CN108226868A - A kind of localization method and system of shell water-drop point - Google Patents
A kind of localization method and system of shell water-drop point Download PDFInfo
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- CN108226868A CN108226868A CN201810068269.1A CN201810068269A CN108226868A CN 108226868 A CN108226868 A CN 108226868A CN 201810068269 A CN201810068269 A CN 201810068269A CN 108226868 A CN108226868 A CN 108226868A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004807 localization Effects 0.000 title claims abstract description 21
- 238000004880 explosion Methods 0.000 claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000005314 correlation function Methods 0.000 claims description 35
- 239000002360 explosive Substances 0.000 claims description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 8
- 230000000644 propagated effect Effects 0.000 claims description 4
- 238000000926 separation method Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000010304 firing Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 239000012736 aqueous medium Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000007405 data analysis Methods 0.000 description 1
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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
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The present invention discloses a kind of localization method and system of shell water-drop point.The method includes：First group of acoustic signals of first group of sonar sensor acquisition are obtained, obtain second group of acoustic signals of second group of sonar sensor acquisition, it is poor at the first time to be determined according to first group of acoustic signals, determines for the second time difference according to second group of acoustic signals；According to the first angle of arrival of location determination of the first time poor, described first group of sonar sensor；According to second time difference, the second angle of arrival of location determination of second group of sonar sensor；The position of shell water-drop point is determined with monitoring point range difference according to first angle of arrival, second angle of arrival.The present invention is detected using sonar array to shellbursting sound wave, using polygamma function wave filter separation single explosion data are selected, and data handle with the coordinate of determining shell water-drop point, improves the positioning accuracy of shell water-drop point.
Description
Technical field
The present invention relates to Warship-guns to shoot field, more particularly to a kind of localization method and system of shell water-drop point.
Background technology
Different from land cannon bullet pick-up point accuracy evaluation system, can be sought without mark quickly after shipborne weapon bullet is overboard,
At present to Warship-guns Firing accuracy assessment method mainly by video camera assessment shell water-drop point position, but video camera easily by
The limitation of the factors such as distance, weather can not accurately obtain the overboard point coordinates of shell, particularly foggy weather, take the photograph every time
Camera cannot clearly obtain the water-drop point of shell, easily generate large error.
Invention content
The object of the present invention is to provide a kind of localization method and system of shell water-drop point, for improving shell water-drop point
Positioning accuracy.
To achieve the above object, the present invention provides following schemes：
A kind of localization method of shell water-drop point, the localization method include:
First group of acoustic signals of first group of sonar sensor acquisition are obtained, first group of acoustic signals include：First
Acoustic signals and second acoustic wave signal, first group of sonar sensor include：First sonar sensor and the second sonar sensing
Device, first acoustic signals are acquired by first sonar sensor, and the second acoustic wave signal is passed by second sonar
Sensor acquires；
Second group of acoustic signals of second group of sonar sensor acquisition are obtained, second group of acoustic signals include：Third
Acoustic signals and falling tone wave signal, second group of sonar sensor include：Third sonar sensor and the falling tone receive sensing
Device, the third acoustic signals are acquired by the third sonar sensor, and the falling tone wave signal receives biography by the falling tone
Sensor acquires, first sonar sensor, second sonar sensor, the third sonar sensor and the falling tone
Sensor of receiving is located along the same line；
It is poor at the first time to be determined according to first group of acoustic signals, and the first time is poor for the arrival of same explosive sound
The time difference of first sonar sensor and second sonar sensor,
Determined for the second time difference according to first group of acoustic signals；Second time difference reaches for same explosive sound
The third sonar sensor and the falling tone receive time difference of sensor；
According to the first angle of arrival of location determination of the first time poor, described first group of sonar sensor, described first
Angle of arrival is 3 points of the position of shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that is formed in the position of first group of sonar sensor of line；
According to second time difference, the second angle of arrival of location determination of second group of sonar sensor, described second
Angle of arrival is 3 points of the position of shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that is formed in the position of second group of sonar sensor of line；
The position of shell water-drop point is determined with monitoring point range difference according to first angle of arrival, second angle of arrival,
The monitoring point range difference for the position of position and the second group of sonar sensor of first group of sonar sensor away from
Deviation.
Optionally, it is described to determine that first time is poor according to first group of acoustic signals, it specifically includes：
Build first acoustic signals and the first cross-correlation function of the second acoustic wave signal, first cross-correlation
Argument of function is the time；
Calculate the maximum value of first cross-correlation function；
Determining the of first cross-correlation function, to be worth corresponding time value greatly poor for the first time.
