CN101852854B - Underwater multi-beam sounding system and method - Google Patents
Underwater multi-beam sounding system and method Download PDFInfo
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Abstract
The invention discloses an underwater multi-beam sounding system and a detecting method thereof. The system comprises a microcomputer control system, and a sound wave emission system and a sound wave receiving and detecting system which are connected with the microcomputer control system. The sound wave emission system is provided with a plurality of single emission units, and each single emission unit comprises a plurality of transmitting transducers with different resonance frequencies. The invention also relates to an underwater multi-beam sounding method according to the system. Through two unique modes of 'frequency sweeping and frequency selecting' and 'frequency hopping and sounding', the sounding range resolution is improved by reducing the frequency hopping residence time, the sounding range is increased by increasing the frequency point number of the frequency hopping, and the problem of the contradiction between the range resolution and the sounding range in the single-frequency pulse sounding. The sounding system and the underwater multi-beam sounding method can effectively resist underwater acoustic channel frequency selectivity fading and complex environmental noise, can accurately estimate the first echo reaching time under each wave beam angle, and improve the underwater multi-beam sounding accuracy.
Description
Technical field
The present invention relates to belong to the technical field that the underwater sound is surveyed, be specifically related to a kind of underwater multi-beam probing system and method.
Background technology
Since 20 beginnings of the century, after U.S. scientist Fei Sendeng produced first echo sounder, underwater sound depth echo sounding method just became the main method of the measurement of underwater topography gradually.Traditional depth echo sounding method is consistent with traditional ultrasonic ranging principle, at first sends transducer and launches sound wave vertically downward, and sound wave arrives water-bed the reflection, and reflection echo arrival receiving transducer is received then.According to the time-delay τ of the echo of estimating to obtain with respect to the emission sound wave; With the transmission speed υ (known) of sound wave in water; Obtain the depth of water
so, the emphasis of supersonic sounding and depth measurement all is to estimate the time-delay of echo with respect to transmitted wave.Traditional depth echo sounding method is owing to only adopting a launching beam to survey, so be called the single beam Bathymetric Technology again.Yet because single beam Bathymetric Technology one-shot measurement only can obtain a depth value under the transducer, efficient is very low, and the Bathymetric Technology of single beam is replaced by the multibeam echosounding technology gradually.
The underwater multi-beam Bathymetric Technology mainly is meant through being placed in the underwater acoustic transducer array of hull; Forming technology through digital beam makes the bottom reflection echo at the narrow beam that forms a plurality of different angles perpendicular to the navigation direction; Measure covering of the fan thereby form, one-shot measurement just can obtain a plurality of depth values in the band.This has improved the defective that traditional single beam Bathymetric Technology once can only be measured a depth point largely, has improved efficient and the precision measured.Because present China deepens continuously fields such as ocean resources exploitation, shipping and ocean archaeology, the underwater multi-beam Bathymetric Technology has received widely and having paid close attention to.
The Chinese invention patent CN201007741Y that authorizes on January 16th, 2008 has proposed a kind of portable multibeam echosounder.This device is installed on being closed by equidistant multichannel transmitting-receiving of bilge keel through processing extension waterborne control and puts even linear array that transducer forms to launching sound wave under water and receiving water-bed echo, realizes that through advanced digital signal processor the collection of information, multi-beam handle, show and store again.In a measuring period, obtain the nearly problem of 21 bathymetric datas thereby solve, improved efficiency of measurement.But this device has some shortcomings: 1, this device adopts the single-frequency continuous impulse; And underwater acoustic channel is a frequency selective fading channels; Fixing simple signal may run into very big decay, causes not detect echoed signal, and measuring accuracy descends and the measurement range reduction; 2, this device adopts signal energy center method detection of echoes time of arrival, and this method is estimated time of arrival of echo through weighted mean, and the depth value of therefore measuring is the mean depth value of multiple scattering point in the wave beam range of exposures in fact.Although can well reduce the influence of ground unrest like this to measuring, second trip echo or beam angle are big when existing, bottom scattering point more for a long time, this time based on the intermediate value estimation confirms that method just can descend to some extent on measuring accuracy.3, there is contradiction between range resolution and the finding range; If require the degree of depth range of systematic survey to improve; Then require the bigger perhaps exomonental duration of emissive power of transducer long more; But there is the upper limit in the emissive power of transducer, will cause the decline of range resolution again if strengthen the exomonental duration.
In the supersonic sounding field, the Chinese invention patent CN1059498C that authorizes on Dec 3rd, 2000 has proposed a kind of pseudo-random supersonic ranging method and instrument.Thought when this instrument has utilized pseudorandom to jump; Transmit and receive a kind of pulse ultrasonic wave that has pseudorandom feature through ultrasonic transducer; Terminal microsystem is only discerned and is extracted this signal with pseudorandom feature as information processing and control center, thereby very strong anti-ambient noise interference ability is arranged.And the pseudorandomcode that deposits in during with emission through the pseudo random signal ripple that receives relatively, extract, can confirm the time of arrival of echo very exactly, the resolution characteristic and the accuracy that have improved range measurement system.But this instrument still uses the transponder pulse of single-frequency, just goes the width and the sequential of gating pulse with pseudo-random sequence, so under frequency-selective channel, the possibility that meets with violent decay is arranged still, destroys the autocorrelation performance of pseudo-random supersonic.
The method of a kind of good contrary frequency selectivity decline and multipath effect is a spread spectrum, and does not have the contradiction of measuring distance range and range resolution in the pulse ranging because spread spectrum is found range, and is considered to a kind of effectively distance-finding method.The example that uses the spread spectrum ranging technology the earliest is GPS (GPS), then based on the spread spectrum ranging technology of wide-band linearity frequency modulation be widely used with radar in.Yet; The prior direct sequence spectrum spread ranging technology requires very high to transmitted bandwidth; And common underwater acoustic transducer transmitted bandwidth is narrow, generally needs exomonental frequency maximum with the consistent hyperacoustic energy of emission that could let of resonance frequency of transducer, so if in the subaqueous sound ranging field, use traditional spread spectrum; Then the hardware requirement to underwater acoustic transducer is very high, has increased the cost of system.In addition; Because common piezoelectric transducer is through the outside transmit mechanical waves of piezoelectric effect; There is comparatively serious " hangover " phenomenon in it in producing hyperacoustic process, promptly piezoelectric chip will pass through several vibration periods and could cross " resonance " by " starting of oscillation "; And under the situation that stops to encourage, also can have " remained shock ", this also makes the utilization single transducer realize that frequency conversion has difficulties fast.
