CN109856598A - A kind of new super-short baseline positioning system and method - Google Patents
A kind of new super-short baseline positioning system and method Download PDFInfo
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Abstract
The invention discloses a kind of new super-short baseline positioning system and methods, in seabed, same level fixes the sound sources of four different frequencies in advance, and four sound sources are located at the apex of rectangle, four hydrophones are laid in the way of square on robot carrier under water, form hydrophone array, hydrophone array keeps horizontal attitude, monitor the horizontal azimuth of four sound sources, then the horizontal distance of four sound sources of hydrophone array distance is calculated according to triangle relation, to obtain the horizontal location information of underwater robot.Positioning system provided by the invention and localization method, solving the problems, such as largely to dive by way of Passive Positioning device while positioning.And localization method provided by the invention calculates simply, and it is time-consuming short, it can be good at meeting the needs of market.
Description
Technical Field
The invention relates to the technical field of underwater robot positioning, in particular to a novel ultra-short baseline positioning system and method.
Background
The 21 st century is the sea century, the sea is the cradle of human beings, is an incomparable and huge biological home, has extremely abundant energy, and the full development and utilization of the sea are important research subjects faced by the human society. However, humans cannot move directly underwater, and therefore underwater robotics has become an important means for humans to explore the marine world. How to effectively acquire the position of the underwater robot in water has important significance for searching underwater designated areas.
Conventional underwater positioning devices, such as: the ultra-short baseline, the long baseline and the like are too heavy and expensive, and cannot support simultaneous positioning of a large number of submersible vehicles, so that the defects limit the application of the submersible vehicles in the field of underwater robots.
Therefore, how to provide a positioning system and a method capable of supporting simultaneous positioning of a large number of submersibles is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a novel ultra-short baseline positioning system and method, which can support simultaneous positioning of a large number of submergence vehicles.
In order to achieve the purpose, the invention adopts the following technical scheme:
a novel ultra-short baseline positioning system, comprising: the system comprises four sound sources with different frequencies, four hydrophones, four program-controlled amplifiers, four band-pass filters, four fixed gain amplifiers, four analog-to-digital signal converters, a signal collector and a signal processor;
the four sound sources are arranged on the same horizontal plane on the seabed in a rectangular mode; the frequencies of the four sound sources are preset;
the four hydrophones are arranged on the underwater robot in a square shape to form a hydrophone array; each hydrophone is sequentially connected with the program-controlled amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital signal converter;
each analog-to-digital converter is connected with the signal collector;
the signal collector is connected with the signal processor;
each hydrophone simultaneously receives signals with different frequencies emitted by each sound source; the signals are collected by the signal collector after passing through the program control amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital converter and are transmitted to the signal processor, and the signal processor processes the collected signals to obtain horizontal positioning information.
Preferably, the method further comprises the following steps: and the upper computer is connected with the signal processor through an RS232 communication interface.
Preferably, the signal collector includes: and an FPGA signal processing unit.
Preferably, the signal processor includes: and a DSP signal processing unit.
A novel ultrashort baseline positioning method is suitable for the novel ultrashort baseline positioning system, and comprises the following steps:
the method comprises the following steps that hydrophones simultaneously receive signals with different frequencies sent by all sound sources, wherein the hydrophones are arranged on an underwater robot in a square mode in advance to form a hydrophone array; the four sound sources are arranged on the same horizontal plane in advance in a rectangular mode on the seabed, and the four sound sources produce sound according to different preset frequencies;
the signal is collected by a signal collector after passing through a program control amplifier, a band-pass filter, a fixed gain amplifier and an analog-to-digital converter and is transmitted to the signal processor;
the signal processor processes the acquired signals to obtain horizontal positioning information;
the specific steps of processing the acquired signals by the signal processor include:
s1: sequentially taking N data as a data fragment D1 from the acquired signal of one hydrophone according to the time sequence;
s2: performing FFT operation on the data segment D1, and taking out the energy value E1 and the phase value of the preset frequency
S3: judging whether E1 is a maximum value, if so, performing step S4, otherwise, taking out the next data segment, and returning to perform step S2;
s4: judging whether the E1 exceeds a set energy threshold, if so, entering a step S5, otherwise, taking out the next data segment, and returning to execute the step S2;
s5: judging whether the time interval of the E1 from the last maximum value is larger than a set time interval threshold, if so, entering a step S6, otherwise, taking out the next data segment, and returning to execute the step S2;
s6: judging the E1 to be a useful signal, and extracting data segments D2, D3 and D4 of other hydrophones at the time point corresponding to the data segment D1;
s7: FFT operation is respectively carried out on the data segments D2, D3 and D4, and energy values E2, E3 and E4 and phases of preset frequencies are correspondingly taken outValue ofAndfour groups of complex data are obtained;
s8: based on the four groups of complex data, the corresponding phase angle theta is calculated13、θ24According to the formulaCalculated horizontal azimuth αxBased on the method, horizontal azimuth α of four sound sources is calculated1、α2、α3、α4；
S9 horizontal azimuth angle-based α1、α2、α3、α4Calculating L1-L4 according to the triangular relation, thereby obtaining the horizontal distance, namely the horizontal positioning information of the underwater robot;
wherein,
wherein, a and b are respectively the length and width of the rectangle, and L1-L4 are the horizontal distance from the hydrophone array to each sound source.
