CN116930868A - Single-vector hydrophone submerged positioning method based on underwater acoustic communication and submerged buoy - Google Patents

Abstract

The application discloses a single-vector hydrophone submerged buoy positioning method and a submerged buoy based on underwater acoustic communication, comprising the following steps: (1) Selecting a plurality of measuring points near the submerged buoy, respectively transmitting acoustic signals of a specific frequency band at the measuring points, and acquiring longitude and latitude of each measuring point; (2) Receiving acoustic signals by the submerged buoy, and acquiring a three-dimensional azimuth angle of each measuring point; (3) Mapping the submerged buoy to the horizontal plane where the measuring point is located to form a submerged buoy mapping point P; (4) Respectively calculating the distance between two adjacent measuring points according to the longitude and latitude of each measuring point; (5) Calculating the distance between the measuring point and the submerged buoy mapping point P; (6) calculating estimated coordinates of the submerged buoy mapping points P; (7) And multiplying the estimated coordinates with the weights of the estimated coordinates, and then summing the multiplied estimated coordinates to calculate the coordinates of the potential mark mapping points P. The underwater sound communication-based single-vector hydrophone submerged positioning method is used for positioning in a single-vector direction, and is low in hardware cost and high in positioning accuracy.

Description

A single-vector hydrophone submersible mark positioning method and submersible mark based on hydroacoustic communication

Technical field

The invention belongs to the field of communication technology, and specifically relates to a single-vector hydrophone latent mark positioning method and latent mark based on underwater acoustic communication.

Background technique

As a device that can obtain ocean hydroacoustic information, the submersible buoy carries many detection and orientation instruments. In the marine field, submersible buoys can be placed in seawater for long-term, fixed-point, large-scale, high-precision measurements, providing data research for hydroacoustic communications, and have been widely used in ocean exploration, military and other aspects.

Positioning of the submersible mark: Place the submersible mark in the sea water. Due to the existence of water flow in the sea water, the submersible mark will deviate with the direction of the water flow during the sinking process. The actual position where it finally sinks to the seabed will have a huge deviation from the position where it is placed. And the deeper the sea depth, the greater the deviation. For the subsequent recovery of the submersible mark, the actual position of the submersible mark after it sinks to the bottom must be positioned. If the submersible mark cannot be recovered normally, not only will a large amount of valuable data be lost, but also economic losses will be caused. Therefore, how to accurately locate the latent target is the main technical problem solved by the present invention.

In order to accurately locate the latent mark, it is currently achieved by setting up a four-element matrix for the latent mark. The four-element matrix can directly determine the direction and distance, but the cost is high.

The above information disclosed in this Background Art is only for increasing understanding of the Background Art of this application and, therefore, it may contain prior art that does not constitute prior art known to a person of ordinary skill in the art.

Contents of the invention

The present invention aims at the technical problems in the prior art that when recovering a submersible mark that has sunk to the seabed, the position of the submersible mark will deviate from the release point, making the recovery inconvenient. If the positioning device used for high-precision positioning is high in cost, the present invention proposes a water-based method. The single-vector hydrophone submersible mark positioning method for acoustic communication can solve the above problems.

In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions to achieve it:

A single-vector hydrophone submersible target positioning method based on hydroacoustic communication, including:

(1) Select multiple measurement points near the latent mark, send acoustic signals in specific frequency bands at the measurement points, and obtain the longitude and latitude of each measurement point. The number of measurement points is three or more, and all measurement points Not on the same straight line;

(2) The latent beacon receives the acoustic signal and obtains the three-dimensional azimuth of each measurement point;

(3) Map the latent mark to the horizontal plane where the measurement point is located to form the latent mark mapping point P. According to the three-dimensional azimuth angle of the measurement point, calculate the distance between each two adjacent measurement points in the horizontal plane and the latent mark mapping point P. angle;

(4) Calculate the distance between two adjacent measurement points based on the longitude and latitude of each measurement point;

(5) Calculate the distance between the measurement point and the latent marker mapping point P based on the distance between two adjacent measurement points, the angle between the two measurement points in the horizontal plane and the latent marker mapping point P, and the longitude and latitude of the measurement point. distance;

(6) Calculate the estimated coordinates of the latent marker mapping point P based on the distance between the measurement point and the latent marker mapping point P and the longitude and latitude of the measurement point. Each measurement point corresponds to the estimated coordinates of a latent marker mapping point P;

(7) Multiply the estimated coordinates by their respective weights and sum them up to calculate the coordinates of the latent marker mapping point P.

