CN106546956B - A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position - Google Patents
A kind of ultra-short baseline receives the method for precisely marking of basic matrix primitive position Download PDFInfo
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- CN106546956B CN106546956B CN201610942124.0A CN201610942124A CN106546956B CN 106546956 B CN106546956 B CN 106546956B CN 201610942124 A CN201610942124 A CN 201610942124A CN 106546956 B CN106546956 B CN 106546956B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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Abstract
The present invention relates to the method for precisely marking that a kind of ultra-short baseline receives basic matrix primitive position, this method carries out Accurate Calibration by the position that acoustic measurements receive basic matrix primitive acoustic centres to ultra-short baseline, obtain the relative positional relationship between each primitive acoustic centres, to improve the measurement accuracy of baseline length, both it had overcome primitive geometric center and has not been overlapped bring error with acoustic centres, the error that machining generates is overcome again, ultra short baseline locating system is set to obtain accurate installation error calibration result, further increase the working performance of entire ultra short baseline locating system.
Description
Technical field
The present invention relates to underwater position fixing technique fields, receive basic matrix primitive position more specifically to a kind of ultra-short baseline
The method for precisely marking set.
Background technique
The location technology of ultra short baseline locating system is one kind in the widely applied technology of ocean engineering field.Ultra-short baseline
Positioning system according between primitive baseline length and phase difference or delay inequality target position is resolved, positioning accuracy
It is codetermined by the measurement accuracy of the estimated accuracy and baseline length of delay inequality or phase difference, baseline length here refers to
The distance between primitive acoustic centres.
Baseline length is obtained according to the geometric dimension of machining in traditional ultra short baseline locating system.Before this method
Mention is that primitive acoustic centres are overlapped with its geometric center, and machining error is negligible.In actual use, made
The limitation of technique, the acoustic centre of source for receiving basic matrix primitive and its geometric center are there are deviation, and machining bring error is not yet
It can ignore.This location error for receiving basic matrix primitive acoustic centres will lead to the installation error of ultra short baseline locating system
Calibration result is deteriorated, and further influences the working performance of entire ultra short baseline locating system.
However, up to the present, not yet occur it is a set of ultra short baseline locating system can be received basic matrix primitive position into
The method of row Accurate Calibration.
Summary of the invention
The technical problem to be solved in the present invention is that in order to solve to receive basic matrix primitive acoustics in ultra short baseline locating system
Center can not Accurate Calibration the problem of, a kind of Accurate Calibration ultra-short baseline of capableing of is provided and receives the accurate of basic matrix primitive position
Scaling method.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of ultra-short baseline reception basic matrix primitive position
The method for precisely marking set, the described method comprises the following steps:
S10, sound source emit acoustical signal into water in emission time, and the emission time is transmitted to data collector；
Each primitive that S20, ultra-short baseline receive basic matrix receives the acoustical signal in the time of reception, and the reception is carved
It is transmitted to the data collector；
The emission time and the time of reception are transmitted to processor by S30, the data collector, by the transmitting
The difference of moment and the time of reception obtain the time delay of the acoustical signal；Record the coordinate of the sound source；
S40, the sound source are moved to next measurement point of default measurement track, repeat the operation of step S10-S30
Journey finishes until the measurement point on the default measurement track all measures, obtains acoustical signal in all measurement points to institute
State the time delay of each primitive；
S50, according to acoustical signal all measurement points to each primitive time delay and sound source in all surveys
The coordinate for measuring point, obtain the acoustic centres of each primitive the sound source coordinate in a coordinate system；
S60, the coordinate according to the acoustic centres of any two primitive, obtain the baseline length of any two primitive.
In method of the present invention, when carrying out the S40, it should ensure that all measurement points not in same plane.
In method of the present invention, the S50 includes: in all measurement points according to acoustical signal to described each
The time delay and sound source of primitive are resolved in the coordinate of all measurement points by the spherical surface theory that crosses, and are obtained each described
Primitive the sound source coordinate in a coordinate system.
In method of the present invention, the S50 includes: in all measurement points according to acoustical signal to described each
The time delay and sound source of primitive pass through range equation in the coordinate of all measurement points
ctmn=| Xm-Xn|
Obtain each primitive the sound source coordinate in a coordinate system, wherein m is the number of primitive, m >=1；
N is the number of measurement point, and n=1,2, N, N are the number of measurement point, N > 3, XnIndicate sound source in n-th measurement point
Coordinate；XmIndicate the coordinate of the primitive of number m；tmnIndicate acoustical signal in n-th of measurement point to the propagation delay of number m primitive.
