CN104133217A - Method and device for three-dimensional velocity joint determination of underwater moving target and water flow - Google Patents

Abstract

The invention discloses a method for three-dimensional velocity joint determination of an underwater moving target and water flow. The method comprises the following steps: the ground is selected as a reference system, and the three-dimensional coordinate position of an underwater object is calculated by taking an ultrasonic transmission position as the origin of coordinates and the downward direction vertical to the horizontal plane as the Z direction; a single-frequency signal of which the frequency is fs is constructed as a speed measuring signal and transmitted out; an ultrasonic receiving module receives signals received by N receiving probes and transmits the signals to a processing module, wherein the position of the ith receiving probe is (xi, yi, zi), and i=1, 2, 3...N; frequency estimation is carried out respectively on the N received signals to obtain the frequencies fri of the received signals, wherein i=1, 2, 3...N; and the velocity of water flow and the motion velocity of the underwater object are calculated according to the three-dimensional position of the underwater object, wherein N>=6. The method and a device of the invention can avoid the adverse effects of the velocity of water flow to the measurement accuracy, and have the advantages of wide range of applications, good anti-noise capability, low cost, simple installation, and easy use.

Description

Three-dimensional velocity joint measurement method and the device of a kind of underwater movement objective and current

Technical field

The present invention relates to velocity survey field, particularly three-dimensional velocity joint measurement method and the device of a kind of underwater movement objective and current.

Background technology

The method of measuring speed has a lot, for there being different measuring methods under different targets, varying environment.On land, to vehicle, generally adopt radar meter to carry out measuring speed.Radar meter has mainly utilized Doppler effect principle.Doppler effect is a kind of when wave source and observer have relative motion, observer receives frequency the inconsistent phenomenon that wave frequency and wave source send, be embodied in when observer does near motion with respect to sound source, the frequency that observer receives can be higher than the frequency of sound wave itself; Otherwise when observer does away from motion with respect to sound source, the frequency that observer receives can be lower than the frequency of sound wave itself.Radar meter calculates the movement velocity of mobile object according to the frequency offset of the reflection electromagnetic wave receiving.

When immersed body is carried out to movement velocity measurement, because electromagnetic wave is decayed seriously under water, so generally adopt sound wave to measure the speed of moving target.Mainly contain at present three kinds of methods: the speed of one, measuring moving target by mechanical hook-up, the wheel shaft rotation information of general using moving object is measured, and this class speed-measuring method comprises mechanical type velocity survey, the velocity survey of tech-generator type, the tachometric survey of Hall digital formula, magnetic induction type vehicle speed measurement, the velocity survey of pulsed speed probe etc.; Two, the velocity survey that utilizes image processing techniques to carry out, generally by moving target is repeatedly taken pictures, according to unit of account in the time distance of object of which movement measure the movement velocity of object; Three, utilize the Doppler effect of sound wave to carry out velocity survey, under water, send the sound wave of characteristic frequency, when running into moving object, sound wave reflects, by receiver, detect reception, reception sound wave frequency can change along with the variation of moving object movement velocity, by detecting the variation of frequency of sound wave, measures the speed of moving object.

The existing speed of utilizing mechanical hook-up to measure moving target, needs to install and measure device in measurement target, use inconvenience; Utilize image technique to carry out measuring speed, under the bad environment of light (as under water or night etc.) cisco unity malfunction.

Great majority utilize the method for Doppler measurement immersed body movement velocity now, are to measure in the situation that not considering water velocity, because the impact of current also can make sound wave produce certain frequency displacement, therefore measure and have error.

Therefore, people need a kind of method of new measurement immersed body movement velocity to satisfy the demands.

Summary of the invention

The shortcoming that the object of the invention is to overcome prior art, with not enough, provides the three-dimensional velocity joint measurement method of a kind of underwater movement objective and current.

Another object of the present invention is to provide the three-dimensional velocity simultaneous determination device of a kind of underwater movement objective and current.