In some embodiments, the method for obtaining the three-dimensional azimuth angle of the measurement point in step (2) is:

Measure the sound pressure p, vibration velocity v of the sound signal, and the sound intensity I _x and I _y of the sound signal in the x and y directions of the horizontal plane;

The vibration velocity v is decomposed in the x direction and y direction in the horizontal plane as:

in, is the azimuth angle of the acoustic signal on the horizontal plane, θ is the pitch angle of the acoustic signal, ρ is the density of the medium, c is the propagation rate of the acoustic signal in the medium, ρ and c are known;

From the decomposition of the vibration velocity v on the x-axis and y-axis in the horizontal plane, we can get:

According to the sound intensity formula, we can get:

Substituting v _x and v _y into The calculation formula of is calculated/>

In some embodiments, the method for calculating the angle between each two adjacent measurement points in the horizontal plane and the line connecting the latent marker mapping point P in step (3) is: based on the orientation of the acoustic signal emitted by each measurement point in the horizontal plane. Angle, calculate the angle between two adjacent measurement points in the horizontal plane and the latent mark mapping point P.

In some embodiments, the distance between two adjacent measurement points in step (4) is calculated as:

a=Lat1-Lat2;

b＝Lon1-Lon2;

Among them, Lon1 and Lat1 represent the longitude and latitude of one of the measurement points, Lon2 and Lat2 represent the longitude and latitude of the other measurement point, and R is the radius of the earth.

In some embodiments, the vector hydrophone is used to measure the sound pressure p, vibration velocity v of the acoustic signal, and the sound intensity I _x of the acoustic signal in the x-direction and y-direction of the horizontal plane.

In some embodiments, all measurement points are located on the same horizontal plane.

In some embodiments, in step (7), all estimated coordinates are averaged to calculate the coordinates of the latent marker mapping point P.

The present invention also proposes a latent mark, including:

Main buoyancy body, which is used to provide buoyancy;

Receiving array, which is used to receive hydroacoustic signals and record underwater information;

Hydroacoustic cats, which are used for hydroacoustic communications and transmit collected data back to ship-based equipment;

An acoustic releaser is detachably connected to the weight, the acoustic releaser communicates with ship-based equipment, and the submersible target is positioned according to the positioning method described in any one of claims 1-7.

In some embodiments, the submersible target further includes a cable, which is used to connect the main floating body, the receiving array, the hydroacoustic cat and the acoustic releaser in sequence.

In some embodiments, after the submersible target is positioned, the ship-based equipment sends a control signal to the acoustic releaser, and the acoustic releaser is controlled to trigger a release mode to release and separate the weight.

Compared with the existing technology, the advantages and positive effects of the present invention are:

The single-vector hydrophone submersible mark positioning method based on hydroacoustic communication of the present invention performs positioning through a single vector direction, and has low hardware requirements for acquisition components, so the hardware cost is low. By measuring at multiple measurement points respectively, obtaining multiple estimated coordinates and then calculating the final positioning coordinates, the positioning accuracy is higher.