Preferably, the method further comprises the following steps: and sending the horizontal azimuth angle and the horizontal positioning information to an upper computer.
Preferably, N is 512.
Preferably, the signal collector includes: and an FPGA signal processing unit.
Preferably, the signal processor includes: and a DSP signal processing unit.
According to the technical scheme, compared with the prior art, the invention discloses a novel ultra-short baseline positioning system and method, which are only passively monitored and have no response link, so that an ultra-short baseline hydrophone array can be infinite, and the problem of positioning a large number of submersible vehicles simultaneously is solved by a passive positioning mode. The positioning method provided by the invention is simple in calculation and short in time consumption, and can well meet the market demand.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a quaternary hydrophone array provided by the invention;
FIG. 2 is a hardware block diagram of the receiving and signal processing provided by the present invention;
fig. 3 is a schematic diagram of the positioning of four sound sources provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, an embodiment of the present invention discloses a novel ultra-short baseline positioning system, which includes: the system comprises four sound sources with different frequencies, four hydrophones, four program-controlled amplifiers, four band-pass filters, four fixed gain amplifiers, four analog-to-digital signal converters, a signal collector and a signal processor;
the four sound sources are arranged on the same horizontal plane on the seabed in a rectangular mode; the frequencies of the four sound sources are preset; the four sound sources are respectively arranged on four vertexes of the rectangle.
The four hydrophones are arranged on the underwater robot in a square shape to form a hydrophone array; the underwater robot carries an ultra-short baseline hydrophone array to keep the attitude level. Each hydrophone is sequentially connected with a program control amplifier, a band-pass filter, a fixed gain amplifier and an analog-digital signal converter; wherein, four hydrophones are respectively arranged on four vertexes of the square.
Each analog-to-digital converter is connected with the signal collector;
the signal collector is connected with the signal processor;
each hydrophone simultaneously receives signals with different frequencies sent by each sound source; the signals are collected by the signal collector after passing through the program control amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital converter and are transmitted to the signal processor, and the signal processor processes the collected signals to obtain horizontal positioning information.
In order to further optimize the above technical solution, the method further comprises: and after the horizontal positioning information is obtained by the upper computer connected with the signal processor through the RS232 communication interface, the horizontal positioning information is sent to the upper computer for a worker to check and carry out the next operation.
In order to further optimize the above technical solution, the signal collector includes: FPGA signal processing unit, signal processor includes: and a DSP signal processing unit.
Referring to fig. 3, an embodiment of the present invention further discloses a novel ultra-short baseline positioning method, which is applicable to the novel ultra-short baseline positioning system, and the novel ultra-short baseline positioning method includes:
the hydrophone simultaneously receives signals with different frequencies sent by all the sound sources, wherein the hydrophones are arranged on the underwater robot in advance according to a square shape to form a hydrophone array; the four sound sources are pre-arranged on the same horizontal plane on the seabed in a rectangular mode, and the four sound sources produce sound according to different preset frequencies;
here, the arrangement order of the hydrophones is not limited, and four hydrophones may be arranged at four vertices of a square, for example: the arrangement can be carried out in the clockwise direction, the anticlockwise direction and the disorderly sequence.
The signal is collected by the signal collector after passing through the program control amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital converter and is transmitted to the signal processor; the signal processor processes the acquired signals to obtain horizontal positioning information;
the specific steps of processing the acquired signals by the signal processor comprise:
s1: sequentially taking N data as a data fragment D1 from the acquired signal of one hydrophone according to the time sequence;
it should be noted that, in the specific implementation, the size of N may be selected according to the actual situation, for example: a specific N may be 512.