Object of the present invention realizes by following technical scheme:

A three-dimensional velocity joint measurement method for underwater movement objective and current, the step that comprises following order:

S1. choosing ground is reference frame, take ultrasound emission position as true origin, with vertical-horizontal, faces down as Z direction, calculates the three-dimensional coordinate position (x, y, z) of immersed body;

S2. building frequency is f _ssimple signal as velocity survey signal and launch;

S3. ultrasonic receiver module receives the signal that N receiving transducer receives, and transmits it to processing module, and wherein the position of i receiving transducer is (x _i, y _i, z _i), i=1 wherein, 2,3......N; The N road signal receiving is carried out respectively to Frequency Estimation, and the frequency that obtains receiving signal is i=1 wherein, 2,3......N, and utilize the three-dimensional position (x, y, z) of submarine target to calculate water velocity and immersed body movement velocity, wherein N>=6.

The three-dimensional velocity joint measurement method of described underwater movement objective and current, specifically comprises following steps:

A, from Doppler effect, when signal launching site is static, the frequency f that acceptance point receives ' with transmission frequency f between pass be:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v _wfor medium velocity, v _ofor signal acceptance point translational speed, c is the velocity of propagation of ultrasonic signal in water, and v _wtake by launching site to acceptance point direction as on the occasion of, v _otake acceptance point to launching site direction as on the occasion of;

B, measurement mechanism remain static with respect to ground, establish water velocity to be: v wherein _wx, v _wy, v _wzrepresent that respectively water velocity is at coordinate axis X, Y, the component in tri-directions of Z; Immersed body movement velocity is: v wherein _ox, v _oy, v _ozrepresent that respectively immersed body movement velocity is at coordinate axis X, Y, the component in tri-directions of Z;

C, first analyze sound wave and pop one's head in to the process of immersed body from ultrasound emission, the frequency when calculating sound wave and arriving immersed body:

If the coordinate of launching site S is (0,0,0), the coordinate of moving target point O is (x, y, z), and α, β, γ are respectively vector with the angle of coordinate axis X, Y, Z, the vector of unit length in S → O direction is expressed as:

${\stackrel{\→}{l}}_{\mathrm{so}}=(\cos \left(\mathrm{\α}\right),\cos \left(\mathrm{\β}\right),\cos \left(\mathrm{\γ}\right));$

Make l _sox=cos (α), l _soy=cos (β), l _soz=cos (γ),

Water velocity in the speed of S → O direction is:

$v_{w\_\mathrm{so}}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{\mathrm{so}}=v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}};---\left(2\right)$

The speed of moving object in O → S direction is:

$v_{o\_\mathrm{os}}=-{\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{\mathrm{so}}=-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}};---\left(3\right)$

Because of sound wave by launching site S in the process of moving target point O, sound source is motion not, can derive the frequency that moving target point O receives to be by formula (1)

$f_o=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)f_s;---\left(4\right)$

Wherein, f _ofor the receive frequency of moving target point O, f _sfor the original frequency of launching site, vector for component in S → O direction, v _{w_so}mould for this vector; Vector for component in S → O direction, v _{o_os}negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

D, then analyze sound wave from immersed body to the process of ultrasonic receiving transducer, the frequency when calculating sound wave and arriving receiving transducer:

Acceptance point R _i(x _i, y _i, z _i) be N acceptance point one of them, α _i, β _i, γ _ibe respectively vector angle with coordinate axis X, Y, Z, obtains O → R _ivector of unit length in direction is:

${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(\cos \left({\mathrm{\α}}_i\right),\cos \left({\mathrm{\β}}_i\right),\cos \left({\mathrm{\γ}}_i\right));$

Order respectively $l_{{\mathrm{or}}_{i}x}=\cos \left({\mathrm{\α}}_i\right),l_{{\mathrm{or}}_{i}y}=\cos \left({\mathrm{\β}}_i\right),l_{{\mathrm{or}}_{i}z}=\cos \left({\mathrm{\γ}}_i\right),$ Can obtain O → R _ivector of unit length in direction is ${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(l_{{\mathrm{or}}_{i}x},l_{{\mathrm{or}}_{i}y},l_{{\mathrm{or}}_{i}z});$

Water speed is at O → R _ispeed in direction is

$v_{w\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z};---\left(5\right)$

Moving object is at O → R _ispeed in direction is

$v_{o\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{oy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z};---\left(6\right)$

Sound wave by moving target point O to acceptance point R _iprocess in, receiving end is motion not, therefore R _ithe frequency of the signal that point receives is