In method of the present invention, the S60 includes: to be led to according to the coordinate of the acoustic centres of any two primitive
Cross the first formula
rpq=| Xp-Xq|
Obtain the baseline length of any two primitive, wherein rpqIndicate the baseline between number p and number q primitive
Length, XpIndicate the coordinate of number p primitive, XqIndicate the coordinate of number q primitive.
In method of the present invention, the sound source includes:
For generating the signal source of linear FM signal；
It is connect with the signal source, for the linear FM signal to be converted to acoustical signal and emits the acoustical signal
The transmitting transducer gone out.
In method of the present invention, the sound source further includes the power amplification for amplifying the linear FM signal
Device, the input terminal of the power amplifier connect the signal source, and the output end connection transmitting of the power amplifier is changed
It can device.
In method of the present invention, the transmitting transducer is rigidly attached in mobile device, and by the movement
Device drives to be moved along the default measurement track.
In method of the present invention, control unit is equipped with inside the mobile device, described control unit controls institute
It is mobile according to the default measurement track to state mobile device；
Recording unit is additionally provided with inside the mobile device, transmitting transducer described in the recording unit records is in the shifting
Dynamic device coordinate in a coordinate system.
In method of the present invention, the ultra-short baseline reception basic matrix is constantly in static in entire measurement process
State, while guaranteeing that each primitive described in entire measurement process can effectively receive the acoustical signal.
Implement the method for precisely marking that ultra-short baseline of the invention receives basic matrix primitive position, has the advantages that
The present invention carries out Accurate Calibration by the position that acoustic measurements receive basic matrix primitive acoustic centres to ultra-short baseline, obtains each
Relative positional relationship between primitive acoustic centres has both overcome in primitive geometry to improve the measurement accuracy of baseline length
The heart is not overlapped bring error with acoustic centres, and overcomes the error that machining generates, and enables ultra short baseline locating system
Accurate installation error calibration result is enough obtained, the working performance of entire ultra short baseline locating system is further increased.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow chart for the method for precisely marking that ultra-short baseline of the present invention receives basic matrix primitive position；
Fig. 2 is the composition block diagram that ultra-short baseline receives basic matrix primitive position measuring system；
Fig. 3 is the schematic diagram that ultra-short baseline receives basic matrix primitive position measurement process.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
The invention discloses the method for precisely marking that a kind of ultra-short baseline receives basic matrix primitive position, and it is super to can be applied to calibration
Ultra-short baseline in short baseline positioning system receives the primitive position of basic matrix, and this method is by acoustic measurements to ultra-short baseline
The position for receiving basic matrix primitive acoustic centres carries out Accurate Calibration, obtains the relative positional relationship between each primitive acoustic centres,
To improve the measurement accuracy of baseline length, not only overcame primitive geometric center and be not overlapped bring error with acoustic centres, but also
The error that machining generates is overcome, ultra short baseline locating system is enable to obtain accurate installation error calibration result, into
One step improves the working performance of entire ultra short baseline locating system.
Refering to fig. 1, the flow chart of the method for precisely marking of basic matrix primitive position, the party are received for ultra-short baseline of the invention
Method includes the following steps S10-S60:
S10, sound source emit acoustical signal into water in emission time, and emission time is transmitted to data collector 600.
Each primitive that S20, ultra-short baseline receive basic matrix 500 receives acoustical signal in the time of reception, and carves transmission for receiving
To data collector 600.
Emission time and the time of reception are transmitted to processor 700 by S30, data collector 600, by emission time and reception
The difference at moment obtains the time delay of acoustical signal；Record the coordinate of sound source.
S40, sound source are moved to next measurement point of default measurement track, repeat the operating process of step S10-S30, directly
All measurement finishes measurement point on to default measurement track, obtains time delay of the acoustical signal in all measurement points to each primitive.
It should be noted that should ensure that all measurement points not in same plane when carrying out step S40.Measurement point can not obtained in same plane
Difference on depth direction, preferably to calculate the relative position of depth direction between primitive.
S50, according to acoustical signal all measurement points to each primitive time delay and sound source in the coordinate of all measurement points, obtain
To each primitive acoustic centres sound source coordinate in a coordinate system.
Specifically, S50 include: according to acoustical signal all measurement points to each primitive time delay and sound source in all measurements
The coordinate of point is resolved by the spherical surface theory that crosses, obtain each primitive sound source coordinate in a coordinate system.