In sum, existing underwater multi-beam Bathymetric Technology mainly exists some limitation and deficiency in the following areas: (1) simple signal anti-underwater environment interference performance difference and receive the frequency selective fading influence of underwater acoustic channel easily; (2) the signal energy center method detects the time of arrival that can not accurately estimate first echo; (3) there is the contradiction between range resolution and the finding range in traditional pulse detection method.In addition, when the range finding of pseudorandom supersonic sounding and spread spectrum was applied to underwater sound depth measurement, will face following two problems again: the transmitted bandwidth of (1) light water acoustic transducer was narrower, and spread spectrum is limited in one's ability; (2) piezoelectric transducer " hangover " phenomenon is serious, and frequency hopping is slow.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; Provide a kind of and can effectively resist underwater acoustic channel frequency selective fading and complex environment noise; Can accurately estimate first echo time of arrival under each beam angle again, improve the underwater multi-beam probing system of the precision of underwater multi-beam depth measurement.
Another object of the present invention provides the probing method of said underwater multi-beam probing system; This method is through reducing the range resolution that the frequency hopping residence time improves depth measurement; Frequency number through increasing frequency hopping improves the depth measurement range, has solved the pure-tone polse depth measurement and has had the contradiction between range resolution and the finding range.
For solving the problems of the technologies described above, technical scheme of the present invention is:
A kind of underwater multi-beam probing system; Comprise Control System of Microcomputer; The sound wave emissions system and the sound wave that are connected with Control System of Microcomputer through EBI receive detection system; Said sound wave emissions system is provided with a plurality of single emission primitives, and each single emission primitive comprises a plurality of resonance frequency distinct transmit transducers.
In the above-mentioned underwater multi-beam probing system, said sound wave emissions system also comprises the emission control processing enter, and Control System of Microcomputer connects the input end of emission control processing enter through first EBI; The output terminal of emission control processing enter links to each other with a plurality of single emission primitives through first interface; A plurality of single emission primitives are used for the synchronous transmission of frequency code; The emission control processing enter also links to each other with a plurality of single emission primitives through second interface, is used for the synchronous transmission of address code.
In the above-mentioned underwater multi-beam probing system; Said sound wave receives detection system and comprises that the control and treatment center that receives, the signal pre-processing module, HSM, the wave beam that are connected with reception control and treatment center form module, echo Time and Frequency Synchronization estimation module; Receive the control and treatment center and be connected with Control System of Microcomputer through second EBI, a plurality of signal pre-processing modules are connected with in order to receive the receiving transducer array of underwater reflection echo separately.
In the above-mentioned underwater multi-beam probing system, said a plurality of single emission primitives are by equidistantly rearranging even emission linear array, and lay along bilge keel; The vertical bilge keel direction of even linear array and edge that said receiving transducer array adopts equally spaced underwater acoustic transducer to form is laid.
The probing method of above-mentioned underwater multi-beam probing system, said sound wave emissions system and sound wave receive detection system and all possess " frequency sweep frequency-selecting " and " frequency hopping depth measurement " two kinds of mode of operations, and this probing method comprises the following steps:
Step 1: under " frequency sweep frequency-selecting " pattern, the frequency sweep underwater sound signal that Control System of Microcomputer is launched from the sound wave emissions system filters out and is decayed and the less frequency of disturbing effect;
Step 2: the frequency emission underwater sound frequency hopping detectable signal that under " frequency hopping depth measurement " pattern, filters out based on step 1; Sound wave receives detection system and through Short Time Fourier Transform (STFT) the reception signal under each beam angle is carried out time frequency analysis, thus the corresponding to echo-signal of detectable signal frequency hopping rule that captures and send out;
Step 3: the time that step 2 is caught is carried out the calculating of depth value time of arrival as the echo under this beam angle.
In the probing method of above-mentioned underwater multi-beam probing system, step 1 comprises processes:
Step 11: Control System of Microcomputer is to the reception control and treatment center sending controling instruction of the emission control processing enter and the sound wave reception detection system of sound wave emissions system; Make the probing system get into " frequency sweep frequency-selecting " mode of operation, and transmit necessary frequency parameter of this stage simultaneously;
Step 12: under " frequency sweep frequency-selecting " wedge-type; The requirement according to stepped-frequency interval in the frequency range that the frequency hopping bandwidth allows of emission control processing enter generates frequency set and corresponding frequency code set; And, by sequences of packets frequency code and address code are sent to single emission primitive again with each frequency code and corresponding transmitting transducer address code grouping; According to the signal of frequency code generation different frequency, the transmitting transducer of according to address code signal being sent into appointment is again launched in the single emission primitive; The acoustic signals that has the frequency sweep characteristic is sent to continuously under water and behind underwater reflection, receives detection system by sound wave and receives;
Step 13: sound wave receives the receiving transducer array received echoed signal of detection system; And the amplification filtering and the sampling of being correlated with by signal pre-processing module; Receiving each road sampled data that will disperse at the control and treatment center then in chronological sequence stores; And indicate wave beam to form module taking-up sampled data and carry out wave beam formation, and storage wave beam formation module wave beam forms the timeslice that has angle, amplitude and temporal information that export the back; When wave beam formation is carried out; Receive control and treatment center indication echo Time and Frequency Synchronization estimation module timeslice under the same beam angle of wave beam formation module output is carried out Short Time Fourier Transform (STFT) frequency-domain analysis; And relatively export frequency, and these frequency point information are passed back to receiving the control and treatment center preserve above threshold values through thresholding; Frequency set of preserving under the handle different beams angle that obtains of reception control and treatment center and the pairing amplitude information of frequency send Control System of Microcomputer to and screen;
In the probing method of above-mentioned underwater multi-beam probing system, step 2 comprises processes:
Step 21: behind the optimum frequency of Control System of Microcomputer screening to the emission control processing enter with receive control and treatment center sending controling instruction; Make sounding system get into " frequency hopping depth measurement " pattern; Transmit the frequency parameter that this stage confirms simultaneously after screening, and open the timer that receives the control and treatment center;
Step 22: under " frequency hopping depth measurement " pattern; The emission control processing enter is by the frequency parameter that has received; Send appointed frequency sign indicating number and address code at the appointed time in the interval according to the order of sequence and give single emission primitive, make sounding system send the underwater sound frequency hopping detectable signal of appointment;
Step 23: under " frequency hopping depth measurement " pattern; Sound wave receives the wave beam formation module of detection system and carries out wave beam formation to whole beam directions; Relatively store by the frequency and the time corresponding of back output with thresholding for echo Time and Frequency Synchronization estimation module; And then move next group data point that window function takes out this beam angle by certain intervals and carry out the Short Time Fourier Transform analysis; Receive signal main frequency distribution table in time under this beam angle through obtaining after Short Time Fourier Transform (STFT) frequency-domain analysis, promptly time---frequency relation table travels through this table at last and searches with reference to the frequency hopping precedence of known detectable signal; Obtain the time of arrival of first echo under this beam angle, send the control and treatment center that receives to.
