CN107132520A - A kind of sound ray modification method and system based on underwater sound ultra short baseline locating system - Google Patents
A kind of sound ray modification method and system based on underwater sound ultra short baseline locating system Download PDFInfo
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- CN107132520A CN107132520A CN201710303925.7A CN201710303925A CN107132520A CN 107132520 A CN107132520 A CN 107132520A CN 201710303925 A CN201710303925 A CN 201710303925A CN 107132520 A CN107132520 A CN 107132520A
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- 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
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Abstract
The invention provides a kind of sound ray modification method based on underwater sound ultra short baseline locating system.This method comprises the following steps：Initial glancing angle θ is obtained by the three-dimensional underwater sound ultra short baseline locating system of quaternary cross0；Sound velocity profile is measured by Sound speed profile instrument；By the three-dimensional underwater sound ultra short baseline locating system of quaternary cross according to initial glancing angle θ0By the additional sound ray amendment iteration of layer to obtain coordinate of each test point relative to surveying vessel on the basis of sound velocity profile.The present invention measures phase difference estimation value according to the three-dimensional underwater sound ultra-short baseline battle array of quaternary, and the method added using adaptive layered is iterated and obtains each test point relative to surveying vessel coordinate.More traditional bulk sound velocity algorithm greatly improves range accuracy, effectively have modified sound ray curve propagation path in complex environment under water, improves undersea ranging and the positioning precision of underwater sound ultra short baseline locating system.
Description
Technical field
The present invention relates to Ocean Surveying technical field, more particularly to a kind of sound ray based on underwater sound ultra short baseline locating system
Modification method and system.
Background technology
Ultra short baseline locating system due to small volume, it is lightweight, easy to carry the advantages of, positioning field application is wide under water
It is general.Its positioning principle is to reach the phase difference (or delay inequality) between receiving unit using answer signal under water to combine subaqueous survey
Target realizes positioning to the oblique distance between ultra-short baseline battle array.Sent out at a certain angle downwards in the sound source away from extra large surface certain depth
Acoustical signal is penetrated, when finding submarine target, target is by reflected sound signals to receiver, the time harmony then propagated according to signal
Speed obtains target to the distance of sound source, then combines the position of angle information acquisition target.Temperature, salt due to different depth seawater
Degree and pressure and other parameters are differed, and are not only propagated which results in the propagation rays of acoustical signal in the seawater along curve, and respectively
The velocity of sound in layer is also differed, and finally makes to produce refraction error to submarine target positioning using acoustical signal.If directly utilizing three
Angular dependence simply calculates depth and the horizontal displacement of each point, can bring larger error for final position reduction, to ensure
Higher positioning precision, it is necessary to carry out sound ray amendment.And traditional bulk sound velocity algorithm, position error simply also is effectively reduced,
Location estimation is not accurate enough.When Wang Yan et al. is propagated under water according to the velocity of sound sound ray bend proposition be used for the Long baselines underwater sound
The alternative manner of alignment system sound ray amendment, improves the precision of positioning, but this method is computationally intensive, is only applicable to Long baselines water
Acoustic positioning system, encounters certain difficulty when being applied to short baseline plane formation.
Therefore, in view of the foregoing, R ＆ D design goes out a kind of sound ray amendment side based on underwater sound ultra short baseline locating system
Method and system are current Ocean Surveying field urgent problems to be solved.
The content of the invention
Present invention aims to overcome that the deficiency that prior art is present, so as to provide a kind of based on the positioning of underwater sound ultra-short baseline
The sound ray modification method and system of system.
To achieve the above object, in a first aspect, the invention provides a kind of based on underwater sound ultra short baseline locating system
Sound ray modification method, the underwater sound ultra short baseline locating system is including the deck unit on surveying vessel, installed in measurement
Four receive transducers a, b, c of hull bottom, the three-dimensional underwater sound of the quaternary cross with horizontal aperture d and vertical aperture h that d is constituted surpass
Short baseline battle array and transponder to be positioned under water is laid, the described method comprises the following steps：
1) initial glancing angle θ is obtained by the three-dimensional underwater sound ultra short baseline locating system of the quaternary cross0；
2) sound velocity profile is measured by Sound speed profile instrument；
3) by the three-dimensional underwater sound ultra short baseline locating system of the quaternary cross according to step 1) initial glancing angle θ0
Step 2) on the basis of sound velocity profile by the additional sound ray amendment iteration of layer to obtain each test point relative to surveying vessel
Coordinate.