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vector for at R _icomponent in → O direction, negative value for the mould of this vector; Vector for at R _icomponent in → O direction, negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

E, by formula (4) and formula (7), arranged and can be obtained, in the process that sends to acceptance by sound wave, receive frequency with transmission frequency pass is

$f_{r_i}=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) substitution formula (8), arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}}}{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}}\right)\\ *\left(\frac{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}}{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}-v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}-v_{\mathrm{oy}}{l_{{\mathrm{or}}_{i}y}}_{}-v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

In formula (9), there are six unknown numbers, v _wx, v _wy, v _wz, v _ox, v _oy, v _oz, by utilizing six acceptance points, respectively to the i value in formula 9, i=1,2,3......N, N>=6, therefore can list six above equatioies, can obtain above-mentioned six unknown numbers, try to achieve thus water velocity and immersed body movement velocity.

Described launching site is ultrasonic transmitter position, and acceptance point is ultrasonic receiver position.

Another object of the present invention realizes by following technical scheme:

A three-dimensional velocity simultaneous determination device for underwater movement objective and current, comprises control module, transmitter module, receiver module, processing module, display module, wherein

Control module, is connected with transmitter module, receiver module, processing module, display module respectively, for modules is controlled;

Transmitter module, is connected with control module, processing module, according to the instruction of control module, obtains measuring-signal and carry out ultrasound emission in the modulator from processing module;

Receiver module, is connected with control module, processing module, and according to the instruction of control module, the echoed signal that the reception target of surveying reflects also sends processing module to;

Processing module, be connected with control module, receiver module, display module, according to the instruction of control module, carry out data processing, it is by analyzing to received signal, and utilize the positional information of immersed body, water velocity and immersed body movement velocity are calculated to velocity measurement;

Display module, is connected with control module, processing module, according to the instruction of control module, the water velocity of processing module and immersed body movement velocity is shown.

Described transmitter module comprises a ultrasound emission probe, and receiver module comprises N ultrasonic receiving transducer, wherein N >=6.

Compared with prior art, tool has the following advantages and beneficial effect in the present invention:

1, the present invention is different with traditional speed-measuring method, need to be in surveyed target sensor installation, only need to send acoustic signals to target can realize measurement.For easy to use, also transmitter can be installed in target, as long as there is acceptance point to receive data in other places, calculating like this can be simpler.

2, the present invention is the test the speed improvement of mode of tradition, considering under water velocity Doppler's impact, its substitution equation solution, with respect to traditional approach, can only measure the velocity to moving target that precision is not high, the present invention can solve out with immersed body movement velocity water velocity simultaneously.

What 3, the present invention adopted is acoustic measurement, and the underwater decay of sound wave is less, is therefore applicable to velocity survey under water.In addition, the present invention can also be widely used in various environment, in the less medium of various acoustic attenuation.

4, apparatus of the present invention feasibility is strong, with low cost, installation is simple.The application that utilizes Doppler effect to test the speed is very extensive, and the present invention is the improvement of traditional approach, and the technology that traditional Doppler effect tests the speed is very ripe, therefore cost can be done very lowly.In addition, the improving constantly of modern processors computing ability, calculating of the present invention can not be a difficult problem, has guaranteed feasibility of the present invention.

Accompanying drawing explanation

Fig. 1 is the structural representation of the three-dimensional velocity simultaneous determination device of underwater movement objective of the present invention and current;

Fig. 2 is the hardware block diagram installing described in Fig. 1;

Fig. 3 is the transmitting of transmitting probe and the placement location figure of receiving transducer installing described in Fig. 1;

Fig. 4 is the process flow diagram of the three-dimensional velocity joint measurement method of underwater movement objective of the present invention and current;

Fig. 5 is the water velocity of method and the process flow diagram of immersed body movement velocity algorithm described in Fig. 4;

Fig. 6 is the measuring principle structural representation of method described in Fig. 4;

Fig. 7 is each speed schematic diagram in the Doppler effect frequency change formula of method described in Fig. 4;

Fig. 8 is the decomposing schematic representation that in the two dimensional surface of method described in Fig. 4, water velocity and immersed body speed are popped one's head in to immersed body direction in ultrasound emission;

Fig. 9 be in the two dimensional surface of method described in Fig. 4 water velocity and immersed body speed at ultrasonic receiving transducer to the decomposing schematic representation in immersed body direction;

Figure 10 is that in the three-dimensional planar of method described in Fig. 4, launching site to vector of unit length in submarine target direction solves schematic diagram;

Figure 11 is that in the three-dimensional planar of method described in Fig. 4, submarine target to vector of unit length in acceptance point direction solves schematic diagram.

