CN106842129A - The maritime search method and its device of flight data recorders - Google Patents
The maritime search method and its device of flight data recorders Download PDFInfo
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- CN106842129A CN106842129A CN201710092855.5A CN201710092855A CN106842129A CN 106842129 A CN106842129 A CN 106842129A CN 201710092855 A CN201710092855 A CN 201710092855A CN 106842129 A CN106842129 A CN 106842129A
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- flight data
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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
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of maritime search method of flight data recorders, comprise the following steps：Two different places are chosen, the signal of flight data recorders is gathered using hydrophone simultaneously respectively, and records the position coordinates of hydrophone site；According to the signal and position coordinates, the azimuth of signal source where the signal is determined；According to the position coordinates and azimuth, correspondence draws out two trajectories on map；Two intersection points of the trajectory are asked for, the doubtful position coordinates that flight data recorders are inscribed in collection is obtained；Each step, obtains several doubtful position coordinateses more than repeating；According to several doubtful position coordinateses, the motion track of flight data recorders is obtained, extrapolate the position coordinates inscribed when fishing for.The invention also discloses a kind of maritime search device of flight data recorders.Using the present invention, the position of flight data recorders can be quickly and accurately obtained, so as to effectively complete search.
Description
Technical field
The invention belongs to maritime search technical field, and in particular to a kind of maritime search method of flight data recorders and
Its device.
Background technology
Flight data recorders, are commonly called as black box, abbreviation FDR, are a kind of to store the situation of aircraft flight
Instrument, above-mentioned data will be all taken in black box during flight.Once there is airplane crash, the flight parameter in whole accident process is with regard to energy
Found from black box, the reason for people just may know that aviation accident.In order to avoid destroyed in aviation accident, it has resistance to
High temperature (600 DEG C~800 DEG C), high pressure (1 ton of pressure of weight can be born), the characteristics of be not afraid of corrosion, made by metal material.
Therefore, for there is accident or airplane crash in the case of, it is necessary to enter line search to black box, particularly with dropping into
Big marine black box enters line search, is extremely difficult.In horse boat MH370 flight disappearances, it is loaded with 239 people
The aircraft of Boeing 777-200, it is out of touch with Control Centre in 40 points of the 2:00 AM of on March 8th, 2014, then just disappear any
Breath, until the wreckage of an plane that on July 29th, 2015 finds in the Reunion owned by France on the Indian Ocean, really belongs to the horse of lost contact
Boat MH370 passenger planes, after being missing more than 500 round the clock, the remains of MH370 flights are found first.But, for its flight
Data logger, never definitely finds.
For the mode of maritime search black box, it is common that go to listen using special hydrophone and existed by black box metal shell
The coherent signal fed back in seawater, then according to hearing sense, according to point with hear signaling point, it is right manually to calculate
The trajectory answered, after then ship is outputed a segment distance and come to a complete stop, gathers signal using hydrophone again, and similarly
Article 2 trajectory is calculated, then the intersection point of the two, the as position where black box is calculated according to two trajectories, from
And enter line search salvaging.
By concrete analysis, there is problems with above method for searching：
(1) due to listening to expert that the people of signal is this respect, it is necessary to by study for a long time repeatedly and training ability
Corresponding signal is accurately listened to, subjective factor is larger；
(2) time interval between listening to for the first time and listening to for the second time is larger, typically at 20 minutes or so, completes once
The determination of intersection point, during being somebody's turn to do, flight data recorders can be because there is the change of position in the flowing of seawater, so as to cause search
It is unsuccessful；
(3) it is all manual operation to listen to and calculate intersection point, not only labor intensive, influences operating efficiency, and error is larger.
The content of the invention
In order to solve the above problems, the first object of the present invention is：A kind of sea of flight data recorders is provided to search
Method is sought, the position of flight data recorders can be quickly and accurately obtained, so as to effectively complete search.