In method of the present invention, S50 further include: according to acoustical signal in all measurement points to the time delay of each primitive
With sound source in the coordinate of all measurement points, pass through range equation
ctmn=| Xm-Xn|
Obtain each primitive sound source coordinate in a coordinate system, wherein m is the number of primitive, m >=1；N is measurement
The number of point, n=1,2, N, N are the number of measurement point, N > 3, XnIndicate sound source in the coordinate of n-th of measurement point；Xm
Indicate the coordinate of the primitive of number m；tmnIndicate acoustical signal in n-th of measurement point to the propagation delay of number m primitive.
S60, the coordinate according to the acoustic centres of any two primitive, obtain the baseline length of any two primitive.
In the method for the invention, S60 includes: to pass through the first public affairs according to the coordinate of the acoustic centres of any two primitive
Formula
rpq=| Xp-Xq|
Obtain the baseline length of any two primitive, wherein rpqIndicate the baseline length between number p and number q primitive,
XpIndicate the coordinate of number p primitive, XqIndicate the coordinate of number q primitive.
In method of the present invention, sound source includes signal source 100 and transmitting transducer 300, wherein signal source 100
For generating linear FM signal；Transmitting transducer 300 is connect with signal source 100, for linear FM signal to be converted to sound
Signal simultaneously launches acoustical signal.
In the present embodiment, sound source further includes the power amplifier 200 for amplifying linear FM signal, power amplifier
The output end of 200 input terminal connecting signal source 100, power amplifier 200 connects transmitting transducer 300.Of the invention one
In a little embodiments, power amplifier also can be omitted as needed.
Further, transmitting transducer 300 is rigidly attached in mobile device 400, and drives edge by mobile device 400
Default measurement track is mobile.Control unit and recording unit are equipped with inside mobile device 400, control unit is for controlling mobile dress
It is mobile according to default measurement track to set 400；Recording unit is for recording transmitting transducer 300 in 400 place coordinate of mobile device
Coordinate in system.
In method of the present invention, ultra-short baseline reception basic matrix 500 is constantly in static in entire measurement process
State, while guaranteeing that each primitive can effectively receive acoustical signal in entire measurement process.Therefore ultra-short baseline is connect
It receives basic matrix 500 to be placed in water with suitable posture, to guarantee that it is constantly in stationary state in entire measurement process, protect simultaneously
Card each primitive in entire measurement process can effectively receive acoustical signal.
Referring to Fig.2, implementing measuring system used when the present invention mainly by signal source 100, power amplifier 200, transmitting
Energy converter 300, ultra short baseline locating system receive basic matrix, data collector 600 and processor 700 (such as computer) and constitute, together
When complete entirely to measure work by the included mobile device 400 in measurement pond.Wherein, signal source 100, power amplifier 200,
Transmitting transducer 300 collectively constitutes sound source, its main feature is that transmitting transducer can be obtained by controlling software by mobile device 400
300 each measurement point three-dimensional coordinate (coordinate is defined by 400 coordinate system of mobile device)；Data collector 600 and place
Managing device 700 is measuring device.Wherein signal source 100, power amplifier 200, transmitting transducer 300 pass sequentially through electric signal company
It connects, transmitting transducer 300 and 400 rigid mechanical of mobile device are installed, and drive movement by mobile device 400；Ultra-short baseline
It receives basic matrix 500, data collector 600, pass sequentially through electric signal connection between processor 700.Meanwhile signal source 100 and number
It is connected according to electric signal between collector 600, synchronous acquisition signal is provided.
Instrument of the present invention is the conventional instrument being commercially available in the market: wherein signal source 100 can be
General experiment instrument, can produce that the period is adjustable, the adjustable linear FM signal of amplitude；Transmitting transducer 300 be and transmitting
The energy converter that signal band width matches；Mobile device 400 (as driven a vehicle) is measurement pond special equipment, can be in three-dimensional space
Between translate.
Below by taking quaternary ultra-short baseline receives basic matrix as an example, in conjunction with Fig. 3, the present invention will be described.Before calibration, first
Preparation before being demarcated: ultra-short baseline to be measured is received into basic matrix 500 and is connect with data collector 600, and will be ultrashort
Baseline receives basic matrix 500 and suitable posture is selected to be placed in measurement pond, guarantees that basic matrix is constantly in entire measurement process
Stationary state, while guaranteeing that each primitive of basic matrix is received in entire measurement process can effectively receive the hair of transmitting transducer 300
The acoustical signal penetrated；Transmitting transducer 300, power amplifier 200, signal source 100 are sequentially connected, and by transmitting transducer 300
It is rigidly mounted in the mobile device 400 in measurement pond.