Further, the step 1) specifically include：Array letter is carried out by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross
Number processing obtains answer signal under water and reaches delay inequality between baseline battle array to measure, and is obtained by deck unit according to delay inequality
Initial glancing angle θ0。
Further, the step 1) specifically include：Array letter is carried out by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross
Number processing obtains answer signal under water and reaches phase difference between baseline battle array to measure, and is obtained by deck unit according to phase difference
Initial glancing angle θ0
Further, the step 1) the initial glancing angle θ of ARRAY PROCESSING acquisition is carried out according to phase difference0Specifically include with
Lower step：
1.1) with receive transducer a, b is used as origin of coordinates O, O point depths below h side as x-axis, a, b lines central point
To as z-axis, z-axis and receive transducer c, d line intersects at O ', y-axis be with receive transducer c, d line it is parallel and with
X-axis intersects at origin of coordinates O, then transponder P coordinate is (x, y, z), and receive transducer a coordinates areReceive
Transducer b coordinates areReceive transducer c coordinates areReceive transducer d coordinates are
1.2) according to step 1.1) in coordinate, the angle theta between OP and x-axis is tried to achieve by following formula (1)x, pass through
Following formula (2) try to achieve the angle theta of O ' P and y-axisy；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,For known receive transducer c, d
Measurement receives the phase difference of signal, and λ is coefficient.
1.3) according to step 1.2) in the cos θ that ask forxWith cos θy, initial glancing angle θ is tried to achieve by following formula (3)0,
The initial glancing angle θ0To receive the incidence angle of the one section of sound ray reached near battle array depth.
Further, the step 3) specifically include following steps：
3.1) by step 2) vertical depth of the sound velocity profile from the water surface to transponder that obtains be divided into N layers at equal intervals, often
Layer is propagated for the constant velocity of sound；
3.2) every layer of glancing angle is asked for according to every layer of velocity of sound and depth and then obtains every layer of sound ray, be specially：
The incidence angle at dielectric stratifying interface meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence
Angle θiSeek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,
1,2,...,N；
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor i-th layer of border
The glancing angle at place；
3.3) the Δ R sought out according to following equation (7), (8) and (9) to step 3.2i、ΔtiWith Δ xiSeek out respectively
Sound ray total kilometres R and sound ray one-way time t and level are always apart from X；
3.4) ask for meeting the θ of error precisionj(N of j=0,1,2 ...), be specially：Carried out using a correction value Δ θ
(θ0+ Δ θ) or (θ0- Δ θ) computing, result is substituted into formula (4) and (9) successively, the time t calculated and the total time measured
T ' is subtracted each other, and is compared with threshold value Δ t, such as meets t-t'≤Δ t, then performs step 3.5), be unsatisfactory for step 3.4) one
Straight circulation goes on, and is required until meeting；
3.5) by step 3.4) that obtains meets the θ of error precisionj(N of j=0,1,2 ...) substitutes into formula (8) and (10)
Level is calculated always apart from X and sound ray total kilometres R, that is, obtains the coordinate information of transponder under water.
In second aspect, the utility model provides a kind of sound ray amendment system based on underwater sound ultra short baseline locating system
System.The system includes underwater sound ultra short baseline locating system and velocity of sound section plotter, and the underwater sound ultra short baseline locating system includes peace
Deck unit on surveying vessel, four receive transducer a installed in surveying vessel bottom, b, c, what d was constituted has lateral aperture
The three-dimensional underwater sound ultra-short baseline battle array of footpath d and vertical aperture h quaternary cross and lay transponder to be positioned under water, the deck
Unit asks for unit and sound ray amending unit including initial glancing angle；
The Sound speed profile instrument, to measure sound velocity profile；
The initial glancing angle asks for unit, to obtain initial glancing angle θ0；
The sound ray amending unit, to according to initial glancing angle θ0The sound velocity profile basis measured in Sound speed profile instrument
It is upper to pass through the additional sound ray amendment iteration of layer to obtain coordinate of each test point relative to surveying vessel.
Further, the initial glancing angle asks for the answer signal arrival transducer that unit is sent according to transponder under water
The delay inequality of baseline battle array obtains initial glancing angle θ0, the delay inequality is by the three-dimensional underwater sound ultra-short baseline battle array progress array of quaternary cross
Signal transacting is obtained.
Further, the initial glancing angle asks for the answer signal arrival transducer that unit is sent according to transponder under water
The phase difference of baseline battle array obtains initial glancing angle θ0, the phase difference is by the three-dimensional underwater sound ultra-short baseline battle array progress array of quaternary cross
Signal transacting is obtained.
Further, the initial glancing angle, which asks for unit, includes：
Coordinate system determining unit, to by receive transducer a, b is as x-axis, a, b lines central point as origin of coordinates O,
O points depth below h directions are as z-axis, and z-axis and receive transducer c, d line intersect at O ', and y-axis is and receive transducer c, d
Line it is parallel and intersect at origin of coordinates O with x-axis, then transponder P coordinate is (x, y, z), and receive transducer a coordinates areReceive transducer b coordinates areReceive transducer c coordinates areReception is changed
Can device d coordinates be
First calculation processing unit, to each point coordinates confirmed according to coordinate system determining unit, passes through following formula (1)
Try to achieve the angle theta between OP and x-axisx, the angle theta of O ' P and y-axis is tried to achieve by following formula (2)y；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,For known receive transducer c,
D measurements receive the phase difference of signal, and λ is coefficient.