Optionally, it is described to determine for the second time difference according to second group of acoustic signals, it specifically includes：
Build the second cross-correlation function of the third acoustic signals and the falling tone wave signal, second cross-correlation
Argument of function is the time；
Calculate the maximum value of second cross-correlation function；
The corresponding time value of maximum value for determining second cross-correlation function is second time difference.
Optionally, first cross-correlation function for building first acoustic signals and the second acoustic wave signal, tool
Body includes：
According to formulaBuild first cross-correlation function；
Wherein, X (t) is the first acoustic signals, and Y (t) is second acoustic wave signal, and τ is poor at the first time.
Optionally, it is described determined according to first group of acoustic signals it is poor at the first time before, further include：
First acoustic signals are filtered, determine the initial time of first acoustic signals；
The second acoustic wave signal is filtered, determines the initial time of the second acoustic wave signal.
Optionally, it is described that first acoustic signals are filtered, it specifically includes：
First acoustic signals are converted into digital signal；
Non-linear, digital filtering process is carried out to the digital signal, wherein, the non-linear, digital filtering is using 6 samples
Window, each sample are binary number, first three sample represents past state variable, and rear three samples represent that current state becomes
Amount；
The current state variable and the past state variable are handled using Boolean function, obtain sample shape
State, the sample state include two binary variables；
The sample state is updated in chronological order；
When the sample state by 00 through one or more intermediate state to occur first 11 when, judge explosion,
The intermediate state includes 10 and 01；
Determine the initial time that the nearest intermediate state of distance state 11 is first acoustic signals.
It is optionally, described that the current state variable and the past state variable are handled using Boolean function,
It specifically includes：
Export in the current state variable the most binary number of occurrence number in three binary numbers；
Export in the past state variable the most binary number of occurrence number in three binary numbers.
Optionally, the location determination first according to the first time poor, described first group of sonar sensor reaches
Angle specifically includes：
According to formula L0=C τ calculate the first distance, and first distance reaches first sound for same explosive sound
Receive the range difference of sensor and second sonar sensor, wherein, L0For the first distance, C is the speed that sound wave is propagated in water
Degree, τ are poor at the first time；
According to formula L0=cos α L calculate the first angle of arrival, wherein, L is first sonar sensor and described the
The distance between two sonar sensors, α are the first angle of arrival.
A kind of alignment system of shell water-drop point, the alignment system include:
First acquisition module, for obtaining first group of acoustic signals of first group of sonar sensor acquisition, described first group
Acoustic signals include：First acoustic signals and second acoustic wave signal, first group of sonar sensor include：First sonar senses
Device and the second sonar sensor, first acoustic signals are acquired by first sonar sensor, the second acoustic wave signal
It is acquired by second sonar sensor；
Second acquisition module obtains second group of acoustic signals of second group of sonar sensor acquisition, second group of sound wave
Signal includes：Third acoustic signals and falling tone wave signal, second group of sonar sensor include：Third sonar sensor and
The falling tone receives sensor, and the third acoustic signals are acquired by the third sonar sensor, and the falling tone wave signal is by institute
State the falling tone receive sensor acquisition, first sonar sensor, second sonar sensor, the third sonar sensor
Sensor is received with the falling tone to be located along the same line；
Poor determining module at the first time, it is poor at the first time for being determined according to first group of acoustic signals, described first
Time difference reaches the time difference of first sonar sensor and second sonar sensor for same explosive sound,
Second time difference determining module, for determining for the second time difference according to first group of acoustic signals, described second
Time difference reaches the third sonar sensor and the falling tone for same explosive sound and receives time difference of sensor；
First angle of arrival determining module, for the position according to the first time poor, described first group of sonar sensor
Determine the first angle of arrival, first angle of arrival is shell water-drop point, the position of first group of sonar sensor and described the
The angle that the line of 3 points of the position of two groups of sonar sensors is formed in the position of first group of sonar sensor；
Second angle of arrival determining module, for the position according to second time difference, second group of sonar sensor
Determine the second angle of arrival, second angle of arrival is shell water-drop point, the position of first group of sonar sensor and described the
The angle that the line of 3 points of the position of two groups of sonar sensors is formed in the position of second group of sonar sensor；
The position determination module of shell water-drop point, for according to first angle of arrival, second angle of arrival and monitoring
Point range difference determines the position of shell water-drop point, position and institute of the monitoring point range difference for first group of sonar sensor
State the range difference of the position of second group of sonar sensor.