The probing method of described underwater multi-beam probing system, it is characterized in that: step 3 comprises processes:
Step 31: receive the control and treatment center and has collected first echo under all beam angles after time of arrival, with field angle with the time sends to Control System of Microcomputer accordingly;
Step 32: Control System of Microcomputer draws the degree of depth and the relative coordinate of corresponding sensing point time of arrival according to beam angle and echo.
In the probing method of above-mentioned underwater multi-beam probing system, the described frequency parameter of step 11 comprises: frequency hopping residence time, stepped-frequency interval and frequency hopping bandwidth; The said wave beam formation of step 13 module taking-up sampled data carries out choosing under the receiving transducer array when wave beam forms and the beam angle of left and right sides outermost end carries out wave beam formation.
In the probing method of above-mentioned underwater multi-beam probing system, the described frequency parameter of step 21 comprises: frequency hopping residence time, emission grouping, frequency hopping information and cycle index; Wherein emission divides into groups to comprise: the order of transmission that frequency code that filters out and corresponding address sign indicating number divide into groups and divide into groups; The frequency hopping rule of the detectable signal that frequency hopping information promptly divide into groups to require to obtain according to emission.
The present invention with respect to the beneficial effect of prior art is:
The present invention is applied to the frequency hopping thought in the radio communication of land in the underwater sound multibeam echosounding; Select to receive underwater acoustic channel to disturb and the less frequency of influence of fading is used for frequency hopping through frequency sweep, and the frequency hopping synchronization capture technique was used to estimate first echo time of arrival; In addition, the present invention is also through with carrying out alternative expression ground frequency hopping in a plurality of resonance frequency different transducer combinations to emission primitive, thereby can launch sound waves of different frequencies, solved the problem that frequency hopping is difficult to realize on common transducer.With respect to prior art, its concrete advantage and beneficial effect are:
1, through introducing i.e. " frequency sweep frequency-selecting " pattern of frequency hopping and emission frequency point selection mechanism, the system that makes has very strong antijamming capability, particularly can effectively resist the frequency selective fading and the complex environment noise of underwater acoustic channel.
2, estimate echo time of arrival to have broken away from the center of energy detection technique of multibeam echosounding technology under the traditional water through the frequency hopping synchronization capture technique, can accurately estimate first echo time of arrival in the beam angle.
3, a plurality of narrow-band transducers are combined as an emission primitive; Sound waves of different frequencies is launched by different transducer; This many transducer combinations frequency hopping launching technique has overcome light water acoustic transducer emission band width, the slow defective of frequency hopping; Make spread spectrum on the arrowband underwater acoustic transducer, be achieved, reduced the cost of system.
4, the reinforcement of antijamming capability also means the raising of system's depth measurement range, and under equal depth measurement condition, system can also save emissive power.
5, can satisfy the different depth measurement resolution ratio and the requirement of degree of depth range respectively with frequency hopping frequency number by setting the frequency hopping residence time.
Description of drawings
Fig. 1 is the structure principle chart of the said system of embodiment;
Fig. 2 is the structure principle chart of the said single emission primitive of embodiment;
Fig. 3 is the workflow diagram of the said echo Time and Frequency Synchronization of embodiment estimation module " frequency sweep frequency-selecting " pattern;
Fig. 4 is the workflow diagram of echo Time and Frequency Synchronization estimation module " frequency hopping depth measurement " pattern;
Fig. 5 is the workflow diagram of the said emission control processing enter of embodiment " frequency sweep frequency-selecting " pattern;
Fig. 6 is the workflow diagram of the said reception control and treatment of embodiment center " frequency sweep frequency-selecting " pattern;
Fig. 7 is the workflow diagram of the said emission control processing enter of embodiment " frequency hopping depth measurement " pattern;
Fig. 8 is the workflow diagram of the said reception control and treatment of embodiment center " frequency hopping depth measurement " pattern.
Embodiment
Through embodiment the present invention is done further detailed explanation below in conjunction with accompanying drawing, but practical implementation of the present invention and protection domain are not limited thereto.
Referring to Fig. 1, the underwater multi-beam probing system in this embodiment mainly receives detection system 3 by: Control System of Microcomputer 1, sound wave emissions system 2 and sound wave and forms.Wherein,
Sound wave emissions system 2 comprises emission control processing enter 5, first interface 6, second interface 7 and a plurality of single emission primitive 8; Each single emission primitive 8 comprises a plurality of resonance frequency distinct transmit transducers 21, and Control System of Microcomputer 1 links to each other with emission control processing enter 5 through first EBI 4; Emission control processing enter 5 links to each other with a plurality of single emission primitives 8 through first interface 6, is used for the synchronous transmission of frequency code k, realizes the control that the emission frequency of sound wave is changed; In addition, emission control processing enter 5 also links to each other with a plurality of single emission primitives 8 through second interface 7, is used for the synchronous transmission of address code d, realizes control is opened in the selection of each narrow emission transducer 21 in the single emission primitive 8; The corresponding different address code d of different frequency code k finally make different frequency of sound wave launch with different narrow emission transducers 21.Emission control processing enter 5 possesses " frequency sweep frequency-selecting " and " frequency hopping depth measurement " two kinds of mode of operations; And select its mode of operation according to the control information of Control System of Microcomputer 1; When emission control processing enter 5 is frequency sweep frequency-selecting pattern; With changing the frequency code k and corresponding transducer address code d that sends single emission primitive 8 in regular turn, make system's emission swept-frequency signal in order to the frequency parameter of test macro depth measurement with use; When emission control processing enter 5 is the depth measurement pattern, then by predefined frequency parameter emission frequency hopping sound wave.
