseline positioning techniques have been widely used, but both methods have great disadvantages, and then the ultra-short baseline measurement method emerged as the times require. However, the traditional ultra-short baseline measurement method needs to place a transponder in the water, which adds a lot of limitations to the measurement, and only uses the traditional ultrasonic signal in the signal source, which adds a lot to the multi-system and multi-target measurement. interference and difficulty.

Contents of the invention

The technical problem to be solved by the present invention is to provide an ultra-short baseline underwater positioning method and system based on the principle of active target detection, which can realize multi-system and multi-target detection.

In order to solve the above technical problems, the present invention provides an ultra-short baseline underwater positioning method based on the principle of active target detection, including:

Using a microcontroller to generate a GOLD sequence;

Using a modulator to modulate the sinusoidal signal according to the GOLD sequence to form a modulated signal;

Using a matching amplifier to match and amplify the modulation signal;

According to the modulated signal after matching and amplifying, the transducer is used to send out the ultrasonic incident wave;

receiving the ultrasonic echo reflected after the incident ultrasonic wave touches the object to be positioned by using the receiving array;

filtering and amplifying the ultrasonic echo by using a filter amplifier;

Using the microcontroller to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals;

Using FFT algorithm to calculate the period and phase of the echo sequence signal;

The three-dimensional coordinates of the object to be positioned are obtained by using the relationship between physical laws and solid geometry according to the period and phase.

Wherein, the use of the receiving matrix to receive the ultrasonic echo reflected after the incident ultrasonic wave touches the object to be positioned specifically includes:

The four hydrophones using the receiving matrix respectively receive the four sets of ultrasonic echoes reflected after the ultrasonic incident wave touches the object to be positioned, wherein the receiving matrix is four placed with the transducer as the center 4 vertically orthogonal hydrophones, and the 4 vertically orthogonal hydrophones form a planar orthogonal array.

Wherein, the three-dimensional coordinates of the object to be positioned are obtained by using the relationship between physical laws and solid geometry according to the period and phase, specifically including:

Obtaining the shortest vertical reflection distance of the object to be positioned according to the period and phase;

Obtaining the azimuth angle of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals;

The three-dimensional coordinates of the object to be positioned are calculated according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle.

Wherein, the use of a filter amplifier to filter and amplify the ultrasonic echo specifically includes:

A chip of model CX20106A is used for primary amplification of the ultrasonic echo, and then a band-pass filter circuit is used for filtering.

Wherein, described microcontroller is the single-chip microcomputer that the model that TI Company produces is msp430f149, utilizes the timer inside described single-chip microcomputer to be equipped with the GOLD sequence generation algorithm to generate GOLD sequence; Described modulator is the chip that model is AD9854; Said matching The amplifier is a chip of model MJE2955.

The present invention also provides an ultra-short baseline underwater positioning system based on the principle of active target detection, including:

Microcontroller for generating the GOLD sequence;

a modulator, configured to modulate a sinusoidal signal according to the GOLD sequence to form a modulated signal;

a matching amplifier, used for matching and amplifying the modulation signal;

a transducer for sending out an incident ultrasonic wave according to the matched and amplified modulated signal;

a receiving array, configured to receive ultrasonic echoes reflected after the incident ultrasonic wave touches an object to be positioned;

A filter amplifier, used to filter and amplify the ultrasonic echo;

The microcontroller is also used to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals;

The signal processor is used to calculate the period and phase of the echo sequence signal by using the FFT algorithm, and obtain the three-dimensional coordinates of the object to be positioned by using the relationship between physical laws and solid geometry according to the period and phase. Specifically, the signal processor is a DSP signal processor.

Wherein, the receiving base array is four vertically orthogonal hydrophones placed with the transducer as the center of the circle, and the four vertically orthogonal hydrophones form a plane orthogonal array, which are respectively used for Four groups of ultrasonic echoes reflected after the incident ultrasonic wave touches the object to be positioned are received.

Wherein, the signal processor specifically includes:

an FFT unit, configured to calculate the period and phase of the echo sequence signal by using an FFT algorithm;

a distance calculation unit, configured to obtain the shortest vertical reflection distance of the object to be positioned according to the period and phase;

An azimuth calculation unit, configured to obtain the azimuth of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals;

A coordinate calculation unit, configured to calculate the three-dimensional coordinates of the object to be positioned according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle.