According to specific embodiment provided by the invention, the invention discloses following technique effects：
The present invention is detected using sonar array to shellbursting sound wave, using selecting, polygamma function wave filter separation single is quick-fried
Fried data, and data handle with the coordinate of determining shell water-drop point, improve the positioning accuracy of shell water-drop point.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow chart of the localization method of shell water-drop point of the present invention；
Fig. 2 is the triangular relationship figure that inventive sensor array is formed with Fall Of Shot；
Fig. 3 is inventive sensor sound wave geometrical relationship；
Fig. 4 is the structure chart of the alignment system of shell water-drop point of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Sonar sensor is influenced smaller and detection range farther out by natural environment, by rational sensor placement and
Appropriate signal processing algorithm can measure the coordinate of shell water-drop point.This patent is based primarily upon sonar array to shellbursting punching
It hits wave detection, using polygamma function wave filter separation single explosion data are selected, and data is carried out to handle determining shell water-drop point
Coordinate.
Usual shell explodes in water after overboard, and explosion product (with gaseous state presence) will expand at a high speed outward, pressure
Compel surrounding aqueous medium and generate shock wave sound wave.It is quick-fried in water after first shock wave leaves due to the effect of inertia of flow
Fried bubble will continue to expand, and the aqueous medium of surrounding is pushed to flow radially outward, make bubble " excessively " expansion.At this time in bubble
Pressure be less than the pressure of surrounding medium, the water of surrounding starts counter motion, i.e., to site polymerization, bubble made constantly to shrink,
Pressure gradually increases.Bubble " excessively " is compressed, and making internal pressure, projecting pressure medium generates expansion again, generation in this way
First cycle of water shooting sound wave.It is single shellburst generation acoustic pressure be often it is multiple gradually weaken it is reciprocal after
Fluctuation.The back wave generated when being propagated in water in view of shock wave and the situation of other hydroacoustic noises interference, therefore shell is fallen
The sampled data of water after-explosion sound wave has very strong irregular and fluctuation.In explosive sound source detection process, effectively quick inspection
It measures explosion and when occurs, when terminates to be the most important condition of shell water-drop point positioning analysis and the core skill of shot point positioning
Art.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of localization method of shell water-drop point, Fig. 1 is the localization method of shell water-drop point of the present invention
Flow chart, as shown in Figure 1, the localization method includes：
Step 101：Obtain first group of acoustic signals of first group of sonar sensor acquisition, first group of acoustic signals packet
It includes：First acoustic signals and second acoustic wave signal, first group of sonar sensor include：First sonar sensor and the rising tone
Receive sensor, first acoustic signals are acquired by first sonar sensor, and the second acoustic wave signal is by described second
Sonar sensor acquires.
Step 102：Obtain second group of acoustic signals of second group of sonar sensor acquisition, second group of acoustic signals packet
It includes：Third acoustic signals and falling tone wave signal, second group of sonar sensor include：Third sonar sensor and the falling tone
Receive sensor, the third acoustic signals are acquired by the third sonar sensor, and the falling tone wave signal is by the described 4th
Sonar sensor acquires, first sonar sensor, second sonar sensor, the third sonar sensor and described
The falling tone receives sensor and is located along the same line.
Step 103：It is poor at the first time to be determined according to first group of acoustic signals, and the poor first time is same explosion
Sound wave reaches the time difference of first sonar sensor and second sonar sensor, specifically includes：
Step 1031：First acoustic signals and the first cross-correlation function of the second acoustic wave signal are built, it is described
The independent variable of first cross-correlation function is the time.Specifically, according to formulaBuild first cross-correlation function；
Wherein, X (t) is the first acoustic signals, and Y (t) is second acoustic wave signal, and τ is poor at the first time.
Step 1032：Calculate the maximum value of first cross-correlation function；
Step 1033：Determining the of first cross-correlation function, to be worth corresponding time value greatly poor for the first time.
Step 104：Determined for the second time difference according to first group of acoustic signals；Second time difference is same explosion
Sound wave reaches the third sonar sensor and the falling tone and receives time difference of sensor；It specifically includes：
Step 1041：The second cross-correlation function of the third acoustic signals and the falling tone wave signal is built, it is described
The independent variable of second cross-correlation function is the time；
Step 1042：Calculate the maximum value of second cross-correlation function；
Step 1043：The corresponding time value of maximum value for determining second cross-correlation function is second time difference.
Step 105：According to the first angle of arrival of location determination of the first time poor, described first group of sonar sensor,
First angle of arrival is shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that the line that 3 points of position is formed in the position of first group of sonar sensor.