Other features and advantages of the present invention will become more apparent after reading the detailed description of the invention in conjunction with the accompanying drawings.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a flow chart of an embodiment of the single-vector hydrophone submersible mark positioning method based on hydroacoustic communication proposed by the present invention;

Figure 2 is a three-dimensional azimuth angle diagram in one embodiment of the single-vector hydrophone submersible mark positioning method based on hydroacoustic communication proposed by the present invention;

Figure 3 is a schematic diagram of the projection of the latent target on the horizontal plane in one embodiment of the single-vector hydrophone latent target positioning method based on hydroacoustic communication proposed by the present invention;

Figure 4 shows the angle between adjacent measurement points in the horizontal plane and the line connecting the latent target mapping point P in the horizontal plane in an embodiment of the single-vector hydrophone submersible mark positioning method based on hydroacoustic communication proposed by the present invention. schematic diagram;

FIG. 5 is a schematic structural diagram of an embodiment of the latent mark proposed by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the direction or position. The terms of relationship are based on the orientation or positional relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as Limitations on the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the present invention, unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Embodiment 1

This embodiment proposes a single-vector hydrophone submersible mark positioning method based on underwater acoustic communication, as shown in Figure 1, including:

(1) Select multiple measurement points near the latent mark, send acoustic signals in specific frequency bands at the measurement points, and obtain the latitude and longitude of each measurement point. The number of measurement points is three or more, and all measurement points are not on the same straight line. ;

(2) The latent target receives the acoustic signal and obtains the three-dimensional azimuth angle of each measurement point;

(3) Map the latent mark to the horizontal plane where the measurement point is located to form the latent mark mapping point P. According to the three-dimensional azimuth angle of the measurement point, calculate the distance between each two adjacent measurement points in the horizontal plane and the latent mark mapping point P. angle;

(4) Calculate the distance between two adjacent measurement points based on the longitude and latitude of each measurement point;

(5) Calculate the distance between the measurement point and the latent marker mapping point P based on the distance between two adjacent measurement points, the angle between the two measurement points in the horizontal plane and the latent marker mapping point P, and the longitude and latitude of the measurement point. distance;

(6) Calculate the estimated coordinates of the latent marker mapping point P based on the distance between the measurement point and the latent marker mapping point P and the longitude and latitude of the measurement point. Each measurement point corresponds to the estimated coordinates of a latent marker mapping point P;

(7). Multiply the estimated coordinates by their respective weights and sum them up to calculate the coordinates of the latent marker mapping point P.

The single-vector hydrophone submersible mark positioning method based on hydroacoustic communication in this embodiment performs positioning in a single vector direction, and has low hardware requirements for acquisition components, so the hardware cost is low. By measuring at multiple measurement points respectively, obtaining multiple estimated coordinates and then calculating the final positioning coordinates, the positioning accuracy is higher.

In some embodiments, the method for obtaining the three-dimensional azimuth angle of the measurement point in step (2) is:

Measure the sound pressure p, vibration velocity v of the sound signal, and the sound intensity I _x and I _y of the sound signal in the x and y directions of the horizontal plane;

The vibration velocity v is decomposed in the x direction and y direction in the horizontal plane as:

in, is the azimuth angle of the acoustic signal on the horizontal plane, θ is the pitch angle of the acoustic signal, ρ is the density of the medium, c is the propagation rate of the acoustic signal in the medium, ρ and c are known;

From the decomposition of the vibration velocity v on the x-axis and y-axis in the horizontal plane, we can get:

According to the sound intensity formula, we can get:

Substituting v _x and v _y into The calculation formula of is calculated/>

In this method, the vector hydrophone can be used to measure the sound pressure p, vibration velocity v and the sound intensity _I Positioning solves the problem of high-precision positioning of latent targets, and the low cost of vector hydrophones solves the problem of latent target recovery costs.

In some embodiments, the method for calculating the angle between each two adjacent measurement points in the horizontal plane and the line connecting the latent marker mapping point P in step (3) is: based on the orientation of the acoustic signal emitted by each measurement point in the horizontal plane. Angle, calculate the angle between two adjacent measurement points in the horizontal plane and the latent mark mapping point P.

In some embodiments, the distance between two adjacent measurement points in step (4) is calculated as:

a=Lat1-Lat2;

b＝Lon1-Lon2;

Among them, Lon1 and Lat1 represent the longitude and latitude of one of the measurement points, Lon2 and Lat2 represent the longitude and latitude of the other measurement point, and R is the radius of the earth. The value of R is 6378.137km.

