CN109884646A - High-precision remote underwater acoustic distance measurement method based on low-frequency continuous acoustic wave peak capture - Google Patents
High-precision remote underwater acoustic distance measurement method based on low-frequency continuous acoustic wave peak capture Download PDFInfo
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- CN109884646A CN109884646A CN201910244852.8A CN201910244852A CN109884646A CN 109884646 A CN109884646 A CN 109884646A CN 201910244852 A CN201910244852 A CN 201910244852A CN 109884646 A CN109884646 A CN 109884646A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a high-precision remote underwater acoustic distance measurement method based on low-frequency continuous acoustic wave peak capture. The method sends out sound wave a through the characteristic that a magnetostrictive rod in a magnetostrictive transducer vibrates under the action of a magnetic field0And receiving the sound wave a through a hydrophone0And an echo a reflected by the target object1Using a hydrophone for the acoustic wave a0And echo a1After the sound-electricity conversion, the filtering processing is carried out to obtain a sampling electric signal s, and then the sampling electric signal s is obtained according to the sound wave a0And echo a1Using said peak time tiThe distance d of the target object is obtained, the distance measurement of the target object is completed by capturing the peak value of the electric signal under the condition of simply filtering the electric signal of the voice conversion, and the precision is improved.
Description
Technical field
The present embodiments relate to the technical fields of subaqueous sound ranging, more particularly to a kind of low frequency and continuous sound wave peak value that is based on to catch
The high accuracy remote subaqueous sound ranging method obtained.
Background technique
Subaqueous sound ranging technology is the main means of current Underwater Navigation and navigation, in constantly drawing for modern marine new and high technology
Enter and support down, subaqueous sound ranging technical application is not limited only to military, is also widely used in that subsea environment detection, marine resources open
The numerous areas such as hair, ocean engineering construction, disaster preparedness, offshore exploitation and the detection of submarine target, therefore, it has important
Application value and strategic importance.
On the one hand, at present in domestic existing remote underwater acoustic distance measuring method, most of is using PZT (piezoelectric transducer) as hair
Ejected wave device.It should be noted that the working frequency of PZT (piezoelectric transducer) is generally higher, and by associated acoustic principle it is found that sound wave
Frequency it is higher, the rate of decay propagated under water is faster；Simultaneously because being restricted by own material attribute, when such as working
Larger heat is generated, the power of PZT (piezoelectric transducer) is generally difficult to reach very high.These factors also affect PZT (piezoelectric transducer) remote
Effect apart from undersea ranging.
On the other hand, in current undersea ranging method, the form for sending and receiving impulse wave is mostly used greatly, this is just needed
The hydrophone of high sensitivity timely receives impulse wave, however device sensitivity is too high, and be easier by other noises
Influence, especially during remote undersea ranging, it is easier to receive other clutters and the clutter is difficult to and issues
Impulse wave distinguish, it is poor to lead to can not find accurate acoustic transit time, accurately can not carry out ranging to object.
Summary of the invention
The present invention provides a kind of high accuracy remote subaqueous sound ranging method based on the capture of low frequency and continuous sound wave peak value, with reality
Only the electric signal of the sound wave conversion of low frequency is carried out under conditions of simply filtering now, it is complete by way of capturing electrical signal peak
The ranging of pairs of object, on the one hand, the interference of clutter is reduced, to improve the precision of undersea ranging；On the other hand, magnetic is utilized
It causes striction transducer substitution PZT (piezoelectric transducer) as transmitting wave apparatus, avoids the fast problem that decays in high-frequency signal communication process,
Increase the reliability of subaqueous sound ranging.
