CN109669192B - Use method of multi-station distance and direction measuring instrument in underwater acoustic test - Google Patents

Abstract

A multi-station distance and direction measuring instrument in an underwater sound test belongs to the field of underwater sound positioning navigation and underwater sound detection. The invention solves the problems that the existing GPS handset, radio base station and the like can not receive the information of a plurality of substations simultaneously, can not solve the distance and the direction between each substation and the main station, and is inconvenient to compare with the measurement result of a sonar system in real time. The main control unit is connected with the logic control unit through a bus, connected with the human-computer interface unit through an FPC (flexible printed circuit) interface and respectively connected with the azimuth attitude indicator and the GPS (global positioning system) receiver through serial ports; the main control unit is connected with an external radio station through a network port, and the logic control unit is connected with external sonar equipment. The invention utilizes GPS positioning technology and underwater positioning technology, solves the problems of the prior art, and simultaneously has the functions of synchronous time synchronization with a sonar system, providing adjustable synchronous pulse with higher precision for the sonar system, and real-time comparison with the measurement result of the sonar system.

Description

How to use multi-site distance and azimuth measuring instrument in underwater acoustic test

technical field

The invention relates to a multi-site distance and azimuth measuring instrument and a measuring method in an underwater acoustic test, belonging to the fields of underwater acoustic positioning and navigation and underwater acoustic detection.

Background technique

In the process of developing and using underwater acoustic equipment, the lake-sea test is an indispensable link. In the lake-sea test, the distance test and accuracy test are often indispensable test items. In these test items, it is often necessary to record each The location information of the station then calculates the distance and bearing information. At present, although GPS handsets and radio base stations have the function of recording location information, they cannot automatically obtain and display the information of multiple sub-stations, and do not have the function of calculating the distance and azimuth information between each sub-station and the main station, and are inconvenient to communicate with water. Real-time comparison of measurement results under the system. Therefore, to provide a portable underwater acoustic test that can acquire and display the location information of multiple stations in real time, and calculate the distance and orientation information between each sub station and the main station in real time, and can synchronize with the underwater sonar system. Multi-site distance and azimuth measuring instruments are very necessary.

SUMMARY OF THE INVENTION

In order to solve the problems that the existing GPS handset cannot receive the information of multiple sub-stations, does not have the ability to calculate the distance and azimuth between each sub-station and the main station, and is inconvenient for real-time comparison with the measurement results of the sonar system, an underwater acoustic test is provided. Multi-site distance and azimuth measuring instrument.

Technical scheme of the present invention:

The multi-site distance and azimuth measuring instrument in the underwater acoustic test is characterized in that: it includes a main control unit, a logic control unit, a man-machine interface unit, a GPS receiver and an azimuth and attitude meter. The main control unit is connected with the logic control unit through a bus, and the main The control unit is connected with the man-machine interface unit through the FPC interface, the main control unit is respectively connected with the azimuth and attitude instrument and the GPS receiver through the serial port; the main control unit is connected with the external radio station through the network port, and the logic control unit is connected with the external sonar equipment. The main control unit is an ARM microprocessor transplanted with a Linux operating system, and the logic control unit is a CPLD chip.

Preferably: a data bus and an address bus are used as parallel data transmission interfaces between the main control unit and the logic control unit, and the main control unit controls the logic control unit through chip selection, read enable and write enable control signals ;The main control unit realizes the operation of the logic control unit through the interface function call in the character device driver.

Preferably: the main control unit is respectively connected with an information acquisition module, a distance and azimuth calculation module and a data storage module; the information acquisition module includes a GPS receiver, an azimuth and attitude meter, the GPS receiver, the azimuth and attitude The instrument is respectively connected with the main control unit through the serial port; the data storage module is a data memory.

Preferably: the data storage includes U disk and SD card.

Preferably: the logic control unit includes an information exchange module, a synchronization time synchronization module and a synchronization pulse generation module connection; the logic control unit controls the information exchange module and the main control unit to perform the operation according to the specified read and write sequence requirements and communication protocol. communication; the synchronization and time synchronization module realizes that the logic control unit receives and executes the commands issued by the man-machine interface unit; the logic control unit of the synchronization pulse generation and calibration module realizes the adjustment of the synchronization pulse by dividing the frequency of the external crystal oscillator, and through the High-precision GPS second pulse calibration to improve the synchronization pulse accuracy, and provide calibrated high-precision synchronization pulses for sonar equipment.