To achieve the above object, the present invention is achieved by following technical scheme：
The maritime search method of row data logger of the present invention, comprises the following steps：
S1：Two different places are chosen, the signal of flight data recorders is gathered using hydrophone simultaneously respectively, and
The position coordinates of record hydrophone site；
S2：According to the signal and position coordinates, the azimuth of signal source where the signal is determined；
S3：Position coordinates and azimuth according to each place, correspondence draws out flight data recorders on map
Two trajectories at place；
S4：Two intersection points of the trajectory are asked for, the doubtful position that flight data recorders are inscribed in collection is obtained
Coordinate；
S5：Repeat step S1-S4, obtains multiple and does not descend several doubtful positions of flight data recorders to sit in the same time
Mark；
S6：According to several doubtful position coordinateses, the motion track of corresponding flight data recorders is obtained, extrapolated winged
The position coordinates that row data logger is inscribed when fishing for.
Further, in step s 2, also including according to the echo loudness of the signal acquisition flight data recorders point
The data of shellfish value；In step s 6, according to the data of the multiple echo loudness decibel values obtained in step S2, the flight is obtained
The electricity attenuation curve of data logger；
Further, in step s 6, by the motion track and electricity attenuation curve, the flying quality note is set up
The locus model of instrument is recorded, position coordinates of the flight data recorders when fishing for is extrapolated.
Further, in step s 6, the position coordinates for calculating flight data recorders when fishing for, specifically leads to
Cross to be found on locus model and next fish for moment corresponding position coordinates.
Further, the map is electronic map.
In order to solve the above problems, the second object of the present invention is：A kind of sea of flight data recorders is provided to search
Seek device, with quickly and accurately obtain flight data recorders position the characteristics of, while without specialty listen to the special of signal
Family is carried out, and, search low to the requirement of professional degree is time-consuming short.
To achieve the above object, the present invention is achieved by following technical scheme：
The maritime search device of row data logger of the present invention, including：
At least two hydrophones, for gathering the signal that flight data recorders send；
Map, for recording the position coordinates of hydrophone site, according to the signal and position coordinates determine
The azimuth of signal source where signal and according to the position coordinates and azimuth, draws out the flight data recorders
Corresponding trajectory；
Monitor supervision platform, with the hydrophone wireless connection, obtains corresponding trajectory, calculates the intersection point of trajectory, obtains
The doubtful position coordinates that flight data recorders are inscribed in collection, and according to several doubtful position coordinateses, obtain correspondence
Flight data recorders motion track, calculate the position coordinates that flight data recorders are inscribed when fishing for.
Further, the map is electronic map；The electronic map includes the GPS location for obtaining position coordinates
Device and for obtaining azimuthal compass.
Further, echo loudness decibel Value Data of the map always according to signal acquisition flight data recorders.
Further, the map obtains the electricity of flight data recorders always according to echo loudness decibel Value Data
Attenuation curve.
Further, the electronic map is arranged on the mobile terminal with hydrophone wireless connection.
Compared with prior art, the beneficial effects of the invention are as follows：
The maritime search method of flight data recorders of the present invention, by two different places, while logical
The signal that hydrophone collection flight data recorders send is crossed, and obtains the position coordinates of hydrophone site.Then root
According to the signal and the position coordinates of acquisition that collect, the azimuth of signal source where the signal is determined；Then position is passed through
Corresponding trajectory is drawn out at coordinate and azimuth, and two trajectories then are asked for into angle point, so that it is determined that inscribing right when being this
Doubtful position coordinates where the flight data recorders answered.Due to only gathering the trajectory precision that two different locations obtain
It is not high, therefore, repeat more than operate, obtain it is multiple not in the same time under corresponding some doubtful position coordinateses, then according to some
Doubtful position coordinates, obtains the motion track of corresponding flight data recorders, finally calculates flight data recorders and is catching
The position coordinates inscribed when dragging for.
The maritime search device of flight data recorders of the present invention, by multiple hydrophones, in different positions
The signal that flight data recorders send is acquired, then by map, the position coordinates where determining hydrophone, Yi Jixin
The azimuth of signal source where number, so as to primarily determine that the trajectory where flight data recorders, while obtaining another rail
During trace, then intersection point can be asked for, the intersection point is then the doubtful position coordinates of preliminary anticipation, not enough accurately, therefore, then use
Obtain several doubtful position coordinateses more identical method, then obtain the motion track of flight data recorders.The motion track
Flight data recorders are represented in the seawater of flowing, mobile trend inscribe corresponding standard when fishing for so as to extrapolate
True position coordinates.