The embodiment of the present invention provides a kind of high accuracy remote subaqueous sound ranging side based on the capture of low frequency and continuous sound wave peak value
Method, is applied to energy converter subaqueous sound ranging platform, and the energy converter subaqueous sound ranging platform specifically includes that power amplifier, impedance
With circuit, magnetostrictive transducer, hydrophone, object, DSP&FPGA control panel and liquid crystal touch display screen；
The input front end of the power amplifier and the impedance matching circuit as the magnetostrictive transducer, with reality
The electric current for now inputting the magnetostrictive transducer is specific frequency；
For realizing visualized operation, the visualized operation is used for one for the DSP&FPGA control panel and liquid crystal touch screen
Power amplifier output waveform described in key control inputs the magnetostriction transducing after carrying out sampling processing to the output waveform
Device, the electrical signal data for sampling the hydrophone transmission, the distance that the object is calculated；
The described method includes:
The power amplifier receives hair wave instruction；
The power amplifier is instructed according to the hair wave, is controlled the magnetostrictive transducer and is issued sound wave a0, described
Sound wave a0Sine wave including the preset quantity period, the preset quantity are indicated with n；
The hydrophone receives the sound wave a0With the echo a reflected by the object1；
The hydrophone is by the sound wave a0With echo a1, it is respectively converted into transmitted wave power information u0With electric echo signal u1；
Respectively to the transmitted wave electric signal u0With electric echo signal u1It is filtered, obtains preset frequency signal,
The frequency signal and the transmitted wave electric signal u0Or electric echo signal u1It is corresponding；
The frequency signal is handled using conditioning circuit and sample circuit, obtains sampling electric signal s；
Time to peak t corresponding to 2n peak value is determined from the sampling power information si, wherein i=1,2 ... ...,
2n, comprising: be successively stored in the sampling electric signal s in electric signal array U [] for one group with m；It is controlled using DSP&FPGA
The timer that DSP in making sheet is carried records the corresponding time τ of each sampling electric signal s, and the time τ is stored in the time
In array T []；Each group in the electric signal array U [] of sampling electric signal s is compared, as intermediate numerical value U
When [(mi-1)/2] is greater than remaining all numerical value, time t corresponding to the numerical value U [(mi-1)/2] of the centre is recordedi=T
[(mi-1)/2], until i=2n；
According to the sound wave a0With echo a1Time difference relationship, use the time to peak tiFind out the object
Distance d, formula indicate are as follows:
Wherein, d be at a distance from object, c be environment under sound in water
Spread speed, t1-tnFor the sound wave a0The time to peak of corresponding sampling power information s, tn+1-t2nFor the echo a1
The time to peak of corresponding sampling power information s.
Further, further includes: triggering numerical value is arranged to sample circuit, send to the hydrophone, numerical value is lower than institute
The electrical signal data for stating triggering numerical value is filtered processing.
Further, further includes: using bandpass filter respectively to the transmitted wave electric signal u0With electric echo signal u1Into
Row filtering processing, obtains preset frequency signal.
The present invention, from the characteristics of vibration under magnetic fields, is issued by the magnetostrictive rod in magnetostrictive transducer
Sound wave a0, and the sound wave a is received by hydrophone0With the echo a reflected by the object1, using hydrophone to the sound wave
a0With echo a1It after carrying out acoustic-electric conversion, is filtered, obtains sampling electric signal s, and then according to the sound wave a0And echo
a1Time difference relationship, use the time to peak tiThe distance d of the object is found out, undersea ranging is solved and is unsuitable for being applicable in
The problem of high frequency sound wave and impulse wave, passes through under conditions of the electric signal of the sound wave conversion only to low frequency simply filter
The mode of capture electrical signal peak completes the ranging to object, on the one hand, the interference of clutter is reduced, to improve undersea ranging
Precision；On the other hand, using magnetostrictive transducer substitution PZT (piezoelectric transducer) as transmitting wave apparatus, high-frequency signal is avoided to pass
Decay fast problem during broadcasting, and increases the reliability of subaqueous sound ranging.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of energy converter subaqueous sound ranging platform provided in an embodiment of the present invention；
Fig. 2 is a kind of high accuracy remote underwater sound based on the capture of low frequency and continuous sound wave peak value provided in an embodiment of the present invention
The flow chart of distance measuring method；
Fig. 3 is the schematic diagram for determining time to peak.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
High accuracy remote subaqueous sound ranging method provided in the present invention based on the capture of low frequency and continuous sound wave peak value, application
In energy converter subaqueous sound ranging platform.