Preferably: for the capacitive touch screen of the human-machine interface unit, the main control unit adopts the method of transplanting Qt to complete the design and implementation of the display operation interface of the human-machine interface unit, and the main control unit realizes the control of the human-machine interface through the driver and related configuration files. Operation control of the interface unit.

Preferably: the man-machine interface unit displays the working status of the GPS receiver, the azimuth and attitude indicator and the logic control unit, the geographic location information of each site, the connection status of each sub-station, the distance and orientation of each sub-station and the main station, The relative position information of each station in the geodetic coordinate system, and has commands to issue synchronization time and synchronization period, and to query the current synchronization status and synchronization period.

Preferred: the method of using the multi-site distance and azimuth measuring instrument in the underwater acoustic test comprises the following steps,

Step 1: Power on the multi-site distance and azimuth measuring instrument in the underwater acoustic test, and initialize the main control unit, the logic control unit and the man-machine interface unit;

Step 2, the main control unit sets the configuration information of the serial port and the network port, and sets the configuration information of the logic control unit;

Step 3, the main control unit detects the working state of the GPS receiver, the azimuth and attitude meter and the logic control unit according to the configuration information;

Step 4: When the monitoring data of the GPS receiver and the azimuth and attitude meter are received successfully, and the state of the logic control unit is normal, the main control unit detects whether a man-machine event occurs on the man-machine interface, and at the same time, the main control unit waits to reply to the inquiry information of each sub-station. When the monitoring data fails to receive or the status of the logic control unit is abnormal, return to step 2 to start again;

Step 5: Successfully reply to the inquiry information of each sub-station, that is, after the master station is ready, wait for each sub-station to connect, and if it fails to reply successfully, return to Step 4 and start again;

Step 6: After the slave station is connected, the main control unit waits to receive the data of the successfully connected slave station, and when the slave station fails to connect successfully, it returns to step 5 and starts again;

Step 7, after the main control unit successfully receives the data of the successfully connected sub-station according to the communication protocol, the main control unit simultaneously saves the GPS receiver, the azimuth and attitude meter monitoring data and the sub-station data in the corresponding folder of the U disk, and in the described The man-machine interface unit completes the information display of each site, and the main control unit calculates the data to obtain the distance and azimuth between the corresponding sub-station and the main station. The machine interface completes the display of the distance and azimuth information between the slave station and the master station. If the solution fails, return to step 7 to start again;

Step 8, when step 5, step 6 and step 7 are carried out, if a man-machine event occurs in the man-machine interface unit, the main control unit reads the man-machine interface unit instruction, and completes the instruction with the logic control unit through the information exchange module. If there is no human-machine event, go back to step 4 and start again.

Description of drawings

Fig. 1 is the system block diagram of the multi-site distance and azimuth measuring instrument in the underwater acoustic test of the present invention;

2 is a block diagram of each unit of the system of the multi-site distance and azimuth measuring instrument in the underwater acoustic test of the present invention;

Fig. 3 is the working flow chart of the multi-site distance and azimuth measuring instrument in the underwater acoustic test of the present invention;

Figure 4 is a flow chart of the synchronization pulse calibration of the present invention.

Detailed ways

The specific embodiments of the present invention will be described with reference to accompanying drawings 1 to 4: the multi-site distance and azimuth measuring instrument in the underwater acoustic test of the present invention, as shown in Figure 1, includes a main control unit, a logic control unit, a man-machine interface unit, and a GPS receiver. aircraft and azimuth attitude gauge. Among them, the main control unit is an ARM microprocessor transplanted with the Linux operating system, the logic control unit is a CPLD chip, and the human-machine interface unit is a capacitive touch screen. As shown in Figure 2, the main control unit includes an information acquisition module, a distance and azimuth calculation module, a data storage module, an information interaction module and a multi-task management module; the logic control unit includes an information exchange module, a synchronization time module, and a synchronization pulse generation and control module. Calibration module; the human-machine interface unit includes a display module and an instruction issuing module.