Second calculation processing unit, to the cos θ asked for according to the first calculation processing unitxWith cos θy, pass through following public affairs
Formula (3) tries to achieve initial glancing angle θ0, the initial glancing angle θ0For the incidence angle of the one section of sound ray reached near baseline battle array depth.
Further, the sound ray amending unit includes：
Delaminating units, between the vertical depth of the sound velocity profile that obtains Sound speed profile instrument from the water surface to transponder etc.
Every being divided into N layers, every layer is that the constant velocity of sound is propagated；
3rd calculation processing unit, the glancing angle for asking for every layer to the velocity of sound and depth according to every layer in delaminating units is entered
And every layer of sound ray is obtained, it is specially：
The incidence angle at dielectric stratifying interface meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence
Angle θiSeek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,
1,2,...,N；
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor i-th layer of border
The glancing angle at place；
4th calculation processing unit, to according to following equation (7), (8) and (9) are sought out to the 3rd calculation processing unit
Δ Ri、ΔtiWith Δ xiSound ray total kilometres R and sound ray one-way time t and level are sought out respectively always apart from X；
Error correction unit, the θ to ask for meeting error precisionj(N of j=0,1,2 ...), be specially：Utilize one
Correction value Δ θ carries out (θ0+ Δ θ) or (θ0- Δ θ) computing, result is substituted into formula (4) and (9) successively, the time t calculated with
The total time t ' measured is subtracted each other, and is compared with threshold value Δ t, is such as met t-t'≤Δ t, is then passed through the 5th calculation processing unit
Next step calculating is carried out, is unsatisfactory for would be repeated for error correction, is required until meeting；
5th calculation processing unit, the θ for meeting error precision that error correction unit is obtainedj(N of j=0,1,2 ...)
Substitute into formula (8) and (10) and calculate level always apart from X and oblique distance R, that is, obtain the coordinate information of transponder under water.
The beneficial effects of the invention are as follows：
1) more information, and the sensing of array can be provided to depth localization by the three-dimensional underwater sound ultra-short baseline battle array of quaternary
Angle of release can more extensively, and sound ray amendment needs accurate depth information, and both integrate, and can obtain more accurately positioning knot
Really.
2) underwater sound ultra short base line in deep-sea is fixed with Snell using iteration sound ray amendment under the distribution of any velocity of sound
Rule, it is only necessary to calculate a sound ray, and must only make algebraic operation when calculating sound ray, so operand is small, precision is high.
Brief description of the drawings
Fig. 1 is the method flow diagram of the sound ray amendment based on underwater sound ultra short baseline locating system of the embodiment of the present invention；
Fig. 2 is the underwater sound ultra-short baseline battle array structure and positioning solution nomogram of the embodiment of the present invention；
Fig. 3 is the sound velocity profile of the embodiment of the present invention；
Fig. 4 is the Sound speed profile hierarchical mode figure of the embodiment of the present invention；
Fig. 5 is the sound ray update the system block diagram based on underwater sound ultra short baseline locating system of the embodiment of the present invention；
Fig. 6 is the emulation schematic diagram of the sound ray amendment based on underwater sound ultra short baseline locating system of the embodiment of the present invention；
Fig. 7 is Fig. 6 close-up schematic view.
Embodiment
In order that those skilled in the art are better understood from the technical scheme in the embodiment of the present invention, and make of the invention real
Applying the above-mentioned purpose of example, feature and advantage can be more obvious understandable, below by drawings and examples, to the technology of the present invention
Scheme is described in further detail.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
Property work under the premise of all other embodiment for being obtained, belong to the scope of protection of the invention.
Fig. 1 is the method flow diagram of the sound ray amendment based on underwater sound ultra short baseline locating system of the embodiment of the present invention.
As shown in figure 1, the invention provides a kind of sound ray modification method flow based on underwater sound ultra short baseline locating system
Figure, deck unit that the underwater sound ultra short baseline locating system includes being arranged on surveying vessel, connects installed in four of surveying vessel bottom
Transducer a, b, c are received, the three-dimensional underwater sound ultra-short baseline battle array of the quaternary cross with horizontal aperture d and vertical aperture h and cloth that d is constituted
It is placed on transponder to be positioned under water.
In a step 101, initial glancing angle θ is obtained by above-mentioned underwater sound ultra short baseline locating system0。
In a step 102, sound velocity profile is measured by Sound speed profile instrument, the sound velocity profile of acquisition can be found in Fig. 2.
In step 103, by above-mentioned underwater sound ultra short baseline locating system according to step 1) initial glancing angle θ0In step
It is rapid 2) on the basis of sound velocity profile by the additional sound ray amendment iteration of layer to obtain each test point relative to surveying vessel
Coordinate.