In the present embodiment, as shown in Figure 1, mainly including two parts of main circuit and control circuit.Wherein, main circuit part
Specifically include that power amplifier, impedance matching circuit, magnetostrictive transducer, hydrophone；Control circuit part specifically includes that
Bandpass filter, conditioning circuit, sample circuit, DSP&FPGA control panel, liquid crystal touch display screen.Further, power amplification
Device is connect with three phase mains, electric energy is obtained to connect from the three phase mains, to guarantee to work normally.
In the present embodiment, used sound wave generating device is magnetostrictive transducer.The vibration of the magnetostrictive transducer
Dynamic material is rare earth magnetostriction rod.When magnetostriction refers to that object magnetizes in magnetic field, the direction of magnetization can occur elongation or
Shorten, when the curent change by coil either changes at a distance from magnet, the ferromagnetism of significant changes occurs for its size
Material, commonly referred to as iron magnetostriction materials.
Further, in the present embodiment, power amplifier is also connect with impedance matching circuit, impedance matching circuit also with magnetic
Cause striction transducer.Before the input of the power amplifier and the impedance matching circuit as the magnetostrictive transducer
End, to realize the current wave for inputting the magnetostrictive transducer as specific frequency, so that the magnetostrictive transducer output phase
The sound wave of same specific frequency.It should be noted that magnetostrictive transducer has good frequency characteristic, it can be in low frequency
It works under (tens to 1000 hertz), working band is wide.
Further, since magnetostrictive transducer itself is in resistance sense, reactive power can be generated after access circuit and is led
It causes system effectiveness to reduce, so carrying out reactive compensation using impedance matching circuit in the present embodiment, improves energy converter subaqueous sound ranging
The power factor of platform, to improve the efficiency of energy converter subaqueous sound ranging platform.
Further, energy converter subaqueous sound ranging platform further include: object.The DSP&FPGA control panel and liquid crystal
Touch screen is for realizing visualized operation, and the visualized operation is for power amplifier output waveform described in a key control, right
The output waveform carries out inputting the magnetostrictive transducer after sampling processing, samples the telecommunications number that the hydrophone is sent
According to, the distance of the object is calculated.
The method provided in the present embodiment, specifically comprises the following steps:
S110, the power amplifier receive hair wave instruction.
In one embodiment, beginning measurement icon is pressed in liquid crystal touch display screen, to generate initiation measuring signal, is led to
It crosses RS485 communication serial port the initiation measuring signal is transmitted in DSP&FPGA control panel, DSP&FPGA control panel entrance can connect
Sampled signal mode is received, and sends hair wave instruction to the power amplifier.
S120, the power amplifier are instructed according to the hair wave, are controlled the magnetostrictive transducer and are issued sound wave a0,
The sound wave a0Sine wave including the preset quantity period, the preset quantity are indicated with n.
In the present embodiment, which instructs according to the hair wave, inputs preset quantity n to magnetostrictive transducer
Predeterminated frequency current wave, enabled magnetostrictive transducer issues the sound wave a of the predeterminated frequency of preset quantity n0, such as the sound
Wave a0It is the sine wave for including the n period of preset quantity.
S130, the hydrophone receive the sound wave a0With the echo a reflected by the object1。
In the present embodiment, the close position of same level is arranged in the hydrophone and magnetostrictive transducer, can receive
The sound wave a that magnetostrictive transducer is issued0.Further, sound wave a0When being transferred to the object in water, due to object
Blocking reflected return to the hydrophone.The sound wave that will be transmitted back to by object in the present embodiment, referred to as echo a1。
The hydrophone is by the sound wave a0With echo a1, it is respectively converted into transmitted wave power information u0With electric echo signal u1。
In the present embodiment, acoustic signals can be converted to electric signal, the sound wave a that will such as receive by hydrophone0It is converted to
Transmitted wave power information u0, by echo a1Be converted to electric echo signal u1。
In one embodiment, triggering numerical value is arranged to sample circuit, send to the hydrophone, numerical value is lower than the touching
The electrical signal data of hair numerical value is filtered processing, can eliminate the influence that underwater various noises generate.