Embodiment

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.

As Fig. 1,2,3, the three-dimensional velocity simultaneous determination device of a kind of underwater movement objective and current, comprises control module 101, transmitter module 102, receiver module 103, processing module 104, display module 105, wherein

Control module 101, is connected with transmitter module 102, receiver module 103, processing module 104, display module 105 respectively, for modules is controlled;

Transmitter module 102, is connected with control module 101, processing module 104, according to the instruction of control module 101, obtains measuring-signal and carry out ultrasound emission in the modulator from processing module 104;

Receiver module 103, is connected with control module 101, processing module 104, and according to the instruction of control module 101, the echoed signal that the reception target of surveying reflects also sends processing module 104 to;

Processing module 104, be connected with control module 101, receiver module 103, display module 105, according to the instruction of control module 101, carry out data processing, it is by analyzing to received signal, and utilize the positional information of immersed body, water velocity and immersed body movement velocity are calculated to velocity measurement;

Display module 105, is connected with control module 101, processing module 104, according to the instruction of control module, the water velocity of processing module and immersed body movement velocity is shown;

Described transmitter module comprises a ultrasound emission probe, and receiver module comprises N ultrasonic receiving transducer, wherein N >=6.

The hardware structure of above-mentioned measurement mechanism as shown in Figure 2, comprising processor, power supply, USB interface, display screen, A/D converter, D/A converter, ultrasound wave transmitter module and ultrasound wave receiver module.Wherein processor can adopt dsp chip to realize, and display screen can adopt LCD display.Processor comprises that signal generation module, memory module, signal frequency solve module and location algorithm computing module.Signal generation module is for formation speed measuring-signal, and simple signal, launches for ultrasound wave transmitting probe; Memory module is for storing received Dao Ge road echoed signal; Signal frequency solves module and is responsible for carrying out to the received signal frequency analysis, solves the frequency of each road signal; Location algorithm computing module utilizes original signal, the frequency that receives Ge road signal and the positional information of current immersed body, carries out the calculating of water velocity and immersed body movement velocity.

As Fig. 3,4, the three-dimensional velocity joint measurement method of a kind of underwater movement objective and current, comprises following steps:

Step 1: control module is controlled ultrasound emission probe transmitting single-frequency ultrasonic signal S (t), and the frequency of signal is f _s=34kHz, pulse length 5ms;

Step 2: meanwhile, control module is controlled ultrasonic receiving transducer and received ultrasonic signal; Use whole six ultrasonic receiving transducers herein, receive the signal obtaining and be respectively R ₁(t), R ₂(t), R ₃(t), R ₄(t), R ₅(t), R ₆(t); The signal receiving is passed to calculation process module;

Step 3: the signal that calculation process module receives each probe carries out respectively frequency analysis, calculates the frequency of each road signal, is respectively $f_{r_1},f_{r_2},f_{r_3},f_{r_4},f_{r_5},f_{r_6};$

Step 4: according to the frequency f of the S that transmits in step 1 (t) _s, the positional information of immersed body, the position of the frequency that respectively receives signal that step 3 obtains and each known ultrasonic receiving transducer, calculates liquid velocity and immersed body movement velocity; Concrete detection method can be with reference to figure 5.

Step 5: send flow rate of liquid and immersed body movement velocity to display module, display module shows result.