Above method and corresponding device, by combining electronic equipment automatic business processing, quickly and accurately obtain corresponding
Position coordinates, and without professional and technical personnel, you can complete the maritime search of accurately flight data recorders.It is same with this
When, it is corresponding to greatly save the time for determining to search place again due to using individual hydrophone while carrying out, and during due to this
Between shortening, then for flight data recorders because of the seawater change in location that fluxion strap comes also just corresponding reduction in itself so that
Further improve the accuracy for determining location searching coordinate.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is the flow chart of the maritime search method of flight data recorders of the present invention；
Fig. 2 is the structural representation of the maritime search device of flight data recorders of the present invention；
In figure：
1：Hydrophone
2：Map
21：GPS locator 22：Compass 23：Display screen
3：Monitor supervision platform
Specific embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that preferred reality described herein
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
The maritime search method of flight data recorders of the present invention, is to solve to need height in the prior art
Specialty listens to the limitation that the signal of hydrophone brings, and the time-triggered protocol that brings of manual operation problem long and inaccurate,
By in two different places, while the place where respective, gathers flight data recorders and sends out by hydrophone
The signal for going out, and the position coordinates of hydrophone site is obtained, then by the signal and position coordinates, determine the letter
The azimuth of signal source where number.Then two trajectories are depicted on corresponding map by position coordinates and azimuth.
The substantially track that what the trajectory was represented is flight data recorders in collection where it, then enters by by two trajectories
Row asks for intersection point, then represent doubtful position coordinates.But, because simply two different locations of collection obtain, therefore its error
It is larger, so repeatedly carrying out the operation of principles above, multiple not some doubtful position coordinateses lower in the same time are obtained, then general
Some doubtful position coordinateses are drawn out the motion track of flight data recorders again, and extrapolate flying quality note
The accurate location coordinate that record instrument is inscribed when fishing for.
In order to further illustrate the maritime search method of the corresponding flight data recorders of principles above, with reference to the institute of accompanying drawing 1
The flow chart for showing, it is specific as follows：
S1：Two different places of selection, the signal for being sent using hydrophone collection flight data recorders simultaneously respectively,
And record the position coordinates of hydrophone site；
The step set purpose be：By obtaining signals in two different places simultaneously, it is to avoid a water is listened
After device hears out one, then need to sail to be moved to another place, the pattern of secondary signal is obtained again by hydrophone, can
To greatly save acquisition time；
S2：By the signal and position coordinates, the azimuth of signal source where the signal is determined；
What the principle of the step was utilized be same sound source under different location, by the position coordinates where hydrophone and
The azimuth of signal source, the trajectory where flight data recorders can be primarily determined that.
S3：The position coordinates obtained by step S2 and azimuth, draw out two trajectories on map；
What the trajectory was then tentatively represented is the place track that flight data recorders are obtained from two different locations
Line.
S4：Two intersection points of the trajectory are asked for, the doubtful position that flight data recorders are inscribed in collection is obtained
Coordinate；
Two trajectories obtained by step S3, ask for intersection point, and as flight data recorders are all being inscribed just at once
Walk corresponding doubtful position coordinates.Why it is referred to as " doubtful position coordinates ", is primarily due to simply by two differently
What point was obtained, then its precision is not high, in addition it is also necessary in other more different locations, not in the same time under, improve its precision.
S5：Repeat step S1-S4, obtains the multiple doubtful position coordinates that multiple does not descend flight data recorders in the same time；
S6：By the multiple doubtful position coordinates, the motion track of corresponding flight data recorders is obtained, then calculated
Go out the position coordinates that flight data recorders are inscribed when fishing for.