Wherein, the filter amplifier specifically includes:

The chip of CX20106A is used for primary amplification of the ultrasonic echo;

The band-pass filter circuit is used for filtering the primary amplified ultrasonic echo.

Wherein, described microcontroller is the single-chip microcomputer that the model that TI Company produces is msp430f149, utilizes the timer inside described single-chip microcomputer to be equipped with the GOLD sequence generation algorithm to generate GOLD sequence; Described modulator is the chip that model is AD9854; Said matching The amplifier is a chip of model MJE2955.

Implement the present invention, have following beneficial effect:

The invention is based on the transmission and reception of ultrasonic waves, and achieves the purpose of distinguishing objects according to the absorption rate of different substances, uses the concept of spread spectrum code in the communication principle to achieve multi-system and multi-target detection, and uses the FFT method in mathematics to process echo signals The relationship between the period and phase of the object, and then use the relationship between the three-dimensional geometry to solve the orientation of the target object, and use the ultrasonic sound velocity to solve the three-dimensional coordinates of the object. The device of the present invention is easy to use, is suitable for rapid detection, is cheap compared with traditional detection methods, does not require the early implementation of transponders in water, and has timeliness. The whole system is used in conjunction with other systems, and the difference between multiple systems is achieved by using the GOLD sequence. analyze.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flow chart of an embodiment of the ultra-short baseline underwater positioning method based on the principle of active target detection provided by the present invention;

Fig. 2 is a system block diagram of an embodiment of the ultra-short baseline underwater positioning system based on the principle of active target detection provided by the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Fig. 1 is a schematic flow chart of an embodiment of the ultra-short baseline underwater positioning method based on the principle of active target detection provided by the present invention, as shown in Fig. 1 , including steps:

S101. A microcontroller is used to generate a GOLD sequence.

Wherein, the microcontroller (MCU) is a single-chip microcomputer produced by TI Company with a model number of msp430f149, and the internal timer of the single-chip microcomputer is used together with the GOLD sequence generation algorithm to generate the GOLD sequence.

GOLD sequence is widely used in communication, which can not only reduce white noise, but also realize multi-target detection through code sequence. The generation of the GOLD sequence includes the following steps: using a software algorithm, setting two sets of numbers in the MCU as the original polynomial of the m-sequence, and performing a shift modulo two addition on the two sets of numbers to generate an m-sequence; at this time, the number of m-sequences is limited, and the software The algorithm judges the balance of the m-sequence and selects the optimal m-sequence. Then, the optimal m-sequence is used as the parent sequence to perform modulo 2 addition operation to generate a large number of GOLD sequence pairs. At this time, if the sequence is selected according to human-computer interaction, the GOLD sequence used in different systems can be selected at different time periods, and multiple pairs of GOLD sequences can be used to achieve the purpose of communication and distinction.

S102. Using a modulator to modulate the sinusoidal signal according to the GOLD sequence to form a modulated signal.

Wherein, the modulator is a chip of model AD9854. Start the AD9854 to generate a sinusoidal signal, use the GOLD sequence to modulate at the input end of the signal, use the 0 and 1 codes of the GOLD sequence to control the program of the AD9854, and use binary frequency shift keying. If the current symbol of the GOLD sequence is 0, then The frequency of the sinusoidal signal generated by the AD9854 sequence is halved at this time, otherwise the frequency is equal to the expected value. In this way, the generation and modulation of the signal part are completed, and the communication signal is stored in the sound wave in the form of 0 and 1 codes. Different GOLD sequences will produce different waveforms.

S103. Match and amplify the modulated signal by using a matching amplifier.

Wherein, the matching amplifier is a chip of model MJE2955.

S104. Using a transducer to send out an incident ultrasonic wave according to the matched and amplified modulated signal.

S105. Using a receiving matrix to receive ultrasonic echoes reflected after the incident ultrasonic wave touches the object to be positioned.

Specifically, S105 includes steps:

The four hydrophones using the receiving matrix respectively receive the four sets of ultrasonic echoes reflected after the ultrasonic incident wave touches the object to be positioned, wherein the receiving matrix is four placed with the transducer as the center 4 vertically orthogonal hydrophones, and the 4 vertically orthogonal hydrophones form a planar orthogonal array.

S106. Filter and amplify the ultrasonic echo by using a filter amplifier.

Specifically, S106 includes the step of: using a chip of model CX20106A to perform primary amplification on the ultrasonic echo, and then use a band-pass filter circuit to perform filtering.