As Fig. 6, the three-dimensional velocity joint measurement method of a kind of underwater movement objective and current, specifically comprises following steps:

A, as Fig. 7, from Doppler effect, when signal launching site is static, the frequency f that acceptance point receives ' with transmission frequency f between pass be:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v _wfor medium velocity, v _ofor signal acceptance point translational speed, c is the velocity of propagation of ultrasonic signal in water, and v _wtake by launching site to acceptance point direction as on the occasion of, v _otake acceptance point to launching site direction as on the occasion of;

B, measurement mechanism remain static with respect to ground, establish water velocity to be: v wherein _wx, v _wy, v _wzrepresent that respectively water velocity is at coordinate axis X, Y, the component in tri-directions of Z; Immersed body movement velocity is: v wherein _ox, v _oy, v _ozrepresent that respectively immersed body movement velocity is at coordinate axis X, Y, the component in tri-directions of Z;

C, first analyze sound wave and pop one's head in to the process of immersed body from ultrasound emission, the frequency when calculating sound wave and arriving immersed body:

As Figure 10, the coordinate of establishing launching site S is (0,0,0), and the coordinate of moving target point O is (x, y, z), and α, β, γ are respectively vector with the angle of coordinate axis X, Y, Z, the vector of unit length in S → O direction is expressed as:

${\stackrel{\→}{l}}_{\mathrm{so}}=(\cos \left(\mathrm{\α}\right),\cos \left(\mathrm{\β}\right),\cos \left(\mathrm{\γ}\right));$

Make l _sox=cos (α), l _soy=cos (β), l _soz=cos (γ),

Water velocity in the speed of S → O direction is:

$v_{w\_\mathrm{so}}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{\mathrm{so}}=v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}};---\left(2\right)$

The speed of moving object in O → S direction is:

$v_{o\_\mathrm{os}}=-{\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{\mathrm{so}}=-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}};---\left(3\right)$

As Fig. 8, because of sound wave by launching site S in the process of moving target point O, sound source is motion not, can derive the frequency that moving target point O receives to be by formula (1)

$f_o=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)f_s;---\left(4\right)$

Wherein, f _ofor the receive frequency of moving target point O, f _sfor the original frequency of launching site, vector for component in S → O direction, v _{w_so}mould for this vector; Vector for component in S → O direction, v _{o_os}negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

D, then analyze sound wave from immersed body to the process of ultrasonic receiving transducer, the frequency when calculating sound wave and arriving receiving transducer:

As Figure 11, acceptance point R _i(x _i, y _i, z _i) be N acceptance point one of them, α _i, β _i, γ _ibe respectively vector angle with coordinate axis X, Y, Z, obtains O → R _ivector of unit length in direction is:

${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(\cos \left({\mathrm{\α}}_i\right),\cos \left({\mathrm{\β}}_i\right),\cos \left({\mathrm{\γ}}_i\right));$

Order respectively $l_{{\mathrm{or}}_{i}x}=\cos \left({\mathrm{\α}}_i\right),l_{{\mathrm{or}}_{i}y}=\cos \left({\mathrm{\β}}_i\right),l_{{\mathrm{or}}_{i}z}=\cos \left({\mathrm{\γ}}_i\right),$ Can obtain O → R _ivector of unit length in direction is ${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(l_{{\mathrm{or}}_{i}x},l_{{\mathrm{or}}_{i}y},l_{{\mathrm{or}}_{i}z});$

Water speed is at O → R _ispeed in direction is

$v_{w\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z};---\left(5\right)$

Moving object is at O → R _ispeed in direction is

$v_{o\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{oy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z};---\left(6\right)$

As Fig. 9, sound wave by moving target point O to acceptance point R _iprocess in, receiving end is motion not, therefore R _ithe frequency of the signal that point receives is

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vector for at R _icomponent in → O direction, negative value for the mould of this vector; Vector for at R _icomponent in → O direction, negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

E, by formula (4) and formula (7), arranged and can be obtained, in the process that sends to acceptance by sound wave, receive frequency with transmission frequency pass is

$f_{r_i}=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) substitution formula (8), arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}}}{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}}\right)\\ *\left(\frac{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}}{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}-v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}-v_{\mathrm{oy}}{l_{{\mathrm{or}}_{i}y}}_{}-v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

In formula (9), there are six unknown numbers, v _wx, v _wy, v _wz, v _ox, v _oy, v _oz, by utilizing six acceptance points, respectively to the i value in formula 9, i=1,2,3......N, N=6, therefore can list six above equatioies, can obtain above-mentioned six unknown numbers, tries to achieve thus water velocity and immersed body movement velocity.

Described launching site is ultrasonic transmitter position, and acceptance point is ultrasonic receiver position.

Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.