Specifically：According to formula L0=C τ calculate the first distance, and first distance reaches institute for same explosive sound
The range difference of the first sonar sensor and second sonar sensor is stated, wherein, L0For the first distance, C for sound wave in water
The speed of propagation, τ are poor at the first time；
According to formula L0=cos α L calculate the first angle of arrival, wherein, L is first sonar sensor and described the
The distance between two sonar sensors, α are the first angle of arrival.
Step 106：According to second time difference, the second angle of arrival of location determination of second group of sonar sensor；
Second angle of arrival is shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that the line that 3 points of position is formed in the position of second group of sonar sensor.Similarly, according to seeking the first angle of arrival
Method can obtain the second angle of arrival.
Step 107：Shell water-drop point is determined according to first angle of arrival, second angle of arrival and monitoring point range difference
Position, position of the monitoring point range difference for position and the second group of sonar sensor of first group of sonar sensor
The range difference put.
Optionally, it before step 103, further includes：
Step A1：First acoustic signals are filtered, determine the initial time of first acoustic signals.
It specifically includes：
Step A11：First acoustic signals are converted into digital signal；
Step A12：Non-linear, digital filtering process is carried out to the digital signal, wherein, nonlinear filter uses 6 samples
This window, each sample are binary number, first three sample represents past state variable, and rear three samples represent that current state becomes
Amount；
Step A13：The current state variable and the past state variable are handled using Boolean function, obtained
Sample state, the sample state include two binary variables, specifically include：
Step A131：Export in the current state variable the most binary number of occurrence number in three binary numbers；
Step A132：Export in the past state variable the most binary number of occurrence number in three binary numbers.
Step A133：The sample state is updated in chronological order；
Step A134：When the sample state by 00 through one or more intermediate state to occur first 11 when, judgement
Explosion occurs, and the intermediate state includes 10 and 01；
Step A135：Determine the initial time that the nearest intermediate state of distance state 11 is first acoustic signals.
Step A2：The second acoustic wave signal is filtered, determines the initial time of the second acoustic wave signal.
The present invention mainly solves the problems, such as Fall Of Shot coordinate setting from the following：The detection and separation of explosive sound；It is quick-fried
Fried Sounnd source direction angular measurement；The overboard point coordinates of shell calculates.
1st, the detection and separation of explosive sound
The usually multiple running fire of artillery shooting performance test, in order to effectively assess fire accuracy, needs to kick down water to often firing
Point is measured and is positioned one by one, this needs to detect when to occur to explode and isolate in the data sequence for continuously measuring sensor
It is single to shellburst generation sonic data.For the sonic data for bullet of often firing can be detached, need to set a reasonable acoustic pressure door
Limit, ideally (does not consider to disturb), thinks that shell is overboard and explodes when sampled data amplitude is more than the thresholding, when
Sampled data amplitude thinks that the overboard explosion of this shell terminates when being less than the thresholding.Design comparison device thus, sampled data with
Comparator threshold value compares in real time, and binary data output, and when comparator output waveform, (logic level is become by 0 from low to high
For 1) when think explosion, when comparator output for (1 becomes 0) from high to low when think that this explosive sound terminates.According to
The comparator output high level beginning and ending time can isolate single and shellburst sound wave valid data.The separation of explosive sound data
Not only reduce influence of the noise to detection performance, additionally it is possible to reduce the influence that adjacent explosive sound generates, and then to this shot point
Dropping place is accurately positioned.
Due to explosive sound source fluctuating characteristic itself and there are the interference of other underwater sounds, and exploding, it is right near time point to occur and terminate
Sampled data is answered there are larger fluctuation, while the filtering algorithm for detaching single explosive sound data should consider smaller time delay again
Consider the accuracy of separation, need to add wave filter after comparator thus.This patent is examined using polygamma function filtering method is selected
It surveys the beginning and ending time shellbursted, and then carries out single explosion data and detach one by one and determine shot position.Select polygamma function filtering
The major advantage of device is that the output time delay of wave filter is fixed and can control smaller range, while arithmetic speed is very fast.
It is a kind of nonlinear digital filter to select polygamma function, is a kind of Boolean function, it takes n binary number as input
And return to that most number of occurrence number in these numbers.If there are 3 boolean's inputs, then the value that it is returned corresponds at least
There is the number (true or false) of 2 times, in this case, this 2 equal values account for the 66% of sum.Polygamma function is selected always to return
That account for ratio of sum for it is most (>50%) number, logical operation formula are：
Majority=(A ∧ B) ∨ (A ∧ C) ∨ (B ∧ C)；
For example, if comparator output sequence is 101 (A=1, B=0, C=1), then Majority=1, if comparator exports
Sequence 001 (A=0, B=0, C=1), then Majority=0.