Wherein, step 101 can obtain answer signal arrival under water using the three-dimensional underwater sound ultra-short baseline battle array measurement of quaternary cross
Phase difference or delay inequality between receiving unit, and ARRAY PROCESSING acquisition is carried out just according to phase difference or delay inequality by deck unit
Beginning glancing angle θ0.The present embodiment will be to deck unit according to the initial glancing angle θ of phase difference acquisition0It is described in detail.
As shown in Fig. 2 initially setting up a coordinate system.The reception array element of sonic transducer basic matrix by four receive transducer a,
B, c, d constitute an orthogonal cross with horizontal aperture d and vertical aperture h and receive battle array, receive transponder to be positioned under water
Answer signal.At grade, receive transducer c, d is at grade and positioned at receive transducer for receive transducer a, b
Below a, b at h distances.By receive transducer a, b is used as origin of coordinates O, O point depths below h as x-axis, a, b lines central point
Direction is as z-axis, and z-axis and receive transducer c, d line intersects at O ', y-axis be with receive transducer c, d line it is parallel and
Origin of coordinates O is intersected at x-axis, then transponder P coordinate is (x, y, z), receive transducer a coordinates areConnect
Receiving transducer b coordinates isReceive transducer c coordinates areReceive transducer d coordinates are
Secondly, according to the coordinate of the above-mentioned coordinate system established, and each point, by following formula (1) try to achieve OP and x-axis it
Between angle thetax, the angle theta of O ' P and y-axis is tried to achieve by following formula (2)y；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,For known receive transducer c,
D measurements receive the phase difference of signal, and λ is coefficient.
Finally, it is assumed that target depth is z0, when asking for target position, only investigate basic matrix and plane where target, base
The segment sound ray reached near battle array depth can be considered as straight line, if the glancing angle of this section incidence sound ray is θ0, then having to ask for
Cos θxWith cos θyBring following formula (3) into and try to achieve initial glancing angle θ0, initial glancing angle θ0Reached to receive near battle array depth
One section of sound ray incidence angle.
Real velocity of sound profile is measured using Sound speed profile instrument in step 103, smooth interpolation is carried out, even if sound ray is curved
Bent, as long as water layer is layered at equal intervals, and it is spaced sufficiently small, then the sound ray in each thin layer can be approximately straight line, then
Each layer is approached actual sound ray trace with one section of broken line.Fig. 3 to provide under the distribution of any velocity of sound, glancing angle planar
Sound ray broken line and water surface layering schematic diagram.
As shown in figure 3, being layered first, it is specially：The sound velocity profile that step 102 is obtained is from the water surface to transponder
Vertical depth be divided into N layers at equal intervals, every layer is that the constant velocity of sound is propagated.
Secondly, every layer of glancing angle is asked for according to every layer of velocity of sound and depth and then obtains every layer of sound ray, be specially：Medium
The incidence angle of layering interfaces meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence
Angle θiSeek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,
1,2,...,N；
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor i-th layer of border
The glancing angle at place；
Then, arbitrarily complicated velocity of sound vertical distribution, can approximately be divided into the connection of the constant medium of every layer of velocity of sound, be divided into
N layers, sound ray total kilometres R and sound ray one-way time t are equal to N layers of Δ R and Δ t superposition, and then underwater sound signal is from submarine target
Locate to baseline battle array at propagation total time t and one-way only propagation path R. and level always can be according to following equation (7), (8) apart from X
(9) the Δ R that seeks out above-mentioned to stepi、ΔtiWith Δ xiSeek out respectively sound ray total kilometres R and sound ray one-way time t and
Level is always apart from X；
Subsequently, ask for meeting the θ of error precisionj(N of j=0,1,2 ...), be specially：Entered using a correction value Δ θ
Row (θ0+ Δ θ) or (θ0- Δ θ) computing, result is substituted into the glancing angle that formula (4) calculates each layer again, Ran Houzai successively
The each layer of glancing angle sought out is substituted into formula (9) and calculates time t, is then subtracted each other with the total time t ' that measures, and
Compared with threshold value Δ t, such as meet t-t'≤Δ t, then perform step 3.5), be unsatisfactory for step 3.4) circulate always under progress
Go, required until meeting.
Finally, the θ for meeting error precision last step obtainedj(N of j=0,1,2 ...) substitutes into formula (8) and (10)
Level is calculated always apart from X and sound ray total kilometres R, you can obtain the coordinate information of underwater sound ultra-short baseline battle array transponder under water.
Fig. 5 is the sound ray update the system block diagram based on underwater sound ultra short baseline locating system of the embodiment of the present invention.
As shown in figure 5, the sound ray update the system based on underwater sound ultra short baseline locating system of the embodiment of the present invention includes：Water
Sound ultra short baseline locating system 1 and velocity of sound section plotter 2.