Claims (5)

1. a three-dimensional velocity joint measurement method for underwater movement objective and current, the step that comprises following order:

S1. choosing ground is reference frame, take ultrasound emission position as true origin, with vertical-horizontal, faces down as Z direction, calculates the three-dimensional coordinate position (x, y, z) of immersed body;

S2. building frequency is f _ssimple signal as velocity survey signal and launch;

S3. ultrasonic receiver module receives the signal that N receiving transducer receives, and transmits it to processing module, and wherein the position of i receiving transducer is (x _i, y _i, z _i), i=1 wherein, 2,3......N; The N road signal receiving is carried out respectively to Frequency Estimation, and the frequency that obtains receiving signal is i=1 wherein, 2,3......N, and utilize the three-dimensional position (x, y, z) of submarine target to calculate water velocity and immersed body movement velocity, wherein N>=6.

2. the three-dimensional velocity joint measurement method of underwater movement objective according to claim 1 and current, is characterized in that, specifically comprises following steps:

A, from Doppler effect, when signal launching site is static, the frequency f that acceptance point receives ' with transmission frequency f between pass be:

$f^{\′}=\left(\frac{c+v_w+v_o}{c+v_w}\right)f;---\left(1\right)$

Wherein, v _wfor medium velocity, v _ofor signal acceptance point translational speed, c is the velocity of propagation of ultrasonic signal in water, and v _wtake by launching site to acceptance point direction as on the occasion of, v _otake acceptance point to launching site direction as on the occasion of;

B, measurement mechanism remain static with respect to ground, establish water velocity to be: v wherein _wx, v _wy, v _wzrepresent that respectively water velocity is at coordinate axis X, Y, the component in tri-directions of Z; Immersed body movement velocity is: v wherein _ox, v _oy, v _ozrepresent that respectively immersed body movement velocity is at coordinate axis X, Y, the component in tri-directions of Z;

C, first analyze sound wave and pop one's head in to the process of immersed body from ultrasound emission, the frequency when calculating sound wave and arriving immersed body:

If the coordinate of launching site S is (0,0,0), the coordinate of moving target point O is (x, y, z), and α, β, γ are respectively vector with the angle of coordinate axis X, Y, Z, the vector of unit length in S → O direction is expressed as:

${\stackrel{\→}{l}}_{\mathrm{so}}=(\cos \left(\mathrm{\α}\right),\cos \left(\mathrm{\β}\right),\cos \left(\mathrm{\γ}\right));$

Make l _sox=cos (α), l _soy=cos (β), l _soz=cos (γ),

Water velocity in the speed of S → O direction is:

$v_{w\_\mathrm{so}}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{\mathrm{so}}=v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}};---\left(2\right)$

The speed of moving object in O → S direction is:

$v_{o\_\mathrm{os}}=-{\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{\mathrm{so}}=-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}};---\left(3\right)$

Because of sound wave by launching site S in the process of moving target point O, sound source is motion not, can derive the frequency that moving target point O receives to be by formula (1)

$f_o=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)f_s;---\left(4\right)$

Wherein, f _ofor the receive frequency of moving target point O, f _sfor the original frequency of launching site, vector for component in S → O direction, v _{w_so}mould for this vector; Vector for component in S → O direction, v _{o_os}negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

D, then analyze sound wave from immersed body to the process of ultrasonic receiving transducer, the frequency when calculating sound wave and arriving receiving transducer:

Acceptance point R _i(x _i, y _i, z _i) be N acceptance point one of them, α _i, β _i, γ _ibe respectively vector angle with coordinate axis X, Y, Z, obtains O → R _ivector of unit length in direction is:

${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(\cos \left({\mathrm{\α}}_i\right),\cos \left({\mathrm{\β}}_i\right),\cos \left({\mathrm{\γ}}_i\right));$

Order respectively $l_{{\mathrm{or}}_{i}x}=\cos \left({\mathrm{\α}}_i\right),l_{{\mathrm{or}}_{i}y}=\cos \left({\mathrm{\β}}_i\right),l_{{\mathrm{or}}_{i}z}=\cos \left({\mathrm{\γ}}_i\right),$ Can obtain O → R _ivector of unit length in direction is ${\stackrel{\→}{l}}_{{\mathrm{or}}_i}=(l_{{\mathrm{or}}_{i}x},l_{{\mathrm{or}}_{i}y},l_{{\mathrm{or}}_{i}z});$