After the completion of preparation, start to be demarcated, calibration process is as follows:
The first step, with signal source 100 generate amplitude 200mV, pulsewidth is no less than 10ms, bandwidth is no less than the linear of 10kHz
FM signal will be amplified linear by transmitting transducer 300 after power amplifier 200 amplifies the linear FM signal
FM signal is converted to acoustical signal and emits the acoustical signal into measurement pond, and ultra-short baseline receives basic matrix 500 and receives transmitting
The acoustical signal that energy converter 300 emits, sends the time of reception for receiving acoustical signal to the input terminal of data collector 600；Together
When, generating synchronization signal by signal source 100 makes 600 synchronous acquisition signal source 100 of data collector emit linear FM signal
Emission time, storage in a computer, the acoustical signal is obtained by the difference of the emission time and the time of reception
Time delay, and pass through the recording unit records transmitting transducer 300 in mobile device 400 in the accurate coordinates of current measurement point；
Second step, control mobile device 400 are mobile, so that transmitting transducer 300 is moved to next measurement point, repeat first
The operating process of step, until entirely measuring the measurement point on track, all measurement is finished, and all measurement points should ensure that not same
Plane, as shown in figure 3, H1 therein and H2 represent the mobile device travel distance in both direction；
Third step, by spherical surface cross it is theoretical carry out position resolving, according to acoustical signal in all measurement points to each
The time delay and sound source of primitive in the coordinate of all measurement points, obtain the acoustic centres of each primitive in sound source in a coordinate system
Three-dimensional coordinate to obtain the mutual relative coordinate of each primitive acoustic centres, and then obtains the mutual base of each primitive
Line length.
Below by taking one of primitive as an example, specific solution process is provided.Basic matrix is received for quaternary ultra-short baseline, if
The number of each primitive is m, m=1,2,3,4.It include N number of measurement point, N > 3 in entire measurement process.Range equation
ctmn=| Xm-Xn|
Wherein, XnIndicate that transmitting transducer, can be straight by the control software of mobile device in the coordinate of n-th of measurement point
It obtains；XmThe coordinate for indicating the primitive of number m, is to be measured；tmnIndicate transmitting transducer in n-th of measurement point to number m
Acoustic signal propagation time delay between primitive can be obtained by the Wideband Signal Processing technology；C indicates the average sound in measurement pond
Speed.By the range equation of N number of measurement point, the coordinate of the primitive of number m can be acquired.
After the coordinate for obtaining each primitive, the baseline length between each primitive can be obtained by following formula
rpq=| Xp-Xq|
Wherein, rpqIndicate the baseline length between number p and number q primitive, XpIndicate the coordinate of number p primitive, XqTable
Show the coordinate of number q primitive.
In conclusion can be realized high-precision present invention employs broadband signal Time Delay Estimation Techniques and time delay is estimated, energy
Enough realize precision ranging, on this basis, using spherical surface cross it is theoretical solve coordinates of targets, so that the scaling method is can be realized height
Precision positioning, has the characteristics that easy to operate, high efficiency, high-precision.The present invention can be used in demarcating the ultrashort base of any formation
Line positioning system receives basic matrix primitive acoustic centres position, is that ultra short baseline locating system obtains accurate installation deviation calibration knot
The premise of fruit greatly improves the working performance of ultra short baseline locating system.
It should be understood that above embodiments only express the preferred embodiment of the present invention, description is more specific and detailed
Carefully, but it cannot be understood as limitations on the scope of the patent of the present invention；It should be pointed out that for the common skill of this field
For art personnel, without departing from the inventive concept of the premise, above-mentioned technical characterstic can be freely combined, can also be done
Several modifications and improvements out, these are all within the scope of protection of the present invention；Therefore, all to be done with scope of the invention as claimed
Equivalents and modification, should belong to the covering scope of the claims in the present invention.
Claims (10)
1. the method for precisely marking that a kind of ultra-short baseline receives basic matrix primitive position, which is characterized in that the method includes following
Step:
S10, sound source emit acoustical signal into water in emission time, and the emission time is transmitted to data collector；
Each primitive that S20, ultra-short baseline receive basic matrix receives the acoustical signal in the time of reception, and the reception is carved and is transmitted
To the data collector；
The emission time and the time of reception are transmitted to processor by S30, the data collector, by the emission time
The time delay of the acoustical signal is obtained with the difference of the time of reception；Record the coordinate of the sound source；
S40, the sound source are moved to next measurement point of default measurement track, repeat the operating process of step S10-S30, directly
All measurement finishes measurement point on to the default measurement track, obtains acoustical signal in all measurement points to described each
The time delay of primitive；
S50, according to acoustical signal all measurement points to each primitive time delay and sound source in all measurement points
Coordinate, obtain the acoustic centres of each primitive the sound source coordinate in a coordinate system；
S60, the coordinate according to the acoustic centres of any two primitive, obtain the baseline length of any two primitive.