In some embodiments, the vector hydrophone is used to measure the sound pressure p, vibration velocity v of the acoustic signal, and the sound intensity I _x of the acoustic signal in the x-direction and y-direction of the horizontal plane.

In some embodiments, all measurement points are located on the same horizontal plane.

In some embodiments, in step (7), all estimated coordinates are averaged to calculate the coordinates of the latent marker mapping point P.

In this embodiment, setting three measurement points is used as an example for explanation.

As shown in Figure 2, the measurement point A emits an acoustic signal and passes it to the submersible mark P'. The vector hydrophone set on the submersible mark can measure the sound pressure p, vibration velocity v of the acoustic signal, and the x and y directions of the acoustic signal in the horizontal plane. The sound intensity _I

Since it is only necessary to know the longitude and latitude of the submersible buoy when recovering it, there is no need to know its depth information. The salvage ship sails to the vicinity of the positioning coordinates, controls the submersible buoy to separate the heavy blocks, and the submersible buoy can float to the surface under the buoyancy of the main buoy. and salvage.

As shown in Figure 3, it is the distribution diagram of the three measurement points A, B, C and the latent marker mapping point P on the horizontal plane. The azimuth angle of the measurement point A on the horizontal plane and the azimuth angle of measuring point B on the horizontal plane/> can be measured separately. Therefore, the angle α1 between the measuring point A and the measuring point B in the horizontal plane and the latent mark mapping point P can be expressed by/> and/> The calculation is shown in Figure 4.

In the same way, the angle α2 between AP and CP and the angle α3 between CP and BP can also be calculated. The lengths between AB, AC and BC can be calculated from the latitude and longitude.

Taking triangle APB as an example, the angles α1 and AB have been calculated, and the azimuth angles of A and B are known. Therefore, the lengths of AP and BP can be calculated respectively through trigonometric functions, that is, the measurement point A and the latent mark The distance between mapping points P, and the distance between measurement point B and latent marker mapping point P.

The length of AP is known. Combining the longitude and latitude coordinates of measurement point A and the azimuth angle of measurement point A, the estimated coordinates of point P can be calculated based on measurement point A.

In the same way, the estimated coordinates of point P can be calculated based on measurement point B and measurement point C respectively.

In order to simplify the calculation, in some embodiments, all estimated coordinates are averaged to obtain the coordinates of the latent target mapping point P, that is, the longitude and latitude coordinates of the latent target.

Embodiment 2

This embodiment proposes a latent mark, as shown in Figure 5, including:

The main floating body 11 is used to provide buoyancy;

Receiving array 12, which is used to receive underwater acoustic signals and record underwater information;

Hydroacoustic Cat 13, which is used for hydroacoustic communications and transmits collected data back to ship-based equipment;

The acoustic releaser 14 is detachably connected to the weight block 15. The acoustic releaser communicates with the ship-based equipment, and the submersible target is positioned according to the positioning method recorded in the first embodiment. For the specific positioning method, please refer to the description in Embodiment 1 and will not be described in detail here.

In some embodiments, the submersible mark also includes a cable 16, which is used to connect the main floating body 11, the receiving array 12, the hydroacoustic cat 13 and the acoustic releaser 14 in sequence.

In some embodiments, after the submersible target is positioned, the ship-based equipment sends a control signal to the acoustic releaser 14, and the acoustic releaser 14 is controlled to trigger the release mode to release and separate the weight block 15.