Sound speed profile instrument 2 is mainly used to measure sound velocity profile.Underwater sound ultra short baseline locating system 1 includes being arranged on measurement
Deck unit 11 on ship, four receive transducer a installed in surveying vessel bottom, b, c, what d was constituted has horizontal aperture d and hangs down
The three-dimensional underwater sound ultra-short baseline battle array 12 of straight apertures h quaternary cross and lay transponder 13 to be positioned under water.Deck unit 11
Unit 111 and sound ray amending unit 112 are asked for including initial glancing angle；
Initial glancing angle asks for unit 111, to obtain initial glancing angle θ0；
Sound ray amending unit 112, the initial glancing angle θ that unit 111 is asked for is asked for initial glancing angle0In Sound speed profile
By the additional sound ray amendment iteration of layer to obtain each test point relative to surveying vessel on the basis of the sound velocity profile that instrument 2 is measured
Coordinate.
Wherein, initial glancing angle, which asks for unit 111, to be obtained according to the delay inequality between the arrival reception battle array of answer signal under water
Take initial glancing angle θ0.The phase difference received between battle array can also be reached according to answer signal under water and obtains initial glancing angle θ0.Phase
Potential difference and delay inequality carry out array signal processing by the three-dimensional underwater sound ultra-short baseline battle array 12 of quaternary cross and obtained.
Initial glancing angle, which asks for unit 111, may include：Coordinate system determining unit 111-1, the first calculation processing unit 111-2
With the second calculation processing unit 111-3.
Coordinate system determining unit 111-1 is connected with the first calculation processing unit 111-2, to determine coordinate system, specifically
For：By receive transducer a, b is as x-axis, a, b lines central point as origin of coordinates O, O point depth below h directions as z-axis,
Z-axis and receive transducer c, d line intersect at O ', y-axis be with receive transducer c, d line is parallel and is intersected at x-axis
Origin of coordinates O.Then transponder P coordinate is (x, y, z), and receive transducer a coordinates areReceive transducer b is sat
It is designated asReceive transducer c coordinates areReceive transducer d coordinates are
First calculation processing unit 111-2 is connected with the second calculation processing unit 111-3, single to be determined according to coordinate system
Each point coordinates that member confirms, the angle theta between OP and x-axis is tried to achieve by following formula (1)x, O ' is tried to achieve by following formula (2)
P and y-axis angle thetay；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,For known receive transducer c,
D measurements receive the phase difference of signal, and λ is coefficient.
Second calculation processing unit 111-3, to the cos θ asked for according to the first calculation processing unitxWith cos θy, pass through
Following formula (3) try to achieve initial glancing angle θ0, initial glancing angle θ0To receive the incidence of the one section of sound ray reached near battle array depth
Angle.
Sound ray amending unit 112 includes delaminating units 112-1, the 3rd calculation processing unit 112-2, the 4th calculating processing list
First 112-3, error correction unit 112-4 and the 5th calculation processing unit 112-5.
Delaminating units 112-1 is connected with the 3rd calculation processing unit 112-2, to the velocity of sound for obtaining Sound speed profile instrument 2
Vertical depth of the profile from the water surface to transponder is divided into N layers at equal intervals, and every layer is that the constant velocity of sound is propagated.
3rd calculation processing unit 112-2 is connected with the 4th calculation processing unit 112-3, to according to delaminating units 112-
Every layer of the velocity of sound and depth ask for every layer of glancing angle and then obtain every layer of sound ray in 1, are specially：
The incidence angle at dielectric stratifying interface meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence
Angle θiSeek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,
1,2,...,N；
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor i-th layer of border
The glancing angle at place；
4th calculation processing unit 112-3 is connected with error correction unit 112-4, to according to following equation (7), (8)
(9) the Δ R sought out to the 3rd calculation processing unit 112-2i、ΔtiWith Δ xiSound ray total kilometres R and sound ray are sought out respectively
One-way time t and level are always apart from X.
Error correction unit 112-4 is connected with the 5th calculation processing unit 112-5, the θ to ask for meeting error precisionj
(N of j=0,1,2 ...), be specially：(θ is carried out using a correction value Δ θ0+ Δ θ) or (θ0- Δ θ) computing, by result according to
It is secondary to substitute into the glancing angle that formula (4) calculates each layer again, each layer of glancing angle sought out is then substituted into formula (9) again and counted
Time t is calculated, is then subtracted each other with the total time t ' that measures, and is compared with threshold value Δ t, t-t'≤Δ t is such as met, then passes through
5th calculation processing unit carries out next step calculating, is unsatisfactory for would be repeated for error correction (i.e. one correction value Δ θ of recycling
Be modified) always circulation go on, until meet require.
5th calculation processing unit 112-5, the θ for meeting error precision that error correction unit is obtainedj(j=0,1,
2 ... N) substitute into formula (8) and (10) and calculate level always apart from X and sound ray total kilometres R, that is, obtain ultra-short baseline gust under water
The coordinate information of transponder.