The main control unit and the GPS receiver are connected through the serial port to realize the acquisition of the geographic location information of the master station; the main control unit and the azimuth attitude instrument are connected through the serial port to realize the acquisition of the three-dimensional attitude information (horizontal heading, pitch, roll) of the master station; The control unit and each substation realize the acquisition of the position information and three-dimensional attitude information of each substation through radio communication, and the network communication adopts the TCP protocol with high reliability.

The main control unit and the logic control unit adopt a bus communication method with fast communication rate and high stability; the data bus and the address bus are selected as the interfaces for parallel data transmission, and the main control unit can use chip selection, read enable, write enable, etc. The control signal realizes the control of the logic control unit; the main control unit realizes the operation of the logic control unit through the system function call in the character device driver.

The main control unit is connected with the human-machine interface unit through the FPC interface. The main control unit adopts the method of transplanting Qt to complete the design and implementation of the display operation interface of the human-machine interface unit, and realizes the operation of the human-machine interface unit through the driver program and configuration file.

As shown in Figure 4, the adjustable high-precision synchronization pulse generation module realizes the adjustment of the synchronization pulse by dividing the frequency of the external crystal oscillator by the logic control unit, and uses the second pulse of the GPS receiver to eliminate the external crystal within a certain clearing period. The cumulative error generated by the crystal oscillator is used to improve the precision of the synchronization pulse. The synchronization pulse generation module provides the sonar equipment with a higher precision synchronization pulse.

As shown in FIG. 3 , how the main control unit realizes multi-task processing such as master station information acquisition, substation information acquisition, synchronization instruction selection and execution, etc. The method of using a multi-site distance and azimuth measuring instrument in an underwater acoustic test includes the following steps,

In the first step, the multi-site distance and azimuth measuring instrument system in the underwater acoustic test is powered on and operated, the main control unit, the logic control unit and the man-machine interface unit are initialized, and the serial port, network port and related parameters are configured. The main control unit waits for receiving GPS data and three-dimensional attitude data, detecting sub-station connection, detecting sub-station man-machine events, etc.;

In the second step, the main control unit detects the working status of the GPS receiver and the azimuth and attitude instrument, and receives the monitoring data of the GPS receiver and the azimuth and attitude instrument. When the GPS receiver and the azimuth and attitude instrument work and the GPS receiver enters the navigation mode, the main control unit Receive, process, display and save according to GPS data and azimuth and attitude meter data respectively, if it fails, return to the first step and start again;

In the third step, when the main control unit communicates with each substation, the main control unit waits for each substation to connect according to the configuration information, the substation first sends a connection request to the main control unit, and the main control unit verifies the address of the substation, and after the verification is successful Receive the slave station connection and update the status of the slave station in the man-machine interface unit, check and receive the information sent by the slave station according to the communication protocol, save the data after the verification is successful, and calculate the distance and azimuth between the corresponding slave station and the master station. After completion, the man-machine interface unit displays the status and geographic location information of the sub-station, the distance and azimuth from the main station, and graphs the corresponding station location in the Gaussian coordinate system and the geographic coordinate system. If it fails, return to the first step. restart;

In the fourth step, while the third step is in progress, the main control unit detects whether a man-machine event occurs in the man-machine interface unit. When the GPS receiver time is consistent with the set synchronization time, the main control unit and the logic control unit complete the transmission of the synchronization cycle command through bus communication. If no human-machine event occurs, return to the first step and repeat detection.

This embodiment is only an exemplary description of the patent, and does not limit its protection scope. Those skilled in the art can also make partial changes to it, as long as it does not exceed the spirit of the patent, it is within the protection scope of the patent.