The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art can still make modifications to the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims (10)

1. A single vector hydrophone submarine location method based on underwater acoustic communication is characterized by comprising the following steps:

(1) Selecting a plurality of measuring points near the submerged buoy, respectively transmitting acoustic signals of a specific frequency band at the measuring points, and acquiring the longitude and latitude of each measuring point, wherein the number of the measuring points is three or more, and all the measuring points are not on the same straight line;

(2) The submerged buoy receives the acoustic signals and acquires the three-dimensional azimuth angles of all the measuring points;

(3) Mapping the submerged buoy to the horizontal plane where the measuring points are located to form a submerged buoy mapping point P, and calculating the included angle between each two adjacent measuring points and the connection line of the submerged buoy mapping point P in the horizontal plane according to the three-dimensional azimuth angle of the measuring points;

(4) Respectively calculating the distance between two adjacent measuring points according to the longitude and latitude of each measuring point;

(5) Calculating the distance between the measuring point and the potential mark mapping point P according to the distance between two adjacent measuring points, the included angle between the two measuring points and the connecting line of the potential mark mapping point P in the horizontal plane and the longitude and latitude of the measuring point;

(6) Calculating the estimated coordinates of the submerged-arc mark mapping points P according to the distance between the measuring points and the submerged-arc mark mapping points P and the longitude and latitude of the measuring points, wherein each measuring point corresponds to one estimated coordinate of each submerged-arc mark mapping point P;

(7) And multiplying the estimated coordinates with the weights of the estimated coordinates, and then summing the multiplied coordinates to calculate the coordinates of the potential mark mapping points P.

2. The single vector hydrophone submerged positioning method of claim 1, wherein the three-dimensional azimuth acquiring method of the measuring point in the step (2) is as follows:

measuring sound pressure p, vibration velocity v and sound intensity I of sound signal in horizontal plane x direction and y direction _x 、I _y ；

The vibration velocity v is decomposed into x-direction and y-direction in the horizontal plane:

wherein ,for the azimuth angle of the acoustic signal in the horizontal plane, θ is the pitch angle of the acoustic signal, ρ is the density of the medium, c is the propagation velocity of the acoustic signal in the medium, ρ and c are known;

from the split of the vibration velocity v in the horizontal plane in the x-axis and y-axis, it is possible to obtain:

from the sound intensity formula:

will v _x and v_y Substituted intoIs calculated to obtain +.>

3. The single vector hydrophone submerged positioning method of claim 1, wherein the method for calculating the included angle between each two adjacent measuring points and the submerged mapping point P in the horizontal plane in the step (3) is as follows: and calculating the included angle between two adjacent measuring points and the connecting line of the submerged buoy mapping point P in the horizontal plane according to the azimuth angle of the acoustic signal sent by each measuring point in the horizontal plane.

4. The single vector hydrophone submerged positioning method of claim 1, wherein the calculation method of the distance between two adjacent measurement points in the step (4) is as follows:

a＝Lat1-Lat2；

b＝Lon1-Lon2；

where Lon1 and Lat1 represent the longitude and latitude of one measurement point, lon2 and Lat2 represent the longitude and latitude of the other measurement point, and R is the earth radius.

5. The single vector hydrophone submerged positioning method of claim 2, wherein the vector hydrophone is used for measuring the sound pressure p, the vibration velocity v of the acoustic signal and the sound intensity I of the acoustic signal in the x-direction and the y-direction of the horizontal plane _x 。

6. The single vector hydrophone submerged positioning method of any one of claims 1-5, characterized in that all measuring points are located on the same horizontal plane.

7. The single vector hydrophone submerged arc positioning method of any one of claims 1-5, wherein in step (7), the coordinates of the submerged arc mapping point P are calculated by averaging all estimated coordinates.

8. A submerged buoy, characterized by comprising:

a main float for providing buoyancy;

a receiving array for receiving the underwater sound signal and recording underwater information;

a hydroacoustic cat for hydroacoustic communication, transmitting the collected data back to the ship-based device;

an acoustic release in detachable connection with the weight, said acoustic release being in communication with a ship-based device, said submerged buoy being positioned according to the positioning method of any one of claims 1-7.

9. The submerged buoy of claim 8, further comprising a cable for connecting the main buoy, receiving array, underwater cat, and acoustic release in sequence.

10. The submerged buoy of claim 8, wherein after positioning the submerged buoy, a ship-based device sends a control signal to the acoustic release that controls the trigger release mode to disengage the weight release.