In order to realize the start/stop time detection of explosion data, nonlinear filter uses 6 sample windows, every three sample tables
A state is shown as, six binary storage device variables of A, B, C, D, E, F is designed thus and stores list as comparator output data
Member, wherein tri- variables of A, B, C can be considered as past state variable, and D, E, F are considered as current state variable.When new comparator number
During according to generating, which is sent to F, the data of F are sent to E, and E data are sent to D, and so on, B data is sent to A, is counted in last A
Give up according to spilling.Logical operation is carried out to past state A, B, C and current state D, E, F by formula (1.1) respectively, is differentiated current
The logic value of state (being counted as S-NEW) and past state (being counted as S-OLD).For example, current time ABCDEF binary digit is
State is 001010, then S-OLD=0, S-NEW=0, and it is all 0 to represent the old and new's state, is generated without explosive sound；If second adopts
Sample moment comparator output logic is 1, then ABCDEF binary digits become 010,101 for state, then S-OLD=0, S-NEW=
1, state becomes high from low, represents that possible explosive sound just generates；If third sampling instant comparator output logic is still
1, then ABCDEF binary digits are that state becomes 101,011, then S-OLD=1, S-NEW=1, and state is always height, represents explosion
Sound wave persistently exists；If it is that state becomes 010 that the 4th sampling instant comparator output logic, which is 0, ABCDEF binary digits,
110, then S-OLD=0, S-NEW=1, occur judging at this time fuzzy.Following rule (S-OLD=0, S-NEW are formulated thus
=1 is reduced to state 0-1, which represents that explosion may occur；S-OLD=1, S-NEW=0 are reduced to state 1-0, should
Failing edge represents that explosion may terminate；S-OLD=0, S-NEW=0 are reduced to state 0-0, which does not explode
Occur；S-OLD=1, S-NEW=1 are reduced to state 1-1, this pair high logical expressions have occurred and that explosion)：
(1) to judge that initial time occurs for explosion, if current state is 0-0, if subsequent time state represents quick-fried for 0-1
Fry possibility；If subsequent time state represents disturbance state for 1-0.It is generally acknowledged that explosion occurs be passed through by state 0-0
For one or more intermediate state (0-1 or 1-0) to there is first 1-1 state, initial time is nearest with distance 1-1 states
Subject to the intermediate state moment.
(2) to judge that finish time occurs for explosion, if current state is 1-1, if NextState represents that explosion may for 1-0
Terminate；If subsequent time state represents disturbance state for 0-1.It is generally acknowledged that terminate should be by state 1-1 through intermediate state for explosion
(0-1 or 1-0) is subject to the distance 0-0 states nearest intermediate state moment to there is first 0-0 state, finish time.
According to the start/stop time with judgment criterion above, selected polygamma function wave filter and can determine that single explosion occurs, by
This isolates the sampled data of single explosive sound.There are two advantages for processing in this way：It first, can be to avoid adjacent explosive sound wave number
According to the interference to this explosion positioning analysis；Second, the influence that invalid noise generates can be reduced, conducive to signal-to-noise ratio is improved.Often
A sonar sensor does not stop sampled data, and after selecting polygamma function separation valid data, microprocessor will carry out data analysis, judge
Sound wave angle of arrival, and calculate explosive sound source coordinate according to triangular relationship.
2nd, explosive sound source direction angular measurement
Auditory localization is that the triangular relationship formed based on sensor array and Fall Of Shot is solved in this patent, work
Principle is as shown in Figure 2.On seashore side or measure two place T2 (x that distance on hull is R32,y2) put and T3 (x3,y3) point set
Put sensor array, it is known that T2 points and T3 points distance be R3, coordinate (x2,y2) and (x3,y3) can be accurately positioned by GPS.
T2 points install two sonar sensor A and B, spacing distance L respectively；T3 points install two sonar sensors C and D respectively,
Its spacing distance is L；Tetra- sensors of ABCD are point-blank；If shell water-drop point T1 coordinates are (x1,y1) and it is unknown.When
Shell is overboard and after exploding, and sound wave is propagated outward from T1 points, T2 points and T3 points setting sensor array real-time reception, by T1
Point, T2 points and T3 points form a triangle, if angle of arrival α and β that explosive sound reaches T2 points and T3 points can be measured,
T1 point coordinates can be obtained.T1 point sound waves are relayed with spherical wave, if sound source to sensor distance farther out, can be considered far field, then T2
The sound wave that two sensors of point or T3 points obtain is parallel, i.e. 2 angle of arrival α of A, B are identical, similarly 2 sound wave angle of arrival of C, D
β is identical.It first has to that angle of arrival α and β is obtained thus.