Sound wave receives test section 3 and comprises that receiving transducer array 9, signal pre-processing module 10, reception control and treatment center 11, HSM 12, wave beam form module 13, echo Time and Frequency Synchronization estimation module 14 and second EBI 15.Wherein, the vertical bilge keel direction of even linear array and edge that receiving transducer array 9 adopts equally spaced underwater acoustic transducer to form is laid, and each underwater acoustic transducer in the receiving transducer array 9 links to each other with signal pre-processing module 10 respectively; Underwater acoustic transducer converts the acoustic signals of reflected back the input of electric signal as signal pre-processing module 10 into; The preposition amplification, filtering and the A/D sampling processing that achieve a butt joint and collect mail number by each road signal pre-processing module 10; Through being connected, sampled data being transferred to reception control and treatment center 11 store then with the signal that receives control and treatment center 11; Receive 11 main task scheduling and the timing of being responsible for whole receiving end of control and treatment center, it is corresponding with transmitting terminal, and " frequency sweep frequency-selecting " and " frequency hopping depth measurement " two kinds of mode of operations are also arranged; HSM 12, wave beam form module 13 and are connected with reception control and treatment center 11 respectively with echo Time and Frequency Synchronization estimation module 14, form the core that sound wave receives detection system 3; Receiving control and treatment center 11, wave beam formation module 13 and echo Time and Frequency Synchronization estimation module 14 can be achieved by computing machine or high speed digital signal processor; Receive control and treatment center 11 and link to each other with Control System of Microcomputer 1 through second EBI 15, the transmission sound wave receives the result of detection system 3.
As shown in Figure 2, single emission primitive 8 comprises: clock circuit 16, Direct Digital Frequency Synthesizers 17, wave filter 18, gating chip 19, power amplifier 20 and transmitting transducer 21.Wherein, clock circuit 16 and from the frequency code k of emission control processing enter 5 respectively as the input of Direct Digital Frequency Synthesizers 17; Direct Digital Frequency Synthesizers 17 links to each other with wave filter 18 again, and the electric signal of the CF that will produce according to the frequency code k of input is sent into filtering clutter in the wave filter 18; The output of wave filter 18 and from the address code d of emission control processing enter 5 respectively as two main inputs of gating chip 19; In addition; Gating chip 19 also links to each other with each road transmitting transducer 21 corresponding power amplifier 20; And according to the address code d that imports; Connecting from the electric signal of the CF of wave filter 18 and a certain power amplifier 20 of appointment, electric signal changes electric signal into acoustical signal by the transmitting transducer 21 of connecting with this road power amplifier 20 at last and launches after power amplification.It should be noted that the input signal of whole single emission primitive 8---frequency code k and address code d are corresponding, and address code d is corresponding one by one with each transmitting transducer 21.For narrow emission transducer 21, after its structure was confirmed, its resonance frequency and transmitted bandwidth had also just been confirmed, and the frequency that this transmitting transducer 21 can be launched also is defined.So the combination of frequency code k and address code d is not arbitrarily, must consider whether the transmitted bandwidth of the transmitting transducer 21 that this current address code d is corresponding has covered the specified signal frequency of current frequency code k.K changes when frequency code, and its corresponding address sign indicating number d also will change, thereby make the signal of different frequency launched by different transducer.Wherein, Transmitting transducer 21 is common arrowband underwater acoustic transducer; But the resonance frequency of each transmitting transducer 21 differs from one another, and in required frequency hopping bandwidth, evenly distributes, and the transmitting transducer 21 that makes a plurality of bandwidth be merely 2～4KHz combines and satisfies the required frequency hopping bandwidth of emission.A plurality of single emission primitives 8 can be laid along bilge keel by equidistantly rearranging even emission array; Direct Digital Frequency Synthesizers 17 can be used the directly frequency synthesis chip realization of AD9850 numeral of AD company; Gating chip 19 can use 4051 multi channel selecting chips to realize that transmitting transducer 21 numbers that in single emission primitive 8, comprise can be expanded a plurality of chip portfolios more for a long time.
In conjunction with to Fig. 1 and Fig. 2, the key component to the said underwater multi-beam probing of this embodiment system describes respectively:
Control System of Microcomputer 1: Control System of Microcomputer 1 is as the operation display terminal of whole acoustic multi-beam sounding system, and its realization is mutual with the user's, visual interface display depth measurement result is provided and receives controling from the user.In addition, for the correction of ID data, such as: the velocity of sound, ship appearance, drinking water and morning and evening tides correction etc. are also transferred to Control System of Microcomputer 1 and are accomplished with corresponding other subsidiary equipment.The steering order of Control System of Microcomputer 1 comprises: open command, END instruction, " frequency sweep frequency-selecting " mode instruction, " frequency hopping depth measurement " mode instruction; Various parameters comprise: frequency hopping residence time T
h, stepped-frequency interval Δ f, frequency hopping bandwidth W
h, cycle index R, send to divide into groups and frequency hopping information.Each parameter declaration is following:
(1) frequency hopping residence time T
hBe the duration of each frequency signal during frequency hopping is surveyed, it is relevant with the resolution of depth measurement, and high more depth resolution needs ofer short duration frequency hopping residence time;
(2) stepped-frequency interval Δ f is the frequency interval of each frequency, is preferably 500Hz;
(3) frequency hopping bandwidth W
hBe the total bandwidth that the frequency hopping detection needs, this parameter need be in the bandwidth range that single emission primitive 8 can be launched;
(4) cycle index R is promptly in " frequency hopping depth measurement " pattern, the frequency hopping detectable signal repeat to send number of times;
(5) emission is divided into groups promptly in " frequency hopping depth measurement " pattern, and the frequency code that filters out through Control System of Microcomputer 1 is divided into groups with the corresponding address sign indicating number and the order of transmission of grouping;
(6) frequency hopping information is promptly in " frequency hopping depth measurement " pattern, divides into groups to require the frequency hopping rule of the frequency hopping detectable signal that obtains according to emission;
Wherein, what emission was divided into groups confirms, at first needs Control System of Microcomputer 1 that the observable frequency of knowing under " frequency sweep frequency-selecting " pattern is screened, the frequency code k that the frequency of arranging then to be filtered out is corresponding and the firing order of address code d grouping.The screening frequency should be noted that following problem: (1) is according to the emission frequency point information cancelling noise frequency of emission control processing enter 5 feedbacks; (2) under the situation that last condition satisfies, select the high frequency of energy as far as possible; (3) let the frequency that filters out be evenly distributed in the transmitted bandwidth of each transmitting transducer 21 as far as possible, alleviate the emission burden of single transducer; (4) the frequency number that filters out is relevant with the range of depth measurement, and investigation depth can correspondingly increase the frequency number more greatly.In addition, consider that there is serious " hangover " phenomenon in common transducer, can not carry out frequency hopping fast, when arranging the emission sequences of packets, need widen the interval time that same transmitting transducer 21 is launched once more as far as possible.