Water speed is at O → R _ispeed in direction is

$v_{w\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_w*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z};---\left(5\right)$

Moving object is at O → R _ispeed in direction is

$v_{o\_{\mathrm{or}}_i}={\stackrel{\→}{v}}_o*{\stackrel{\→}{l}}_{{\mathrm{or}}_i}=v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{oy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z};---\left(6\right)$

Sound wave by moving target point O to acceptance point R _iprocess in, receiving end is motion not, therefore R _ithe frequency of the signal that point receives is

$f_{r_i}=\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_o---\left(7\right)$

Wherein, vector for at R _icomponent in → O direction, negative value for the mould of this vector; Vector for at R _icomponent in → O direction, negative value for the mould of this vector; C is the velocity of propagation of ultrasonic signal in water;

E, by formula (4) and formula (7), arranged and can be obtained, in the process that sends to acceptance by sound wave, receive frequency with transmission frequency pass is

$f_{r_i}=\left(\frac{c+v_{w\_\mathrm{so}}+v_{o\_\mathrm{os}}}{c+v_{w\_\mathrm{so}}}\right)\left(\frac{c+v_{w\_{\mathrm{or}}_i}}{c+v_{w\_{\mathrm{or}}_i}-v_{o\_{\mathrm{or}}_i}}\right)f_s---\left(8\right)$

Formula (2), (3), (5), (6) substitution formula (8), arrangement can obtain

$\begin{array}{c}{f}_{r_i}=\left(\frac{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}-v_{\mathrm{ox}}{l}_{\mathrm{sox}}-v_{\mathrm{oy}}{l}_{\mathrm{soy}}-v_{\mathrm{oz}}{l}_{\mathrm{soz}}}{c+v_{\mathrm{wx}}{l}_{\mathrm{sox}}+v_{\mathrm{wy}}{l}_{\mathrm{soy}}+v_{\mathrm{wz}}{l}_{\mathrm{soz}}}\right)\\ *\left(\frac{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}}{c+v_{\mathrm{wx}}{l}_{{\mathrm{or}}_{i}x}+v_{\mathrm{wy}}{l}_{{\mathrm{or}}_{i}y}+v_{\mathrm{wz}}{l}_{{\mathrm{or}}_{i}z}-v_{\mathrm{ox}}{l}_{{\mathrm{or}}_{i}x}-v_{\mathrm{oy}}{l_{{\mathrm{or}}_{i}y}}_{}-v_{\mathrm{oz}}{l}_{{\mathrm{or}}_{i}z}}\right)f_s\end{array}---\left(9\right)$

In formula (9), there are six unknown numbers, v _wx, v _wy, v _wz, v _ox, v _oy, v _oz, by utilizing six acceptance points, respectively to the i value in formula 9, i=1,2,3......N, N>=6, therefore can list six above equatioies, can obtain above-mentioned six unknown numbers, try to achieve thus water velocity and immersed body movement velocity.

3. the three-dimensional velocity joint measurement method of underwater movement objective according to claim 1 and current, is characterized in that: described launching site is ultrasonic transmitter position, and acceptance point is ultrasonic receiver position.

4. a three-dimensional velocity simultaneous determination device for underwater movement objective and current, is characterized in that: comprise control module, transmitter module, receiver module, processing module, display module, wherein

Control module, is connected with transmitter module, receiver module, processing module, display module respectively, for modules is controlled;

Transmitter module, is connected with control module, processing module, according to the instruction of control module, obtains measuring-signal and carry out ultrasound emission in the modulator from processing module;

Receiver module, is connected with control module, processing module, and according to the instruction of control module, the echoed signal that the reception target of surveying reflects also sends processing module to;

Processing module, be connected with control module, receiver module, display module, according to the instruction of control module, carry out data processing, it is by analyzing to received signal, and utilize the positional information of immersed body, water velocity and immersed body movement velocity are calculated to velocity measurement;

Display module, is connected with control module, processing module, according to the instruction of control module, the water velocity of processing module and immersed body movement velocity is shown.

5. the three-dimensional velocity simultaneous determination device of underwater movement objective according to claim 4 and current, is characterized in that: described transmitter module comprises a ultrasound emission probe, and receiver module comprises N ultrasonic receiving transducer, wherein N >=6.