Fig. 6 is the emulation schematic diagram of the sound ray amendment based on underwater sound ultra short baseline locating system of the embodiment of the present invention.
As shown in fig. 6, the orientation for being in the cross mark above analogous diagram in rectangular wire frame, above analogous diagram
Multiple points in wire frame are to aid in the revised emulation anchor point of sound ray, the strip of analogous diagram lower right one in Sound speed profile instrument
To aid in sound ray positioning result in no Sound speed profile instrument, it can be seen that being obtained after sound ray amendment of the embodiment of the present invention
Positioning result be more nearly real goal than uncorrected positioning result.
Fig. 7 is the close-up schematic view in rectangular wire frame in Fig. 6.
As shown in fig. 7, cross mark is in figure, each point is resulting after sound ray amendment of the present invention
Simulated point, it can thus be seen that simulated point is all beated near true point, resulting simulated point abscissa is basic after amendment exists
In the range of 4 meters of error, depth is in the range of 2 meters, and more traditional bulk sound velocity algorithm greatly improves range accuracy.
To sum up, submarine temperatures, depth information of the present invention according to ultra-short baseline positioning principle and ultra-short baseline device measuring,
And the sound velocity in seawater section of actual measurement is combined, propose a kind of suitable for ultra-short baseline acoustic positioning system sound ray correction algorithm.This hair
The bright delay inequality and phase difference estimation value measured according to the three-dimensional ultra-short baseline battle array of quaternary, and the method added using adaptive layered
It is iterated and obtains each test point relative to surveying vessel coordinate.More traditional bulk sound velocity algorithm greatly improves range accuracy, effectively
Sound ray curve propagation path in complex environment under water is have modified, the undersea ranging and positioning of ultra short baseline locating system is improved
Precision.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (10)
1. a kind of sound ray modification method based on underwater sound ultra short baseline locating system, it is characterised in that the underwater sound ultra-short baseline
Alignment system includes deck unit, four receive transducer a, b, c, the d structures installed in surveying vessel bottom being arranged on surveying vessel
Into the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross with horizontal aperture d and vertical aperture h and lay to be positioned under water
Transponder, the described method comprises the following steps：
1) initial glancing angle θ is obtained by the three-dimensional underwater sound ultra short baseline locating system of the quaternary cross0；
2) sound velocity profile is measured by Sound speed profile instrument；
3) by the three-dimensional underwater sound ultra short baseline locating system of the quaternary cross according to step 1) initial glancing angle θ0In step 2)
By the additional sound ray amendment iteration of layer to obtain coordinate of each test point relative to surveying vessel on the basis of middle sound velocity profile.
2. a kind of sound ray modification method based on underwater sound ultra short baseline locating system according to claim 1, its feature exists
In the step 1) specifically include：Carry out array signal processing to measure by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross
The delay inequality arrived between the baseline battle array of answer signal arrival under water, and initial glancing angle θ is obtained according to delay inequality by deck unit0。
3. a kind of sound ray modification method based on underwater sound ultra short baseline locating system according to claim 1, its feature exists
In the step 1) specifically include：Carry out array signal processing to measure by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross
The phase difference arrived between the baseline battle array of answer signal arrival under water, and initial glancing angle θ is obtained according to phase difference by deck unit0。
4. a kind of sound ray modification method based on underwater sound ultra short baseline locating system according to claim 3, its feature exists
In the step 1) the initial glancing angle θ of ARRAY PROCESSING acquisition is carried out according to phase difference0Specifically include following steps：
1.1) with receive transducer a, b makees as x-axis, a, b lines central point as origin of coordinates O, O point depth below h directions
For z-axis, z-axis and receive transducer c, d line intersects at O ', y-axis be with receive transducer c, d line is parallel and and x-axis
Origin of coordinates O is intersected at, then transponder P coordinate is (x, y, z), receive transducer a coordinates areReception is changed
Can device b coordinates beReceive transducer c coordinates areReceive transducer d coordinates are
1.2) according to step 1.1) in coordinate, the angle theta between OP and x-axis is tried to achieve by following formula (1)x, pass through following public affairs
Formula (2) tries to achieve the angle theta of O ' P and y-axisy；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,Measured for known receive transducer c, d
The phase difference of signal is received, λ is coefficient.
1.3) according to step 1.2) in the cos θ that ask forxWith cos θy, initial glancing angle θ is tried to achieve by following formula (3)0, it is described
Initial glancing angle θ0For the incidence angle of the one section of sound ray reached near basic matrix depth.