Single emission primitive 8: one of characteristics of single emission primitive 8 are to have adopted direct digital frequency synthesis technology to generate the signal of the different frequency of demand.As shown in Figure 2, Direct Digital Frequency Synthesizers 17 is as the core that produces Frequency Hopping Signals, has frequency resolution height, good stability, can produce the advantage of multiple signal flexibly.AD9850 Direct Digital frequency synthesis chip with AD company is an example, its output frequency f
OutWith clock frequency f
sRelation be: f
Out=(k/2
32) f
s, wherein k is one the 32 bit frequency sign indicating number that writes AD9850 through interface 6.When k is 0, output frequency f
OutMinimum, i.e. the output frequency resolution rate of AD9850; When the k most significant digit is 1, all the other are 0 o'clock, output frequency f
OutThe highest, i.e. f
s/ 2 (reaching sampling law threshold limit value).But in the practical application, for the waveform that obtains, the highest output frequency of design is less than 1/3 of clock frequency.Because the absorption loss of high frequency sound wave in underwater acoustic channel be very big, so the emission frequency of sound wave is much smaller with respect to the frequency of land radio communication electric wave, clock frequency f here
sCan only get 4MHz and just can cover underwater sound detection frequency commonly used.At this moment, limit the highest output frequency f of AD9850 Direct Digital frequency synthesis chip
OutBe 1MHz, promptly frequency code k is the highest is defined as 2
30Minimum output frequency f
OutBe 0.00093Hz.But in the said system of this embodiment, Control System of Microcomputer 1 can limit the frequency hopping bandwidth once more, in 10KHz～500KHz, selects frequency in bandwidth usually, and concrete condition needs situation such as basis fathoms suitably to dwindle again.Another characteristics of single emission primitive 8 are a plurality of transmitting transducers 21 to be combined carry out the emission of frequency hopping detectable signal.In order to solve light water acoustic transducer emission band width, the slow problem of frequency hopping; Each transmitting transducer 21 in the single emission primitive 8 structurally needs different; Make resonance frequency in the frequency hopping bandwidth evenly at interval, make the narrow bandwidth of a plurality of transmitting transducers 21 combine to satisfy and survey required frequency hopping bandwidth requirement.For example: the used acoustical signal frequency of shallow water 600～1000m depth measurement is more than 95KHz, if frequency hopping bandwidth W usually
hBe taken as 100KHz～180KHz; Transmitting transducer 21 transmitted bandwidths are 4KHz; Then need 20 in each single emission primitive 8; And the resonance frequency of each transmitting transducer 21 distributes with the incremental increase of 4KHz from 102KHz, finally these 20 bandwidth only the narrow emission transducer 21 of 4KHz just can cover the bandwidth of the required 80KHz of frequency hopping.When emission underwater sound frequency hopping detectable signal; Each transmitting transducer 21 only sends the frequency signal in its 4KHz bandwidth; By the transmitted bandwidth characteristic of emission control processing enter 5, confirm the grouping relation of address code d and frequency code k according to each transmitting transducer 21 in the single emission primitive 8.
Wave beam forms module 13: wave beam forms module 13 and mainly through beamforming algorithm each road signal is postponed to superpose finally generation to the time series that has amplitude and phase place of different beams angle based on receiving transducer array 9.The file layout of wave beam formation module 13 output datas is as shown in table 1.Usually call a timeslice to the output data under all beam angles of synchronization, i.e. row in the form, for example: { A
12, A
22A
N2For the time be t
2Timeslice, wherein an A
IjFor at beam angle θ
iWith discrete sampling time t
jUnder signal amplitude.Beamforming algorithm can use DFT wave beam formation method commonly used or direct phase shift multi-beam formation method.
The said wave beam of this embodiment of table 1 forms the tables of data form of module 13 outputs
Echo Time and Frequency Synchronization estimation module 14: echo Time and Frequency Synchronization estimation module 14 adopts the signal processing method of fully digitalization to carry out the synchronization acquistion of echo Frequency Hopping Signal; Output data (like table 1) through wave beam being formed module 13 is by angle take-off time sequence and carry out Fourier transform and be transformed under the frequency domain and analyze; The final estimation that realizes ripple is reached time (TOA); And this ripple reaches the estimation of time will carry out to the time series that wave beam forms under each beam angles of module 13 outputs, and each ripple that then obtains reaches the time beam angle corresponding with it (DOA) and crosses simple sound path method and trigonometric function resolves the depth data that just can obtain each sensing point in the Multibeam Swath at Control System of Microcomputer 1 back warp.Correspondingly, echo Time and Frequency Synchronization estimation module 14 also has " frequency sweep frequency-selecting " and " frequency hopping depth measurement " two kinds of mode of operations.
Shown in Figure 3 is the workflow of echo Time and Frequency Synchronization estimation module 14 under " frequency sweep frequency-selecting " pattern.Know that by figure echo Time and Frequency Synchronization estimation module 14 is pressed beam angle θ with the output data table that the wave beam shown in the table 1 forms module 13
1～θ
NTake out in turn, to each angle θ
iEach take out F discrete data and carry out Short Time Fourier Transform, obtain the frequency spectrum of F discrete data, relatively obtain the amplitude less value of frequency point that better promptly decays through the frequency threshold values and also export, accomplish the frequency-domain analysis of preceding F time point of each beam angle; And then press beam angle θ again
1～θ
NThe F+1 that takes out in turn under each angle does identical frequency-domain analysis to F time point in the 2F, and so circulation is up to receiving the END instruction that receives control and treatment center 11.Under " frequency sweep frequency-selecting " pattern, echo Time and Frequency Synchronization estimation module 14 is not estimated the echo time of arrival of signal under each angle, and the frequency point information output under each angle that only frequency analysis is filtered out is used for Control System of Microcomputer screening frequency and carries out depth measurement.