If A, the signal that two sensors of B receive is X (t), Y (t), it is s (t) to reach the sound-source signal near T1 points.
Since 2 points of A, B are almost the same apart from close and residing working environment, prolong so X (t) and Y (t) signals only exist a time
Slow τ0, i.e. X (t)=s (t- τ0), Y (t)=s (t), sensor sound wave geometrical relationship such as Fig. 3.It is detached using polygamma function method is selected
The single explosive sound signal arrived, it is known that the sonic data that two point sensor of A, B obtains is in addition to there are delay, τs0It is outer almost the same.
Signal X (t), the cross-correlation function R of Y (t) are asked for by signal processing theoryXY(τ)：
According to Cross-Correlation Theory, only as τ=τ0When, cross-correlation function RXY(τ) reaches maximum value.It is more mutual by searching for
Correlation function RXYThe peak value of (τ) finds the time difference that explosive sound reaches 2 points of A, B.If underwater acoustic wave speed is C meter per seconds, then
The range difference that sound wave reaches sensor array is L0=C τ can obtain L by triangular relationship0=cos α L, and then can ask to obtain
Up to angle α.Similarly ask for angle of arrival β.
Correlation function is description signal X (t), and Y (t) (the two signals can be random or determine) exists
Degree of correlation between the value of any two different moments t1, t2.It is exactly generally the similarity degree between signal, if two
A time series is that correlation of two sensors then between signal is sent out while reached from same sound source with regard to big, herein to sound
The time that source reaches sensor is different, for example x is arrived first, and y postpones to reach for t seconds, and the sampling of time series is same a period of time base, although
They are that same sound source is sent out, but x (1) and y (1), x (2) and y (2) ... x (n) and y (n) and dissmilarity, correlation function value compared with
It is small.After so only x time serieses are postponed t seconds, x (t+1) and y (1), x (t+2) and y (2) ... x (t+n) journeys similar to y (n)
Degree is high, and correlation function value is maximum.Another of the time difference of same signal arrival different sensors is asked for using correlation function
The reason is that whichever sensor can all be influenced by noise, and the noise of different sensors is typically different, correlation
Function very little, (being theoretically zero).Even if same noise, as long as time delay t is not equal to zero, also it is in the Correlative Function of noise
Zero.Influence of the noise to measurement can thus be reduced.
3rd, the overboard point coordinates of shell calculates
If two angle of arrival α, β are obtained, and sensor array T2 points and T3 point distance R3 are placed, using Fig. 2 relationships,
The coordinate of shell water-drop point can be obtained.
If the vertical range on shell water-drop point to bank is h, then h=L1Tan α=L2tanβ.Known R3=L1+L2, can be with
Acquire h, L1And L2Value, then x1=x2+L1,y1=y2+h.It can obtain shell water-drop point T1 coordinates (x1, y1)。
The present invention is detected using sonar array to shellbursting sound wave, using selecting, polygamma function wave filter separation single is quick-fried
Fried data, and data handle with the coordinate of determining shell water-drop point, improve the positioning accuracy of shell water-drop point.