S2: performing FFT operation on the data segment D1, and taking out the energy value E1 and the phase value of the preset frequency
S3: judging whether E1 is a maximum value, if so, performing step S4, otherwise, taking out the next data segment, and returning to perform step S2;
s4: judging whether the E1 exceeds a set energy threshold, if so, entering a step S5, otherwise, taking out the next data segment, and returning to execute the step S2;
s5: judging whether the interval of the E1 from the last maximum value is larger than a set time interval threshold, if so, entering a step S6, otherwise, taking out the next data segment, and returning to execute the step S2;
s6: judging the E1 to be a useful signal, and extracting data segments D2, D3 and D4 of other hydrophones at the time point corresponding to the data segment D1;
here, it should be noted that if the three steps are checked, that is, if it is determined as a useful signal, and if it is determined as an unnecessary signal, the next data segment is extracted, and step S2 is executed.
S7: respectively carrying out FFT operation on the data segments D2, D3 and D4, and correspondingly taking out energy values E2, E3 and E4 of preset frequencies and phase valuesAndfour groups of complex data are obtained;
s8: based on the four groups of complex data, the corresponding phase angle theta is calculated13、θ24According to the formulaCalculated horizontal azimuth αxBased on the method, horizontal azimuth α of four sound sources is calculated1、α2、α3、α4；
S9 horizontal azimuth angle-based α1、α2、α3、α4Calculating L1-L4 according to the triangular relation, thereby obtaining the horizontal distance, namely the horizontal positioning information of the underwater robot;
wherein,
wherein, a and b are respectively the length and width of the rectangle, and L1-L4 are the horizontal distance from the hydrophone array to each sound source.
In order to further optimize the above technical solution, the method further comprises: and sending the horizontal azimuth angle and the horizontal positioning information to an upper computer.
In order to further optimize the above technical solution, the signal collector includes: FPGA signal processing unit, signal processor includes: and a DSP signal processing unit.
The invention discloses a novel ultra-short baseline positioning system and a novel ultra-short baseline positioning method, wherein four sound sources with different frequencies are fixed on the same horizontal plane of a seabed in advance, the four sound sources are respectively positioned at the vertexes of a rectangle, four hydrophones are distributed on an underwater robot carrier in a square mode to form a hydrophone array, the horizontal posture of the hydrophone array is kept, the horizontal azimuth angles of the four sound sources are monitored, and then the horizontal distances from the hydrophone array to the four sound sources are calculated according to the triangular relation, so that the horizontal positioning information of an underwater robot is obtained. The positioning system and the positioning method provided by the invention solve the problem of positioning a large number of submersible vehicles at the same time in a passive positioning mode. The positioning method provided by the invention is simple in calculation and short in time consumption, and can well meet the market demand.
The technical solution of the present invention is further explained with reference to the specific embodiments.
The four-element hydrophone array is arranged in a mode shown in figure 1, hydrophones 1, 2, 3 and 4 are arranged on the vertex of a square with the side length of 10mm in a clockwise mode, the diameter of each hydrophone is 10mm, the bandwidth is 5 KHz-160 KHz, the sensitivity is-205 dB, and the directivity is full. For the sound source S, its azimuth angle isThe size of the hydrophone in fig. 1 is not related to the actual size, but is only for convenience of explaining the positional relationship between the acoustic source and the hydrophone.
Referring to fig. 2, the hydrophone receives signals of different frequencies from each sound source at the same time, the signals are collected by the FPGA and transmitted to the DSP signal processing unit after being subjected to program control amplification, band pass filtering, fixed gain amplification and analog-to-digital conversion, and specifically, the step of processing the signals in the DSP includes:
1. the method comprises the steps of taking 512 data points as the most data segment D1 for an acquired hydrophone 1 signal, performing real-time FFT (fast Fourier transform) operation, and taking an energy value E1 and a phase value of preset frequency to obtain complex data;
2. and (4) judging whether the E1 is a maximum value, if so, entering the step 3, and otherwise, returning to the step 1.
3. And E1 is judged whether the energy value exceeds the threshold value of the set energy value, if so, the step 4 is entered, otherwise, the step 1 is returned.
4. And (4) judging whether the time interval of the E1 from the last maximum value is larger than a set time interval threshold, if so, entering the step 5, and otherwise, returning to the step 1.
5. Determining that D1 is a useful signal, extracting signal segments of D2 (of the hydrophone 2), D3 (of the hydrophone 3) and D4 (of the hydrophone 4) at time points corresponding to D1, performing FFT operation to extract complex data of corresponding frequencies, and solving for corresponding phase angles theta based on the complex data13、θ24Finally according to the formulaCalculated horizontal azimuth αxAccording to the above method, the horizontal azimuth α of four sound sources can be obtained1、α2、α3、α4。
6. From the trigonometric relation and the horizontal azimuth Wherein a and b are the length and width of the rectangle respectively, and in specific implementation, the length a and width b of the rectangle should be at least more than 2 meters; L1-L4 areHorizontal distances from the hydrophone arrays to all sound sources are achieved, and therefore horizontal coordinate positioning of the underwater robot can be achieved. Because passive monitoring is adopted, no response link exists, the ultra-short baseline hydrophone array can be infinite, and meanwhile real-time positioning is realized without mutual interference.