S107. Using the microcontroller to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals.

S108. Calculate the period and phase of the echo sequence signal by using an FFT algorithm.

S109. Obtain the three-dimensional coordinates of the object to be positioned by using the relationship between physical laws and solid geometry according to the period and phase.

Specifically, step S109 includes:

Obtaining the shortest vertical reflection distance of the object to be positioned according to the period and phase;

Obtaining the azimuth angle of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals;

The three-dimensional coordinates of the object to be positioned are calculated according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle.

Fig. 2 is a system block diagram of an embodiment of the ultra-short baseline underwater positioning system based on the principle of active target detection provided by the present invention. As shown in Fig. 2, the system includes:

Microcontroller 201, for generating the GOLD sequence;

A modulator 202, configured to modulate a sinusoidal signal according to the GOLD sequence to form a modulated signal;

A matching amplifier 203, configured to match and amplify the modulation signal;

A transducer 204, configured to send out an incident ultrasonic wave according to the modulated signal after matching and amplifying;

The receiving matrix 205 is used to receive the ultrasonic echo reflected after the ultrasonic incident wave touches the object to be positioned;

A filter amplifier 206, configured to filter and amplify the ultrasonic echo;

The microcontroller 201 is also used to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals;

The signal processor 207 is configured to calculate the period and phase of the echo sequence signal by using the FFT algorithm, and obtain the three-dimensional coordinates of the object to be positioned by using the relationship between physical laws and solid geometry according to the period and phase.

Wherein, the receiving base array 205 is four vertically orthogonal hydrophones placed with the transducer as the center of the circle, and the four vertically orthogonal hydrophones form a plane orthogonal array, respectively Four groups of ultrasonic echoes reflected after the incident ultrasonic wave touches the object to be positioned are received.

Wherein, the signal processor 207 specifically includes:

an FFT unit, configured to calculate the period and phase of the echo sequence signal by using an FFT algorithm;

a distance calculation unit, configured to obtain the shortest vertical reflection distance of the object to be positioned according to the period and phase;

An azimuth calculation unit, configured to obtain the azimuth of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals;

A coordinate calculation unit, configured to calculate the three-dimensional coordinates of the object to be positioned according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle.

Wherein, the filter amplifier 206 specifically includes:

The chip of CX20106A is used for primary amplification of the ultrasonic echo;

The band-pass filter circuit is used for filtering the primary amplified ultrasonic echo.

Wherein, described microcontroller 201 is the single-chip microcomputer that the model that TI Company produces is msp430f149, utilizes the timer inside described single-chip microcomputer to be equipped with GOLD sequence generating algorithm to generate GOLD sequence; Described modulator 202 is the chip that model is AD9854; The matching amplifier 203 is a chip with the model number MJE2955.

Implement the present invention, have following beneficial effect:

The invention is based on the transmission and reception of ultrasonic waves, and achieves the purpose of distinguishing objects according to the absorption rate of different substances, uses the concept of spread spectrum code in the communication principle to achieve multi-system and multi-target detection, and uses the FFT method in mathematics to process echo signals The relationship between the period and phase of the object, and then use the relationship between the three-dimensional geometry to solve the orientation of the target object, and use the ultrasonic sound velocity to solve the three-dimensional coordinates of the object. The device of the present invention is easy to use, is suitable for rapid detection, is cheap compared with traditional detection methods, does not require the early implementation of transponders in water, and has timeliness. The whole system is used in conjunction with other systems, and the difference between multiple systems is achieved by using the GOLD sequence. analyze.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An ultra-short baseline underwater positioning method based on the principle of active target detection, characterized in that it comprises: Using a microcontroller to generate a GOLD sequence; Using a modulator to modulate the sinusoidal signal according to the GOLD sequence to form a modulated signal; Using a matching amplifier to match and amplify the modulation signal; According to the modulated signal after matching and amplifying, the transducer is used to send out the ultrasonic incident wave; receiving the ultrasonic echo reflected after the incident ultrasonic wave touches the object to be positioned by using the receiving array; filtering and amplifying the ultrasonic echo by using a filter amplifier; Using the microcontroller to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals; Using FFT algorithm to calculate the period and phase of the echo sequence signal; The three-dimensional coordinates of the object to be positioned are obtained by using the relationship between physical laws and solid geometry according to the period and phase. 2. The ultra-short baseline underwater positioning method based on the principle of active target detection as claimed in claim 1, wherein said receiving array receives the ultrasonic echo reflected after the incident ultrasonic wave touches the object to be positioned. waves, including: The four hydrophones using the receiving matrix respectively receive the four sets of ultrasonic echoes reflected after the ultrasonic incident wave touches the object to be positioned, wherein the receiving matrix is four placed with the transducer as the center 4 vertically orthogonal hydrophones, and the 4 vertically orthogonal hydrophones form a planar orthogonal array. 3. the ultra-short baseline underwater positioning method based on active target detection principle as claimed in claim 2, is characterized in that, described adopts the relation between physical law and solid geometry according to described cycle and phase to obtain described undetermined The three-dimensional coordinates of the bit object, specifically including: Obtaining the shortest vertical reflection distance of the object to be positioned according to the period and phase; Obtaining the azimuth angle of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals; The three-dimensional coordinates of the object to be positioned are calculated according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle. 4. The ultra-short baseline underwater positioning method based on the principle of active target detection as claimed in claim 1, wherein said ultrasonic echo is filtered and amplified by said filter amplifier, specifically comprising: A chip of model CX20106A is used for primary amplification of the ultrasonic echo, and then a band-pass filter circuit is used for filtering. 5. the ultra-short baseline underwater positioning method based on active target detection principle as claimed in claim 1, it is characterized in that, the model that described microcontroller is produced by TI company is the single-chip microcomputer of msp430f149, utilizes the single-chip microcomputer inside described single-chip microcomputer The timer is matched with a GOLD sequence generating algorithm to generate a GOLD sequence; the modulator is a chip with a model number of AD9854; the matching amplifier is a chip with a model number of MJE2955. 6. An ultra-short baseline underwater positioning system based on the principle of active target detection, characterized in that it comprises: Microcontroller for generating the GOLD sequence; a modulator, configured to modulate a sinusoidal signal according to the GOLD sequence to form a modulated signal; a matching amplifier, used for matching and amplifying the modulation signal; a transducer for sending out an incident ultrasonic wave according to the matched and amplified modulated signal; a receiving array, configured to receive ultrasonic echoes reflected after the incident ultrasonic wave touches an object to be positioned; A filter amplifier, used to filter and amplify the ultrasonic echo; The microcontroller is also used to collect and demodulate the filtered and amplified ultrasonic echoes to obtain echo sequence signals; The signal processor is used to calculate the period and phase of the echo sequence signal by using the FFT algorithm, and obtain the three-dimensional coordinates of the object to be positioned by using the relationship between physical laws and solid geometry according to the period and phase. 7. The ultra-short baseline underwater positioning system based on the principle of active target detection as claimed in claim 6, wherein the receiving array is four vertical positive arrays placed with the transducer as the center of circle. The four vertically orthogonal hydrophones form a planar orthogonal array, which are respectively used to receive four sets of ultrasonic echoes reflected after the ultrasonic incident wave touches the object to be positioned. 8. The ultra-short baseline underwater positioning system based on the principle of active target detection as claimed in claim 7, wherein the signal processor specifically comprises: an FFT unit, configured to calculate the period and phase of the echo sequence signal by using an FFT algorithm; a distance calculation unit, configured to obtain the shortest vertical reflection distance of the object to be positioned according to the period and phase; An azimuth calculation unit, configured to obtain the azimuth of the object to be positioned according to the phase angle difference of the four sets of echo sequence signals; A coordinate calculation unit, configured to calculate the three-dimensional coordinates of the object to be positioned according to the shortest vertical reflection distance of the object to be positioned and the azimuth angle. 9. The ultra-short baseline underwater positioning system based on the principle of active target detection as claimed in claim 6, wherein the filter amplifier specifically comprises: The chip of CX20106A is used for primary amplification of the ultrasonic echo; The band-pass filter circuit is used for filtering the primary amplified ultrasonic echo. 10. the ultra-short baseline underwater positioning system based on active target detection principle as claimed in claim 6, is characterized in that, the model that described microcontroller is produced by TI company is the single-chip microcomputer of msp430f149, utilizes the inside of described single-chip microcomputer The timer is matched with a GOLD sequence generating algorithm to generate a GOLD sequence; the modulator is a chip with a model number of AD9854; the matching amplifier is a chip with a model number of MJE2955.