Shown in Figure 4 is the workflow of echo Time and Frequency Synchronization estimation module 14 under " frequency hopping depth measurement " pattern.Different with " frequency sweep frequency-selecting " pattern is that " frequency hopping depth measurement " echo Time and Frequency Synchronization estimation module 14 down caught current beam angle θ earlier
iUnder first echo time of arrival, jump to next beam angle θ again
I+1Carry out identical time acquisition procedure.Short Time Fourier Transform is handled fundamental sum " frequency sweep frequency-selecting " unanimity under this pattern; The time point that just at every turn reads is M; Can make M＜F generally speaking; Because " frequency sweep frequency-selecting " pattern need not capture time, the suitable increase of F can reduce the round-robin number of times, shortens the analysis time of " frequency sweep frequency-selecting "; The numerical value of M need satisfy the sampling number in the frequency hopping residence time, promptly satisfies M=T
h/ T
c, T wherein
hBe frequency hopping residence time, T
c=1/f
cBe the SI that receives, f
cFor receiving SF.In addition, owing to will carry out catching of echo time, the zero-time t that after each M point frequency-domain analysis, must corresponding M be ordered
jUnder frequency point information write the time shown in the table 2---the frequency relation table is used for tabling look-up according to frequency hopping information and catches echo time of arrival.
Time described in this embodiment of table 2 echo Time and Frequency Synchronization estimation module---frequency relation table form
| Time | Frequency content (frequency that exceeds threshold values) |
| t 1 | f 1 |
| t 1+M | f 1f 2 |
| t 1+2M | f 2f 3 |
| t 1+3M | f 3f 4 |
| t 1+4M | f 4f 5 |
| · · · | · · · |
Table 2 is a simple relation table that generates through time frequency analysis, the first row { t of table
1, t
1+M, t
1+2M... Starting point time corresponding in the M data points that reads when representing time frequency analysis, the secondary series of table is the frequency point information that comprises in the M data points under each time; Suppose that the frequency hop sequence of sending is { f
1, f
2, f
3, f
4, f
5Only launch five frequencies, after analyzing, obtain the time shown in the table 2---the frequency relation table, then through the algorithm of simply tabling look-up from t
1Beginning to travel through full table just can find first time sequencing to meet { f
1, f
2, f
3, f
4, f
5Five frequency point information, then with t
1As the time of arrival of first echo and the beam angle θ of this time frequency analysis
iTogether send to and receive control and treatment center 11, accomplish this angle θ
iEcho time catch.The analyzing and processing process of echo Time and Frequency Synchronization estimation module 14 is comparatively complicated, in practical application, can task be divided processing by angle through increasing the number of high speed digital signal processor, thereby form parallel Processing Structure.
Fig. 5 to Fig. 8 is for adopting the emission control processing enter 5 and the treatment scheme that receives control and treatment center 11 this embodiment of realization underwater multi-beam depth detecting methods in the system shown in Figure 1; Wherein Fig. 5 and Fig. 6 are to this embodiment said " frequency sweep frequency-selecting " pattern, and Fig. 7 and Fig. 8 are to this embodiment said " frequency hopping depth measurement " pattern.To Fig. 8, the depth detecting method of said underwater multi-beam sounding system comprises following four running parts in conjunction with Fig. 5:
One, the workflow of the said emission control processing enter 5 of this embodiment " frequency sweep frequency-selecting " pattern is divided into following step: as shown in Figure 5,
Step 2, after emission control processing enter 5 is received frequency parameter, will be according to frequency hopping bandwidth W
hRestricted portion and stepped-frequency interval Δ f generate each frequency and the corresponding frequencies sign indicating number is formed frequency code set K, and the generation method of frequency code set K is undertaken by following calculation procedure:
(1) calculates corresponding frequency code spacing value Δ k by stepped-frequency interval Δ f;
wherein
expression rounds downwards, and the low-limit frequency resolving power of wherein supposing Direct Digital Frequency Synthesizers 17 outputs in the single emission primitive 8 is for
(2) by frequency hopping bandwidth W
hSpan [the k of calculated rate sign indicating number
l, k
h], still be example here with AD9850
F wherein
1, f
hBe respectively W
hThe low-limit frequency and the highest frequency that limit, f
sClock frequency for Direct Digital Frequency Synthesizers 17.
(3) at [k
l, k
h] interior k
lΔ k takes out frequency code k from beginning uniformly-spaced
iComponent frequency sign indicating number set K is up to arriving k
h
After step 3, emission control processing enter 5 obtain frequency code set K, need be with the address code d of each transmitting transducer 21 in the single emission primitive 8
iWith K medium frequency sign indicating number k
iDivide into groups; Because under " frequency sweep frequency-selecting " pattern, the element number among the frequency code set K is often gathered the element number among the D much larger than address code, so frequency code set K and address code set D concern one to one; Can know frequency code k by step 2
iGeneration only according to the stepped-frequency interval Δ f and the frequency hopping bandwidth W of Control System of Microcomputer 1 appointment
hRequirement; But the transmitting transducer 21 in the single emission primitive 8 can be launched the frequency range of sound wave and have nothing in common with each other; Each transmitting transducer 21 only can be launched the frequency signal in its bandwidth; So the transmitted bandwidth that emission control processing enter 5 needs according to transmitting transducer 21 is with the address code d of frequency code ki and each transducer
iDivide into groups, set up frequency code k
iWith address code d
iCorresponding relation.In addition, as stepped-frequency interval Δ f during less than the transmitted bandwidth of transmitting transducer 21, the situation of same transmitting transducer 21 emissions of signal demand of a plurality of frequencies possibly occur, it is multiplexing transducer promptly to occur.But consider " hangover " phenomenon that transmitting transducer 21 exists, when dividing into groups, should widen the multiplexing time interval of transducer as far as possible.Group technology is following:
(1) at first emission control processing enter 5 obtains each address code d according to the transmit frequency range of each transmitting transducer 21 in the single emission primitive 8
iThe frequency code scope that corresponding transmitting transducer 21 can be accepted; Still be example, if establish address code d with AD9850
iThe transmit frequency range of corresponding narrow emission transducer 21 covers f '
LTo f '
h, then its frequency code scope that can accept for [k '
L, k '
H]
i, wherein
(2) the frequency code set K and the address code set D that then step 2 are obtained set up corresponding relation, and an address code among the D is with a plurality of frequency codes among the corresponding K usually, and promptly a transmitting transducer 21 is sent in a plurality of frequency signals in its transmitted bandwidth with needs.This corresponding relation is as shown in table 3, and element number is m among the table 3 hypothesis address code set D, promptly comprises m transmitting transducer 21 in a single emission primitive 8; If the element number of frequency code set K is G, and 8 frequencies that needs send have been comprised in the transmitted bandwidth of each transmitting transducer 21, i.e. corresponding 8 frequency codes of each address code.