In addition, it should be noted that the invention mainly solves the positioning of the horizontal coordinate, and the positioning of the vertical coordinate can adopt the existing positioning method of the vertical coordinate in practical application, so as to obtain the horizontal coordinate and the vertical coordinate of the underwater robot, namely the positioning coordinate. The positioning method of the vertical coordinate is not the protection focus of the present invention and will not be explained here.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to 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 (9)
1. A novel ultra-short baseline positioning system, comprising: the system comprises four sound sources with different frequencies, four hydrophones, four program-controlled amplifiers, four band-pass filters, four fixed gain amplifiers, four analog-to-digital signal converters, a signal collector and a signal processor;
the four sound sources are arranged on the same horizontal plane on the seabed in a rectangular mode; the frequencies of the four sound sources are preset;
the four hydrophones are arranged on the underwater robot in a square shape to form a hydrophone array; each hydrophone is sequentially connected with the program-controlled amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital signal converter;
each analog-to-digital converter is connected with the signal collector;
the signal collector is connected with the signal processor;
each hydrophone simultaneously receives signals with different frequencies emitted by each sound source; the signals are collected by the signal collector after passing through the program control amplifier, the band-pass filter, the fixed gain amplifier and the analog-to-digital converter and are transmitted to the signal processor, and the signal processor processes the collected signals to obtain horizontal positioning information.
2. The system of claim 1, further comprising: and the upper computer is connected with the signal processor through an RS232 communication interface.
3. The system of claim 1, wherein the signal collector comprises: and an FPGA signal processing unit.
4. A novel ultra-short baseline positioning system as claimed in claim 1, wherein said signal processor comprises: and a DSP signal processing unit.
5. A novel ultra-short baseline positioning method is applicable to the novel ultra-short baseline positioning system of any one of claims 1 to 4, and the novel ultra-short baseline positioning method comprises the following steps:
the method comprises the following steps that hydrophones simultaneously receive signals with different frequencies sent by all sound sources, wherein the hydrophones are arranged on an underwater robot in a square mode in advance to form a hydrophone array; the four sound sources are arranged on the same horizontal plane in advance in a rectangular mode on the seabed, and the four sound sources produce sound according to different preset frequencies;
the signal is collected by a signal collector after passing through a program control amplifier, a band-pass filter, a fixed gain amplifier and an analog-to-digital converter and is transmitted to the signal processor;
the signal processor processes the acquired signals to obtain horizontal positioning information;
the specific steps of processing the acquired signals by the signal processor include:
s1: sequentially taking N data as a data fragment D1 from the acquired signal of one hydrophone according to the time sequence;
s2: performing FFT operation on the data segment D1, and taking out the energy value E1 and the phase value of the preset frequency
S3: judging whether E1 is a maximum value, if so, performing step S4, otherwise, taking out the next data segment, and returning to perform step S2;
s4: judging whether the E1 exceeds a set energy threshold, if so, entering a step S5, otherwise, taking out the next data segment, and returning to execute the step S2;
s5: judging whether the time interval of the E1 from the last maximum value is larger than a set time interval threshold, if so, entering a step S6, otherwise, taking out the next data segment, and returning to execute the step S2;
s6: judging the E1 to be a useful signal, and extracting data segments D2, D3 and D4 of other hydrophones at the time point corresponding to the data segment D1;
s7: respectively carrying out FFT operation on the data segments D2, D3 and D4, and correspondingly taking out energy values E2, E3 and E4 of preset frequencies and phase valuesAndfour groups of complex data are obtained;
s8: based on the four groups of complex data, the corresponding phase angle theta is calculated13、θ24According to the formulaCalculated horizontal azimuth αxBased on the method, horizontal azimuth α of four sound sources is calculated1、α2、α3、α4；
S9 horizontal azimuth angle-based α1、α2、α3、α4Calculating L1-L4 according to the triangular relation, thereby obtaining the horizontal distance, namely the horizontal positioning information of the underwater robot;
wherein,
wherein, a and b are respectively the length and width of the rectangle, and L1-L4 are the horizontal distance from the hydrophone array to each sound source.
6. The method as claimed in claim 5, further comprising: and sending the horizontal azimuth angle and the horizontal positioning information to an upper computer.
7. The method as claimed in claim 5, wherein N is 512.
8. The novel ultra-short baseline positioning method as claimed in claim 5, wherein said signal collector comprises: and an FPGA signal processing unit.
9. The novel ultra-short baseline positioning system of claim 5, wherein said signal processor comprises: and a DSP signal processing unit.
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