Claims (7)

1. A use method of a multi-station distance and direction measuring instrument in an underwater sound test is characterized in that: the intelligent control system comprises a main control unit, a logic control unit, a human-computer interface unit, a GPS receiver and a position attitude instrument, wherein the main control unit is connected with the logic control unit through a bus, is connected with the human-computer interface unit through an FPC (flexible printed circuit) interface, and is respectively connected with the position attitude instrument and the GPS receiver through serial ports; the main control unit is connected with an external radio station through a network port, the logic control unit is connected with external sonar equipment, the main control unit is an ARM microprocessor transplanted with a Linux operating system, and the logic control unit is a CPLD chip;

the method comprises the following steps of (a) carrying out,

firstly, electrifying a multi-station distance and direction measuring instrument in an underwater acoustic test, and initializing a main control unit, a logic control unit and a human-computer interface unit;

step two, the main control unit sets serial port and network port configuration information and sets logic control unit configuration information;

step three, the main control unit detects the working states of the GPS receiver, the azimuth attitude instrument and the logic control unit according to the configuration information;

step four, when the monitoring data of the GPS receiver and the azimuth attitude instrument are successfully received and the state of the logic control unit is normal, the main control unit detects whether a human-computer event occurs on the human-computer interface, waits for replying inquiry information of each substation, and returns to the step two to restart when the receiving of the monitoring data fails or the state of the logic control unit is abnormal;

step five, successfully replying inquiry information of each substation, namely waiting for connection of each substation after the master station is ready, and returning to the step four to restart when the reply is not successful;

step six, after the sub-stations are connected, the main control unit waits for receiving the data of the successfully connected sub-stations, and when the sub-stations are not successfully connected, the sub-stations return to the step five to start again;

step seven, after the main control unit successfully receives the data of the successfully connected substations according to the communication protocol, the main control unit simultaneously saves the monitoring data of the GPS receiver and the orientation attitude instrument and the data of the substations into corresponding folders of the U disk, completes the information display of each station on the human-computer interface unit, simultaneously performs resolving processing on the data to obtain the distance orientation of the corresponding substations and the main station, the main control unit saves the distance orientation into a designated folder after resolving is successful, completes the distance orientation information display of the substations and the main station on the human-computer interface, and returns to the step seven to start again if resolving is failed;

step eight, when the step five, the step six and the step seven are carried out, if a human-computer event occurs in the human-computer interface unit, the main control unit reads the instruction of the human-computer interface unit and completes the interaction of the instruction with the logic control unit through the information interaction module, and if the human-computer event does not occur, the main control unit returns to the step four to start again.

2. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the main control unit and the logic control unit adopt a bus communication mode to transmit data in parallel; the main control unit realizes the operation and control of the logic control unit through a character type device driving program.

3. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the main control unit comprises an information acquisition module, a distance and direction calculation module, a data storage module, an information interaction module and a multi-task management module; the information acquisition module comprises a main station information acquisition module and each substation information acquisition module, the main station information acquisition module acquires the information of each substation through a GPS receiver and an azimuth attitude instrument, and the main control unit acquires the information of each substation through a radio station; the data storage module is a data memory, and the data memory is connected with the main control unit.

4. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 3, wherein: the data memory comprises a U disk and an SD card.

5. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the logic control unit comprises an information interaction module, a synchronous time synchronization module and a synchronous pulse generation and calibration module; the information interaction module realizes that the logic control unit communicates with the main control unit according to the specified read-write time sequence requirement and a communication protocol; the synchronous time setting module realizes that the logic control unit receives and executes commands issued by the human-computer interface unit, and the command interaction is completed by the communication of the main control unit and the logic control unit in the process; the logic control unit of the synchronous pulse generation and calibration module realizes that the synchronous pulse is adjustable by frequency division of an external crystal oscillator, and the precision of the synchronous pulse is improved by calibrating the second pulse of the high-precision GPS, so that the synchronous pulse is provided for external sonar equipment.

6. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the human-computer interface unit is a capacitive touch screen and comprises an information display module and an instruction issuing module, the main control unit completes the design of a display operation interface of the human-computer interface unit in a Qt transplanting mode, and the main control unit responds to and executes an instruction of the human-computer interface unit through a driving program and a configuration file.

7. The method for using the multi-station distance and orientation measuring instrument in the underwater acoustic test as claimed in claim 1, wherein: the man-machine interface unit displays the working states of the GPS receiver, the orientation attitude instrument and the logic control unit, the geographic position information of each station, the connection state of each substation, the distance and the orientation between each substation and the main station and the relative position information of each station under a geodetic coordinate system, and has instructions for issuing the synchronization time and the synchronization period and inquiring the current synchronization state and the synchronization period.

Images