Table 3 frequency code and the signal of address code corresponding relation
(3) launch grouping at last; The multiplexing time interval when launching in order to widen transmitting transducer 21; Avoid the same transmitting transducer 21 continuous signals that send different frequency, can frequency code in the table 3 and corresponding address sign indicating number be pressed leu time taking-up composition grouping, and demarcate the grouping order of transmission simultaneously.(d for example
1, k
1)
1, (d
2, k
9)
2..., (d
m, k
G-7)
m, (d
1, k
2)
M+1, (d
2, k
10)
M+2..., (d
m, k
G)
GG grouping altogether.The multiplexing cycle of the emission of transmitting transducer 21 is mT like this
h
After having generated the grouping of G respective frequencies sign indicating number and address code; Emission control processing enter 5 also needs the grouping information and each grouping medium frequency sign indicating number frequency points corresponding information feedback that generate are returned Control System of Microcomputer 1, confirms the reference of emission packet parameters as Control System of Microcomputer 1 screening frequency.
Step 4, emission control processing enter 5 sends each class frequency sign indicating number and address code to each single emission primitive 8 successively by circulation shown in Figure 5, and every transmission is waited for a frequency hopping residence time T for one group
hNext group of redispatching is until having sent all then module end of runs that divide into groups.
Two,, the workflow of the said reception control and treatment of this embodiment center 11 " frequency sweep frequency-selecting " formula is divided into following step: like Fig. 6
Step 2 receives control and treatment center 11 and opens receiving circuit, owing to emitting sound wave will just can reflect through a break time, so can postpone to open receiving circuit again after a period of time here.
Step 3 receives the data of control and treatment center 11 being handled after sampling by each road signal pre-processing module 10 and presses sampling time t
j(j=1,2 ...) storage, and the indication wave beam forms module 13 reading of data and carries out wave beam and form appointments simultaneously and need the beam angle that forms, under the preferred receiving transducer array 9 and the beam angle of left and right sides outermost end.
Step 4 after wave beam forms module 13 outputs tables of data as shown in table 1, receives control and treatment center 11 indication echo Time and Frequency Synchronization estimation module 14 according to process operation shown in Figure 3.
Hence one can see that, and the reception control and treatment center 11 in the sound wave reception detection system 3, wave beam formation module 13 and echo Time and Frequency Synchronization estimation module 14 have been formed a kind of mode of operation of pipeline system, accelerated the speed that total system is handled.
Three, the workflow of the said emission control processing enter 5 of this embodiment " frequency hopping depth measurement " pattern is divided into following step: like Fig. 7,
Step 2 after emission control processing enter 5 is received frequency parameter, is divided into groups and the grouping order of transmission according to the frequency code and the address code of emission specified in packets, and each class frequency sign indicating number and address code are sent to single emission primitive 8 (supposing that total S group is to be sent); According to frequency hopping residence time T
hControl is sent at interval, and repetitive cycling is sent R time.
Step 3 is sent and is accomplished, and then quits work.
Four, the workflow of the said reception control and treatment of this embodiment center 11 " frequency hopping depth measurement " pattern is divided into following step: like Fig. 8,
Step 2 receives control and treatment center 11 unlatching receiving circuits and opens timer simultaneously.
Step 3 receives the data of control and treatment center 11 being handled after sampling by each road signal pre-processing module 10 and presses sampling time t
j(j=1,2 ...) storage, and indication wave beam formation module 13 reading of data are carried out wave beam formation.Receive control and treatment center 11 after obtaining wave beam and forming module 13 tables of data as shown in table 1, indication echo Time and Frequency Synchronization estimation module 14 is according to process operation shown in Figure 4.
Step 4 receives time of arrival (TOA) and corresponding beam angle (DOA) that control and treatment center 11 obtains first echo of echo Time and Frequency Synchronization estimation module 14 outputs, and the result is sent back Control System of Microcomputer 1.
After the operation of the 4th part is accomplished, just can obtain corresponding to each beam angle θ
iUnder first echo t time of arrival
i(i=1,2 ..., N), just can obtain the depth value and the relative coordinate of the corresponding sensing point of each beam angle according to sound path method and triangular transformation, concrete transformation for mula is following:
Wherein, c is that the velocity of sound, H are the horizontal coordinate with respect to mid point for the sensing point degree of depth, x under each beam angle.In the detection of reality; Because the velocity of sound, ship appearance, drinking water and morning and evening tides correction etc. are to the influence of investigation depth; Can also revise accordingly above ID that records and relative coordinate; Such as measuring the real velocity of sound c in current waters, through attitude sensor perception ship rolling pitching angle modification actual beam angle θ through adding velocity of sound section plotter
iDeng.
When continuing new round depth measurement, only need the step of repetition third and fourth part; After surveying vessel is passed by a quite long segment distance or during underwater environment generation marked change; Can repeat first and second parts and carry out the frequency sweep frequency-selecting of a new round; The system that makes screens frequency again; Adapting to new underwater environment, and then carry out depth measurement by the step that new frequency repeats third and fourth part.
Claims (8)
1. underwater multi-beam probing system; Comprise Control System of Microcomputer (1); It is characterized in that: comprise that also the sound wave emissions system (2) and the sound wave that are connected with Control System of Microcomputer (1) through EBI receive detection system (3); Said sound wave emissions system (2) is provided with a plurality of single emission primitives (8), and each single emission primitive (8) comprises a plurality of resonance frequency distinct transmit transducers (21); Said sound wave emissions system (2) also comprises emission control processing enter (5), and Control System of Microcomputer (1) connects the input end of emission control processing enter (5) through first EBI (4); The output terminal of emission control processing enter (5) links to each other with a plurality of single emission primitives (8) through first interface (6); A plurality of single emission primitives (8) are used for the synchronous transmission of frequency code; Emission control processing enter (5) also links to each other with a plurality of single emission primitives (8) through second interface (7), is used for the synchronous transmission of address code; Said sound wave receives detection system (3) and comprises that the control and treatment center (11) that receives, the signal pre-processing module (10) that is connected with reception control and treatment center (11), HSM (12), wave beam form module (13), echo Time and Frequency Synchronization estimation module (14); Receive control and treatment center (11) and be connected with Control System of Microcomputer (1) through second EBI (15), a plurality of signal pre-processing modules (10) are connected with in order to receive the receiving transducer array (9) of underwater reflection echo separately.