The present invention also provides a kind of alignment system of shell water-drop point, Fig. 4 is the positioning system of shell water-drop point of the present invention
The structure chart of system.As shown in figure 4, the alignment system includes:
First acquisition module 401, for obtaining first group of acoustic signals of first group of sonar sensor acquisition, described first
Group acoustic signals include：First acoustic signals and second acoustic wave signal, first group of sonar sensor include：First sonar passes
Sensor and the second sonar sensor, first acoustic signals are acquired by first sonar sensor, the second sound wave letter
Number by second sonar sensor acquire；
Second acquisition module 402 obtains second group of acoustic signals of second group of sonar sensor acquisition, second group of sound
Wave signal includes：Third acoustic signals and falling tone wave signal, second group of sonar sensor include：Third sonar sensor
Receive sensor with the falling tone, the third acoustic signals are acquired by the third sonar sensor, the falling tone wave signal by
The falling tone receive sensor acquisition, first sonar sensor, second sonar sensor, the third sonar sensing
Device and the falling tone receive sensor and are located along the same line；
Poor determining module 403 at the first time, it is poor at the first time for being determined according to first group of acoustic signals, described the
One time difference reached the time difference of first sonar sensor and second sonar sensor for same explosive sound,
Second time difference determining module 404, for determining for the second time difference according to first group of acoustic signals；Described
Two time differences reached the third sonar sensor and the falling tone for same explosive sound and receive time difference of sensor；
First angle of arrival determining module 405, for the position according to the first time poor, described first group of sonar sensor
Put determining first angle of arrival；First angle of arrival is shell water-drop point, the position of first group of sonar sensor and described
The angle that the line of 3 points of the position of second group of sonar sensor is formed in the position of first group of sonar sensor；
Second angle of arrival determining module 406, for the position according to second time difference, second group of sonar sensor
Put determining second angle of arrival；Second angle of arrival is shell water-drop point, the position of first group of sonar sensor and described
The angle that the line of 3 points of the position of second group of sonar sensor is formed in the position of second group of sonar sensor；
The position determination module 407 of shell water-drop point, for according to first angle of arrival, second angle of arrival and prison
Measuring point range difference determines the position of shell water-drop point；The monitoring point range difference for first group of sonar sensor position with
The range difference of the position of second group of sonar sensor.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
Specific case used herein is expounded the principle of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of localization method of shell water-drop point, which is characterized in that the localization method includes:
First group of acoustic signals of first group of sonar sensor acquisition are obtained, first group of acoustic signals include：First sound wave
Signal and second acoustic wave signal, first group of sonar sensor include：First sonar sensor and the second sonar sensor, institute
It states the first acoustic signals to be acquired by first sonar sensor, the second acoustic wave signal is adopted by second sonar sensor
Collection；
Second group of acoustic signals of second group of sonar sensor acquisition are obtained, second group of acoustic signals include：Third sound wave
Signal and falling tone wave signal, second group of sonar sensor include：Third sonar sensor and the falling tone receive sensor, institute
It states third acoustic signals to be acquired by the third sonar sensor, the falling tone wave signal is received sensor by the falling tone and adopted
Collection, first sonar sensor, second sonar sensor, the third sonar sensor and the falling tone receive sensing
Device is located along the same line；
It is poor at the first time to be determined according to first group of acoustic signals, and the first time is poor for described in the arrival of same explosive sound
The time difference of first sonar sensor and second sonar sensor,
Determined for the second time difference according to first group of acoustic signals；Second time difference is described in the arrival of same explosive sound
Third sonar sensor and the falling tone receive time difference of sensor；
According to the first angle of arrival of location determination of the first time poor, described first group of sonar sensor, described first reaches
Company of the angle for 3 points of the position of shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that line is formed in the position of first group of sonar sensor；
According to second time difference, the second angle of arrival of location determination of second group of sonar sensor, described second reaches
Company of the angle for 3 points of the position of shell water-drop point, the position of first group of sonar sensor and second group of sonar sensor
The angle that line is formed in the position of second group of sonar sensor；
The position of shell water-drop point is determined with monitoring point range difference according to first angle of arrival, second angle of arrival, it is described
Range difference of the monitoring point range difference for the position of first group of sonar sensor and the position of second group of sonar sensor.
2. localization method according to claim 1, which is characterized in that described to determine according to first group of acoustic signals
It one time difference, specifically includes：
Build first acoustic signals and the first cross-correlation function of the second acoustic wave signal, first cross-correlation function
Independent variable be the time；
Calculate the maximum value of first cross-correlation function；
Determining the of first cross-correlation function, to be worth corresponding time value greatly poor for the first time.
3. localization method according to claim 1, which is characterized in that described to determine according to second group of acoustic signals
It two time differences, specifically includes：
Build the second cross-correlation function of the third acoustic signals and the falling tone wave signal, second cross-correlation function
Independent variable be the time；
Calculate the maximum value of second cross-correlation function；
The corresponding time value of maximum value for determining second cross-correlation function is second time difference.
4. localization method according to claim 2, which is characterized in that the structure first acoustic signals and described the
First cross-correlation function of two acoustic signals, specifically includes：
According to formulaBuild first cross-correlation function；
Wherein, X (t) is the first acoustic signals, and Y (t) is second acoustic wave signal, and τ is poor at the first time.
5. localization method according to claim 1, which is characterized in that determined described according to first group of acoustic signals
Before poor at the first time, further include：
First acoustic signals are filtered, determine the initial time of first acoustic signals；
The second acoustic wave signal is filtered, determines the initial time of the second acoustic wave signal.