S140, respectively to the transmitted wave electric signal u0With electric echo signal u1It is filtered, obtains preset frequency
Signal, the frequency signal and the transmitted wave electric signal u0Or electric echo signal u1It is corresponding；
In the present embodiment, using bandpass filter respectively to the transmitted wave electric signal u0With electric echo signal u1It is filtered
Wave processing, obtains preset frequency signal.Specifically, electrical signal data transmitted by hydrophone not only includes transmitted wave telecommunications
Number u0With electric echo signal u1, it is also possible to including electrical signal data corresponding to underwater noise.But due to transmitted wave electric signal u0With
Electric echo signal u1It is and sound wave a0Electric signal with identical predeterminated frequency, can be by setting bandpass filter to hydrophone
Transmitted electrical signal data is filtered, and obtains transmitted wave electric signal u0With electric echo signal u1.So preset frequency
Rate signal can be able to be transmitted wave electric signal u0Or electric echo signal u1。
S150, the frequency signal is handled using conditioning circuit and sample circuit, obtains sampling electric signal s.
In the present embodiment, conditioning circuit is for further being filtered and being amplified to frequency signal.Sample circuit for pair
Amplified frequency signal is sampled, and sampling electric signal s is obtained.
S160, time to peak t corresponding to 2n peak value is determined from the sampling power information si, wherein i=1,
2 ... ..., 2n.
In the present embodiment, referring to Fig. 3, as sound wave a0When sine wave including the n period of preset quantity, hydrophone is received
Echo a1It should also be the sine wave including n period.Due to sound wave a0Object is traveled to, and return water is reflected by object
Device is listened to need certain time, which first receives sound wave a0, then receive echo a1.Further, by by the sampling
Electric signal s is successively stored in electric signal array U [] with m for one group, wherein m is odd number, and much smaller than in sample circuit
The sampling number of a cycle；Each sampling telecommunications is recorded using the included timer of the DSP in DSP&FPGA control panel
Number corresponding time τ of s, and the time τ is stored in time array T []；To each group in the electric signal array U []
Sampling electric signal s be compared, when intermediate numerical value U [(mi-1)/2] is greater than remaining all numerical value, record in described
Between numerical value U [(mi-1)/2] corresponding to time ti=T [(mi-1)/2], the sampling that other in electric signal array U [] are organized
Electric signal s is compared, until i=2n, to obtain time to peak ti, wherein i=1,2 ... ..., 2n.
S170, according to the sound wave a0With echo a1Time difference relationship, use the time to peak tiFind out the target
The distance d of object.
In the present embodiment, the distance d of object can be indicated by following formula:
Wherein, d is at a distance from object, and c is the spread speed of sound in water under environment, t1-tnFor the sound wave
a0The time to peak of corresponding sampling power information s, tn+1-t2nFor the echo a1The peak of corresponding sampling power information s
It is worth the time.