<mrow>
<msub>
<mi>cos&theta;</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msub>
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<mi>x</mi>
</msub>
<mo>+</mo>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msub>
<mi>&theta;</mi>
<mi>y</mi>
</msub>
</mrow>
</msqrt>
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<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
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<mo>)</mo>
</mrow>
</mrow>
5. a kind of sound ray modification method based on underwater sound ultra short baseline locating system according to claim 1, its feature exists
In the step 3) specifically include following steps：
3.1) by step 2) vertical depth of the sound velocity profile from the water surface to transponder that obtains be divided into N layers at equal intervals, and every layer is
The constant velocity of sound is propagated；
3.2) every layer of glancing angle is asked for according to every layer of velocity of sound and depth and then obtains every layer of sound ray, be specially：
The incidence angle at dielectric stratifying interface meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence angle θi
Seek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,1,
2,...,N；
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<mi>c</mi>
<mi>i</mi>
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<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
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<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
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<mi>i</mi>
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<mfrac>
<mrow>
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<mi>&Delta;Z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>tan&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor plunderring for i-th layer of boundary
Firing angle；
3.3) the Δ R sought out according to following equation (7), (8) and (9) to step 3.2i、ΔtiWith Δ xiSound ray is sought out respectively
Total kilometres R and sound ray one-way time t and level are always apart from X；
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<mi>R</mi>
<mo>=</mo>
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<mrow>
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<mo>-</mo>
<mn>1</mn>
</mrow>
</munderover>
<mfrac>
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<mi>&Delta;z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
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<mo>(</mo>
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</mrow>
</munderover>
<mfrac>
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</msub>
</mrow>
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<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
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</mrow>
</munderover>
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<mrow>
<msub>
<mi>&Delta;z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>tan&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
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</mrow>
</mrow>
3.4) ask for meeting the θ of error precisionj(N of j=0,1,2 ...), be specially：(θ is carried out using a correction value Δ θ0+Δ
θ) or (θ0- Δ θ) computing, result is substituted into formula (4) and (9) successively, the time t calculated and total time t ' for measuring are carried out
Subtract each other, and compared with threshold value Δ t, such as meet t-t'≤Δ t, then perform step 3.5), be unsatisfactory for step 3.4) circulate always
Go on, required until meeting；
3.5) by step 3.4) that obtains meets the θ of error precisionj(N of j=0,1,2 ...) substitutes into formula (8) and (10) and calculated
Level always apart from X and sound ray total kilometres R, that is, obtains the coordinate information of transponder under water.
6. a kind of sound ray update the system based on underwater sound ultra short baseline locating system, it is characterised in that including underwater sound ultra-short baseline
Alignment system and velocity of sound section plotter, the underwater sound ultra short baseline locating system include deck unit, the peace being arranged on surveying vessel
Four receive transducer a mounted in surveying vessel bottom, b, c, the quaternary cross with horizontal aperture d and vertical aperture h that d is constituted is stood
Body underwater sound ultra-short baseline battle array and transponder to be positioned under water is laid, the deck unit asks for unit including initial glancing angle
With sound ray amending unit；
The Sound speed profile instrument, to measure sound velocity profile；
The initial glancing angle asks for unit, to obtain initial glancing angle θ0；
The sound ray amending unit, to according to initial glancing angle θ0Lead on the basis of the sound velocity profile that Sound speed profile instrument is measured
The additional sound ray amendment iteration of layer is crossed to obtain coordinate of each test point relative to surveying vessel.
7. a kind of sound ray update the system based on underwater sound ultra short baseline locating system according to claim 6, its feature exists
In the initial glancing angle asks for the delay inequality for the answer signal arrival transducer baseline battle array that unit is sent according to transponder under water
Obtain initial glancing angle θ0, the delay inequality carries out array signal processing by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross and obtains.
8. a kind of sound ray update the system based on underwater sound ultra short baseline locating system according to claim 6, its feature exists
In the initial glancing angle asks for the phase difference for the answer signal arrival transducer baseline battle array that unit is sent according to transponder under water
Obtain initial glancing angle θ0, the phase difference carries out array signal processing by the three-dimensional underwater sound ultra-short baseline battle array of quaternary cross and obtains.
9. a kind of sound ray update the system based on underwater sound ultra short baseline locating system according to claim 8, its feature exists
In the initial glancing angle, which asks for unit, to be included：
Coordinate system determining unit, to by receive transducer a, b is used as origin of coordinates O, O points as x-axis, a, b lines central point
Depth below h directions are as z-axis, and z-axis and receive transducer c, d line intersects at O ', y-axis be with receive transducer c, d's
Line is parallel and intersects at origin of coordinates O with x-axis, then transponder P coordinate is (x, y, z), and receive transducer a coordinates areReceive transducer b coordinates areReceive transducer c coordinates areReception is changed
Can device d coordinates be
First calculation processing unit, to each point coordinates confirmed according to coordinate system determining unit, is tried to achieve by following formula (1)
Angle theta between OP and x-axisx, the angle theta of O ' P and y-axis is tried to achieve by following formula (2)y；
Wherein,For known receive transducer a, b measurements receive the phase difference of signal,Surveyed for known receive transducer c, d
Amount receives the phase difference of signal, and λ is coefficient.