6. localization method according to claim 5, which is characterized in that described that place is filtered to first acoustic signals
Reason, specifically includes：
First acoustic signals are converted into digital signal；
Non-linear, digital filtering process is carried out to the digital signal, wherein, the non-linear, digital filtering is using 6 sample windows
Mouthful, each sample is binary number, first three sample represents past state variable, and rear three samples represent current state variable；
The current state variable and the past state variable are handled using Boolean function, obtain sample state, institute
It states sample state and includes two binary variables；
The sample state is updated in chronological order；
When the sample state by 00 through one or more intermediate state to occur first 11 when, judge explosion, it is described
Intermediate state includes 10 and 01；
Determine the initial time that the nearest intermediate state of distance state 11 is first acoustic signals.
7. localization method according to claim 6, which is characterized in that described to be become using Boolean function to the current state
Amount and the past state variable are handled, and are specifically included：
Export in the current state variable the most binary number of occurrence number in three binary numbers；
Export in the past state variable the most binary number of occurrence number in three binary numbers.
8. localization method according to claim 1, which is characterized in that it is described according to the first time it is poor, described first
The first angle of arrival of location determination of group sonar sensor, specifically includes：
According to formula L0=C τ calculate the first distance, and first distance reaches first sonar for same explosive sound and passes
The range difference of sensor and second sonar sensor, wherein, L0For the speed that the first distance, C are propagated in water for sound wave, τ
It is poor at the first time；
According to formula L0=cos α L calculate the first angle of arrival, wherein, L is first sonar sensor and second sonar
The distance between sensor, α are the first angle of arrival.
9. a kind of alignment system of shell water-drop point, which is characterized in that the alignment system includes:
First acquisition module, for obtaining first group of acoustic signals of first group of sonar sensor acquisition, first group of sound wave
Signal includes：First acoustic signals and second acoustic wave signal, first group of sonar sensor include：First sonar sensor and
Second sonar sensor, first acoustic signals are acquired by first sonar sensor, and the second acoustic wave signal is by institute
State the acquisition of the second sonar sensor；
Second acquisition module obtains second group of acoustic signals of second group of sonar sensor acquisition, second group of acoustic signals
Including：Third acoustic signals and falling tone wave signal, second group of sonar sensor include：Third sonar sensor and the 4th
Sonar sensor, the third acoustic signals are acquired by the third sonar sensor, and the falling tone wave signal is by described
Four sonar sensors acquire, first sonar sensor, second sonar sensor, the third sonar sensor and institute
It states the falling tone and receives sensor and be located along the same line；
Poor determining module at the first time, for determining poor, the first time at the first time according to first group of acoustic signals
Difference reaches the time difference of first sonar sensor and second sonar sensor for same explosive sound,
Second time difference determining module, for determining the second time difference, second time according to first group of acoustic signals
Difference reaches the third sonar sensor and the falling tone for same explosive sound and receives time difference of sensor；
First angle of arrival determining module, for the location determination according to the first time poor, described first group of sonar sensor
First angle of arrival, first angle of arrival is shell water-drop point, the position of first group of sonar sensor and second group described
The angle that the line of 3 points of the position of sonar sensor is formed in the position of first group of sonar sensor；
Second angle of arrival determining module, for the location determination according to second time difference, second group of sonar sensor
Second angle of arrival, second angle of arrival is shell water-drop point, the position of first group of sonar sensor and second group described
The angle that the line of 3 points of the position of sonar sensor is formed in the position of second group of sonar sensor；
The position determination module of shell water-drop point, for according to first angle of arrival, second angle of arrival and monitoring point away from
Deviation determines the position of shell water-drop point, position and described the of the monitoring point range difference for first group of sonar sensor
The range difference of the position of two groups of sonar sensors.
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| CN110048783B (en) * | 2019-04-19 | 2021-01-01 | 美钻深海能源科技研发（上海）有限公司 | Sound wave communication unit, system, base station, inspection device and sound wave communication method |
| CN110333540A (en) * | 2019-07-09 | 2019-10-15 | 中科传启（苏州）科技有限公司 | A kind of life body detecting method, equipment and automobile data recorder |
| CN110333541A (en) * | 2019-07-09 | 2019-10-15 | 中科传启（苏州）科技有限公司 | A kind of life body detecting method, equipment and automobile data recorder |
| CN112147577A (en) * | 2020-09-27 | 2020-12-29 | 中国科学院上海微系统与信息技术研究所 | Seismic wave characteristic analysis-based explosive target passive positioning system and method |
| CN112147577B (en) * | 2020-09-27 | 2024-03-29 | 中国科学院上海微系统与信息技术研究所 | Explosion target passive positioning system and method based on seismic wave feature analysis |
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