The technical solution of the present embodiment is shaken under magnetic fields certainly by the magnetostrictive rod in magnetostrictive transducer
Dynamic feature issues sound wave a0, and the sound wave a is received by hydrophone0With the echo a reflected by the object1, use
Hydrophone is to sound wave a0With echo a1It after carrying out acoustic-electric conversion, is filtered, obtains sampling electric signal s, and then according to institute
State sound wave a0With echo a1Time difference relationship, use the time to peak tiThe distance d of the object is found out, is solved underwater
Ranging is unsuitable for the problem of being applicable in high frequency sound wave and impulse wave, is simply filtered in the electric signal of the sound wave conversion only to low frequency
Under conditions of, the ranging to object is completed by way of capturing electrical signal peak, on the one hand, the interference for reducing clutter, from
And improve the precision of undersea ranging；On the other hand, using magnetostrictive transducer substitution PZT (piezoelectric transducer) as emit wave apparatus,
The fast problem that decays in high-frequency signal communication process is avoided, the reliability of subaqueous sound ranging is increased.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (3)
1. a kind of high accuracy remote subaqueous sound ranging method based on the capture of low frequency and continuous sound wave peak value, is applied to the energy converter underwater sound
Ranging platform, which is characterized in that the energy converter subaqueous sound ranging platform specifically includes that power amplifier, impedance matching circuit, magnetic
Cause striction transducer, hydrophone, object, DSP&FPGA control panel and liquid crystal touch display screen；
The input front end of the power amplifier and the impedance matching circuit as the magnetostrictive transducer, it is defeated to realize
The electric current for entering the magnetostrictive transducer is specific frequency；
For realizing visualized operation, the visualized operation is used for a keying for the DSP&FPGA control panel and liquid crystal touch screen
Make the power amplifier output waveform, to the output waveform carry out sampling processing after input the magnetostrictive transducer,
It samples the electrical signal data of the hydrophone transmission, the distance of the object is calculated；
The described method includes:
The power amplifier receives hair wave instruction；
The power amplifier is instructed according to the hair wave, is controlled the magnetostrictive transducer and is issued sound wave a0, the sound wave a0
Sine wave including the preset quantity period, the preset quantity are indicated with n；
The hydrophone receives the sound wave a0With the echo a reflected by the object1；
The hydrophone is by the sound wave a0With echo a1, it is respectively converted into transmitted wave power information u0With electric echo signal u1；
Respectively to the transmitted wave electric signal u0With electric echo signal u1It is filtered, obtains preset frequency signal, it is described
Frequency signal and the transmitted wave electric signal u0Or electric echo signal u1It is corresponding；
The frequency signal is handled using conditioning circuit and sample circuit, obtains sampling electric signal s；
Time to peak t corresponding to 2n peak value is determined from the sampling power information si, wherein i=1,2 ... ..., 2n, packet
It includes: the sampling electric signal s is successively stored in electric signal array U [] with m for one group；Utilize DSP&FPGA control panel
In the included timer of DSP record the corresponding time τ of each sampling electric signal s, and the time τ is stored in time array
In T []；Each group in the electric signal array U [] of sampling electric signal s is compared, when intermediate numerical value U [(mi-1)/
When 2] being greater than remaining all numerical value, time t corresponding to the numerical value U [(mi-1)/2] of the centre is recordedi=T [(mi-1)/
2], until i=2n；
According to the sound wave a0With echo a1Time difference relationship, use the time to peak tiFind out the distance of the object
D, formula indicate are as follows:
Wherein, d is at a distance from object, and c is the biography of sound in water under environment
Broadcast speed, t1-tnFor the sound wave a0The time to peak of corresponding sampling power information s, tn+1-t2nFor the echo a1Institute is right
The time to peak of the sampling power information s answered.
2. the method according to claim 1, wherein further include: triggering numerical value is arranged to sample circuit, to described
Hydrophone is sent, numerical value is filtered processing lower than the electrical signal data of the triggering numerical value.
3. the method according to claim 1, wherein further include: using bandpass filter respectively to the transmitting
Wave electric signal u0With electric echo signal u1It is filtered, obtains preset frequency signal.
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| CN201910244852.8A CN109884646A (en) | 2019-03-28 | 2019-03-28 | High-precision remote underwater acoustic distance measurement method based on low-frequency continuous acoustic wave peak capture |
| PCT/CN2019/081503 WO2020191804A1 (en) | 2019-03-28 | 2019-04-04 | High-precision long-distance underwater acoustic ranging method based on low-frequency continuous sound wave peak capture |
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| WO2020191804A1 (en) | 2020-10-01 |
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