Wherein motion track, be by different location, not in the same time under some doubtful position coordinates draw and form, its is specific
Represent practical flight data logger in the seawater, the accurate location under elapsing over time, so that then can be according to drafting
The motion track for going out, extrapolates the position coordinates inscribed when that will fish for, and the position coordinates is by existing methods
The position fished for a little for obtaining is promoted to 80%, and the time for searching flight data recorders is greatly reduced, while being also to fish for
Search-and-rescue work saves substantial amounts of man power and material, is worth promoting.
The position coordinates inscribed when obtaining and fish for further be lifted, then in step s 2, also including being obtained by signal
The data of the echo loudness decibel value of flight data recorders are taken, the echo loudness decibel value is being propagated through for gauge signal
Energy loss situation in journey, by obtaining the parameter value, can be in subsequent step S6, according to step S2 differently
Point/not in the same time under multiple echo loudness decibel values data, obtain the electricity attenuation curve of the flight data recorders,
The curve can set up the locus model of the flight data recorders, so as to calculate with the motion track of acquisition in step S6
Go out position coordinates of the flight data recorders when fishing for.Wherein, the foundation of the locus model is using existing related skill
Art is obtained, for example：Lagrangian drift method, but it is not limited to this kind of method.
The position coordinates is obtained by combining electricity attenuation curve, then it has more another under conditions of before this
One parameter, this parameter is combined with the motion track asked for, then establish one with flying quality in actual seawater
The actual motion track of recorder closer to locus model, therefore, then fished for yes by what the locus model was extrapolated
Position coordinates is more accurate.The reckoning then next fishes for moment corresponding position coordinates by finding on locus model.
In above implementation process, with map use electronic map, from it obtain particular location coordinate and
Azimuth, then more express delivery, with accurately, further improves the degree of accuracy and reduces the time.
Accordingly, the maritime search device of flight data recorders of the present invention, concrete structure are as shown in Fig. 2 bag
Include：
Hydrophone 1, for gathering the signal that flight data recorders send；The number of the hydrophone 1 is at least provided with two
It is individual, it is even more many.
Ground Fig. 2, for recording the position coordinates of hydrophone site, according to the signal and position coordinates determine
The azimuth of signal source where signal and according to the position coordinates and azimuth, draws out the flight data recorders
Corresponding trajectory；In specific real process, ground Fig. 2 is preferably electronic map, the position coordinates and orientation of its acquisition
Angle is more accurate, and it is extremely short to obtain the time.Specifically, the electronic map includes GPS locator 21 and compass 22, institute
GPS locator is stated for obtaining the position coordinates of hydrophone site；The compass is used for the side where obtaining signal source
Parallactic angle.In addition, in order to preferably be easy to operation, the electronic map includes display screen 23, and for showing various status informations, tool
Body include according to monitor supervision platform 3 calculate it is specific when the position coordinates of fishing for inscribed shown.
Meanwhile, the electronic map and the wireless connection of monitor supervision platform 3 are communicated in real time.If used electronically
Figure, then can also in real time obtain the data of echo loudness decibel value, can be drawn out according to the echo decibel Value Data for obtaining winged
The electricity attenuation curve of row data logger.The electricity attenuation curve then sets up mobility model jointly with motion track,
Monitor supervision platform 3, with the wireless connection of the hydrophone 1, obtains corresponding trajectory, calculates the intersection point of trajectory, obtains
To the doubtful position coordinates that flight data recorders are inscribed in collection, and according to several doubtful position coordinateses, it is right to obtain
The motion track of the flight data recorders answered, calculates the position coordinates that flight data recorders are inscribed when fishing for.
Specifically, the electronic map is arranged on the mobile terminal with the wireless connection of hydrophone 1.The mobile terminal can be with
It is smart mobile phone, or the electronic equipment such as flat board.
The maritime search method of flight data recorders of the present invention, has abandoned in the prior art completely, almost complete
It is complete artificially to be listened to by professional operating personnel, and manually compute inaccurate caused by corresponding position coordinates and expend a large amount of
The problem of time, the automatic position coordinates and azimuth for obtaining signal under different location, and by position coordinates and azimuth
Correspondence asks for trajectory, and is sat finally according to the doubtful position that two intersection points of trajectory tentatively confirm as flight data recorders
Mark.Repeat above step and obtain multiple doubtful position coordinateses, be plotted as motion track, and extrapolated from the moving rail trace and catch
The position coordinates inscribed when dragging for.The method not only improves the degree of accuracy of the position coordinates inscribed when fishing for, and also substantially reduces
It is determined that the time fished for a little inscribed when fishing for, while without height professional and technical personnel, reducing manpower and materials.