2. the method according to claim 1, wherein should ensure that all measurement points not same when carrying out the S40
One plane.
3. the method according to claim 1, wherein the S50 includes: according to acoustical signal in all measurements
Point to each primitive time delay and sound source in the coordinate of all measurement points, resolved by the spherical surface theory that crosses,
Obtain each primitive the sound source coordinate in a coordinate system.
4. according to the method described in claim 3, it is characterized in that, the S50 includes: according to acoustical signal in all measurements
The time delay and sound source that point arrives each primitive pass through range equation in the coordinate of all measurement points
ctmn=| Xm-Xn|
Obtain each primitive the sound source coordinate in a coordinate system, wherein m is the number of primitive, m >=1；N is
The number of measurement point, n=1,2, N, N are the number of measurement point, N > 3, XnIndicate sound source in the seat of n-th of measurement point
Mark；XmIndicate the coordinate of the primitive of number m；tmnIndicate acoustical signal in n-th of measurement point to the propagation delay of number m primitive.
5. according to the method described in claim 4, it is characterized in that, the S60 includes: in acoustics according to any two primitive
The coordinate of the heart passes through the first formula
rpq=| Xp-Xq|
Obtain the baseline length of any two primitive, wherein rpqIndicate the baseline length between number p and number q primitive,
XpIndicate the coordinate of number p primitive, XqIndicate the coordinate of number q primitive.
6. the method according to claim 1, wherein the sound source includes:
For generating the signal source of linear FM signal；
It is connect with the signal source, for the linear FM signal to be converted to acoustical signal and launches the acoustical signal
Transmitting transducer.
7. according to the method described in claim 6, it is characterized in that, the sound source further includes for amplifying the linear frequency modulation letter
Number power amplifier, the input terminal of the power amplifier connects the signal source, and the output end of the power amplifier connects
Connect the transmitting transducer.
8. method according to claim 6 or 7, which is characterized in that the transmitting transducer is rigidly attached at mobile device
On, and driven by the mobile device and moved along the default measurement track.
9. according to the method described in claim 8, it is characterized in that, being equipped with control unit, the control inside the mobile device
It is mobile according to the default measurement track that unit processed controls the mobile device；
Recording unit is additionally provided with inside the mobile device, transmitting transducer described in the recording unit records is in the mobile dress
Set coordinate in a coordinate system.
10. the method according to claim 1, wherein the ultra-short baseline receives basic matrix in entire measurement process
In be constantly in stationary state, while guaranteeing that each primitive described in entire measurement process can effectively receive sound letter
Number.
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| CN107576939A (en) * | 2017-07-21 | 2018-01-12 | 哈尔滨工程大学 | A kind of single beacon distance-measuring and positioning method based on virtual ranging beacon |
| CN109239666A (en) * | 2018-11-07 | 2019-01-18 | 中国科学院深海科学与工程研究所 | A kind of calibration method for deep-sea acoustic positioning device |
| CN109490835B (en) * | 2018-12-26 | 2022-09-23 | 江苏中海达海洋信息技术有限公司 | Water pool calibration method for system error of ultra-short baseline underwater sound positioning system |
| CN110261824B (en) * | 2019-07-15 | 2024-03-19 | 交通运输部天津水运工程科学研究所 | Ultrashort baseline calibration system and calibration method based on multiple beacons |
| CN111721284B (en) * | 2020-03-04 | 2021-08-31 | 哈尔滨工程大学 | SINS/USBL combined navigation positioning method in passive mode |
| CN111380520B (en) * | 2020-03-04 | 2022-02-11 | 哈尔滨工程大学 | SINS/USBL loose combination navigation positioning method introducing radial velocity |
| CN111521973A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军国防科技大学 | Element space position active measurement system and method of hydrophone array |
| CN113156369B (en) * | 2021-04-26 | 2021-10-29 | 哈尔滨工程大学 | Marine acoustic phase center calibration method |
| CN114265047B (en) * | 2021-12-31 | 2022-11-01 | 哈尔滨工程大学 | Positioning array combined calibration method for large-submergence-depth AUV |
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| CN101806883A (en) * | 2010-04-09 | 2010-08-18 | 哈尔滨工程大学 | Quick and high-precision coordinate calibration method suitable for large-scale seabed transponder arrays |
| CN104765017A (en) * | 2015-04-22 | 2015-07-08 | 国家深海基地管理中心 | Manned submersible ultra short baseline positioning system on-sea calibration test method |
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