2. underwater multi-beam probing according to claim 1 system is characterized in that: said a plurality of single emission primitives (8) are by equidistantly rearranging even emission linear array, and lay along bilge keel; The vertical bilge keel direction of even linear array and edge that said receiving transducer array (9) adopts equally spaced underwater acoustic transducer to form is laid.
3. the probing method of the described underwater multi-beam probing of claim 1 system; Said sound wave emissions system (2) and sound wave receive detection system (3) and all possess " frequency sweep frequency-selecting " and " frequency hopping depth measurement " two kinds of mode of operations, and it is characterized in that: this probing method comprises the following steps:
Step 1: under " frequency sweep frequency-selecting " pattern, the frequency sweep underwater sound signal that Control System of Microcomputer (1) is launched from sound wave emissions system (2) filters out and is decayed and the less frequency of disturbing effect;
Step 2: the frequency emission underwater sound frequency hopping detectable signal that under " frequency hopping depth measurement " pattern, filters out based on step 1; Sound wave receives detection system (3) and through Short Time Fourier Transform (STFT) the reception signal under each beam angle is carried out time frequency analysis, thus the corresponding to echo-signal of detectable signal frequency hopping rule that captures and send out;
Step 3: the time that step 2 is caught is carried out the calculating of depth value time of arrival as the echo under this beam angle.
4. the probing method of underwater multi-beam probing according to claim 3 system, it is characterized in that: step 1 comprises processes:
Step 11: Control System of Microcomputer (1) is to reception control and treatment center (11) sending controling instruction of the emission control processing enter (5) and the sound wave reception detection system (3) of sound wave emissions system (2); Make the probing system get into " frequency sweep frequency-selecting " mode of operation, and transmit the frequency parameter in this stage simultaneously;
Step 12: under " frequency sweep frequency-selecting " pattern; Emission control processing enter (5) requirement according to stepped-frequency interval in the frequency range that the frequency hopping bandwidth allows generates frequency set and corresponding frequency code set; And, by sequences of packets frequency code and address code are sent to single emission primitive (8) again with each frequency code and corresponding transmitting transducer (21) address code grouping; (8) produce the signal of different frequency according to frequency code in the single emission primitive, and the transmitting transducer (21) of according to address code signal being sent into appointment is again launched; The acoustic signals that has the frequency sweep characteristic is sent to continuously under water and behind underwater reflection, receives detection system (3) by sound wave and receives;
Step 13: the receiving transducer array (9) that sound wave receives detection system (3) receives echoed signal; And the amplification filtering and the sampling of being correlated with by signal pre-processing module (10); Receiving each road sampled data that will disperse at control and treatment center (11) then in chronological sequence stores; And indicate wave beam to form module (13) taking-up sampled data and carry out wave beam formation, and storage wave beam formation module (13) wave beam forms the timeslice that has angle, amplitude and temporal information that export the back; When wave beam formation is carried out; Receive control and treatment center (11) indication echo Time and Frequency Synchronization estimation module (14) timeslice under the same beam angle of wave beam formation module (13) output is carried out the Short Time Fourier Transform frequency-domain analysis; And relatively export frequency, and these frequency point information are passed back to receiving control and treatment center (11) preserve above threshold values through thresholding; Receiving control and treatment center (11) sends the frequency set of preserving under the different beams angle that obtains and the pairing amplitude information of frequency to Control System of Microcomputer (1) and screens;
5. the probing method of underwater multi-beam probing according to claim 3 system, it is characterized in that: step 2 comprises processes:
Step 21: behind the optimum frequency of Control System of Microcomputer (1) screening to emission control processing enter (5) and reception control and treatment center (11) sending controling instruction; Make sounding system get into " frequency hopping depth measurement " pattern; Transmit the frequency parameter that this stage confirms simultaneously after screening, and open the timer that receives control and treatment center (11);
Step 22: under " frequency hopping depth measurement " pattern; Emission control processing enter (5) is by the frequency parameter that has received; Send appointed frequency sign indicating number and address code at the appointed time in the interval according to the order of sequence and give single emission primitive (8), make sounding system send the underwater sound frequency hopping detectable signal of appointment;
Step 23: under " frequency hopping depth measurement " pattern; Sound wave receives the wave beam formation module (13) of detection system (3) and carries out wave beam formation to whole beam directions; Relatively store by the frequency and the time corresponding of back output with thresholding for echo Time and Frequency Synchronization estimation module (14); And then move next group data point that window function takes out this beam angle by certain intervals and carry out the Short Time Fourier Transform analysis; Receive signal main frequency distribution table in time under this beam angle through obtaining after the Short Time Fourier Transform frequency-domain analysis, promptly time---frequency relation table travels through this table at last and searches with reference to the frequency hopping precedence of known detectable signal; Obtain the time of arrival of first echo under this beam angle, send the control and treatment center (11) that receives to.
6. the probing method of underwater multi-beam probing according to claim 3 system, it is characterized in that: step 3 comprises processes:
Step 31: receive control and treatment center (11) and has collected first echo under all beam angles after time of arrival, with field angle with the time sends to Control System of Microcomputer (1) accordingly;
Step 32: Control System of Microcomputer (1) draws the degree of depth and the relative coordinate of corresponding sensing point time of arrival according to beam angle and echo.
7. the probing method of underwater multi-beam probing according to claim 4 system, it is characterized in that: the described frequency parameter of step 11 comprises: frequency hopping residence time, stepped-frequency interval and frequency hopping bandwidth; The said wave beam formation module of step 13 (13) taking-up sampled data carries out choosing under the receiving transducer array (9) when wave beam forms and the beam angle of left and right sides outermost end carries out wave beam formation.
8. the probing method of underwater multi-beam probing according to claim 5 system, it is characterized in that: the described frequency parameter of step 21 comprises: frequency hopping residence time, emission are divided into groups, frequency hopping information and cycle index; Wherein emission divides into groups to comprise: the order of transmission that frequency code that filters out and corresponding address sign indicating number divide into groups and divide into groups; The frequency hopping rule of the detectable signal that frequency hopping information promptly divide into groups to require to obtain according to emission.
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