The maritime search method of flight data recorders of the present invention and its other structures of device referring to prior art,
Will not be repeated here.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, therefore
It is every without departing from technical solution of the present invention content, any modification made to above example according to technical spirit of the invention,
Equivalent variations and modification, still fall within the range of technical solution of the present invention.
Claims (10)
1. a kind of maritime search method of flight data recorders, it is characterised in that comprise the following steps：
S1：Two different places are chosen, the signal of flight data recorders is gathered using hydrophone simultaneously respectively, and recorded
The position coordinates of hydrophone site；
S2：According to the signal and position coordinates, the azimuth of signal source where the signal is determined；
S3：According to the position coordinates and azimuth, two rails where drawing out flight data recorders are corresponded on map
Trace；
S4：Two intersection points of the trajectory are asked for, the doubtful position coordinates that flight data recorders are inscribed in collection is obtained；
S5：Repeat step S1-S4, obtains several doubtful position coordinateses that multiple does not descend flight data recorders in the same time；
S6：According to several doubtful position coordinateses, the motion track of corresponding flight data recorders is obtained, extrapolate flight number
The position coordinates inscribed when fishing for according to recorder.
2. the maritime search method of flight data recorders according to claim 1, it is characterised in that：
The map is electronic map.
3. the maritime search method of flight data recorders according to claim 2, it is characterised in that：
In step s 2, also including the data of the echo loudness decibel value according to the signal acquisition flight data recorders；
In step s 6, according to the data of the multiple echo loudness decibel values obtained in step S2, the flying quality note is obtained
Record the electricity attenuation curve of instrument.
4. the maritime search method of flight data recorders according to claim 3, it is characterised in that：
In step s 6, by the motion track and electricity attenuation curve, the track mould of the flight data recorders is set up
Type, extrapolates position coordinates of the flight data recorders when fishing for.
5. the maritime search method of flight data recorders according to claim 4, it is characterised in that：
In step s 6, the position coordinates for calculating flight data recorders when fishing for, particular by locus model
On find and next fish for moment corresponding position coordinates.
6. winged in a kind of maritime search method for applying to the flight data recorders described in claim 1 to 5 any one
The maritime search device of row data logger, it is characterised in that including:
At least two hydrophones, for gathering the signal that flight data recorders send；
Map, for recording the position coordinates of hydrophone site, according to the signal and position coordinates determining the signal
The azimuth of place signal source and according to the position coordinates and azimuth, draws out the flight data recorders institute right
The trajectory answered；
Monitor supervision platform, with the hydrophone wireless connection, obtains corresponding trajectory, calculates the intersection point of trajectory, is flown
The doubtful position coordinates that data logger is inscribed in collection, and according to several doubtful position coordinateses, obtain corresponding flying
The motion track of row data logger, extrapolates the position coordinates that flight data recorders are inscribed when fishing for.
7. the maritime search device of flight data recorders according to claim 6, it is characterised in that：
The map is electronic map；
The electronic map is included for obtaining the GPS locator of position coordinates and for obtaining azimuthal compass.
8. the maritime search device of flight data recorders according to claim 7, it is characterised in that：
Echo loudness decibel Value Data of the map always according to signal acquisition flight data recorders.
9. the maritime search device of flight data recorders according to claim 8, it is characterised in that：
The map obtains the electricity attenuation curve of flight data recorders always according to echo loudness decibel Value Data.
10. the maritime search device of the flight data recorders according to claim 7-9 any one, it is characterised in that：
The electronic map is arranged on the mobile terminal with hydrophone wireless connection.
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| CN201710092855.5A CN106842129B (en) | 2017-02-21 | 2017-02-21 | The maritime search method and device thereof of flight data recorders |
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