Second calculation processing unit, to the cos θ asked for according to the first calculation processing unitxWith cos θy, pass through following formula
(3) initial glancing angle θ is tried to achieve0, the initial glancing angle θ0To receive the incidence angle of the one section of sound ray reached near battle array depth.
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<msub>
<mi>cos&theta;</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msub>
<mi>&theta;</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msup>
<mi>cos</mi>
<mn>2</mn>
</msup>
<msub>
<mi>&theta;</mi>
<mi>y</mi>
</msub>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
10. a kind of sound ray update the system based on underwater sound ultra short baseline locating system according to claim 8, its feature exists
In the sound ray amending unit includes：
Delaminating units, divide at equal intervals to the vertical depth of the sound velocity profile that obtains Sound speed profile instrument from the water surface to transponder
For N layers, every layer is that the constant velocity of sound is propagated；
3rd calculation processing unit, asks for every layer of glancing angle to the velocity of sound and depth according to every layer in delaminating units and then obtains
Every layer of sound ray is taken, is specially：
The incidence angle at dielectric stratifying interface meets Snell theorems with the velocity of sound, and every layer of glancing angle is asked for by formula (4)；
By following equation (5) and formula (6) according to every layer of velocity of sound ci, every layer of depth value Δ ziWith every layer of incidence angle θi
Seek out each layer of the long Δ R of sound rayi, each layer of transmission time Δ tiWith each layer of horizontal range Δ xi, i=0,1,
2,...,N；
<mrow>
<msub>
<mi>&Delta;R</mi>
<mi>i</mi>
</msub>
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<mfrac>
<mrow>
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<mi>&Delta;z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
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</mrow>
</mrow>
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</msub>
<mo>=</mo>
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<mi>&Delta;R</mi>
<mi>i</mi>
</msub>
</mrow>
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<mi>c</mi>
<mi>i</mi>
</msub>
</mfrac>
<mo>=</mo>
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<msub>
<mi>&Delta;Z</mi>
<mi>i</mi>
</msub>
</mrow>
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<msub>
<mi>c</mi>
<mi>i</mi>
</msub>
<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
3
<mrow>
<msub>
<mi>&Delta;x</mi>
<mi>i</mi>
</msub>
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<mi>i</mi>
</msub>
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<mi>tan&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein：c0And θ0To originate the velocity of sound and glancing angle of starting layer, ciFor the velocity of sound at i-th layer, θiFor plunderring for i-th layer of boundary
Firing angle；
4th calculation processing unit, to the Δ sought out according to following equation (7), (8) and (9) to the 3rd calculation processing unit
Ri、ΔtiWith Δ xiSound ray total kilometres R and sound ray one-way time t and level are sought out respectively always apart from X；
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</mrow>
</munderover>
<mfrac>
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<msub>
<mi>&Delta;z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>sin&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
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<mo>(</mo>
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</mrow>
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<mn>1</mn>
</mrow>
</munderover>
<mfrac>
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</msub>
</mrow>
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</msub>
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<mi>i</mi>
</msub>
</mrow>
</mfrac>
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</mrow>
<mrow>
<mi>N</mi>
<mo>-</mo>
<mn>1</mn>
</mrow>
</munderover>
<mfrac>
<mrow>
<msub>
<mi>&Delta;z</mi>
<mi>i</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>tan&theta;</mi>
<mi>i</mi>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mrow>
Error correction unit, the θ to ask for meeting error precisionj(N of j=0,1,2 ...), be specially：Utilize a correction value
Δ θ carries out (θ0+ Δ θ) or (θ0- Δ θ) computing, result is substituted into formula (4) and (9) successively, the time t that calculates and measured
Total time, t ' was subtracted each other, and was compared with threshold value Δ t, such as met t-t'≤Δ t, then under being carried out by the 5th calculation processing unit
One step is calculated, and is unsatisfactory for would be repeated for error correction, is required until meeting；
5th calculation processing unit, the θ for meeting error precision that error correction unit is obtainedj(N of j=0,1,2 ...) substitutes into public
Formula (8) and (10) calculate level always apart from X and sound ray total kilometres R, that is, obtain the coordinate information of transponder under water.
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| CN109490835A (en) * | 2018-12-26 | 2019-03-19 | 江苏中海达海洋信息技术有限公司 | A kind of pond calibration method of ultra-short baseline acoustic positioning system systematic error |
| CN109856598A (en) * | 2019-02-26 | 2019-06-07 | 黑龙江迈普斯企业管理中心(有限合伙) | A kind of new super-short baseline positioning system and method |
| CN110261824A (en) * | 2019-07-15 | 2019-09-20 | 交通运输部天津水运工程科学研究所 | A kind of ultra-short baseline calibration system and scaling method based on multi-beacon |
| CN110346783A (en) * | 2019-06-19 | 2019-10-18 | 东南大学 | Sound ray modification method based on the equivalent ranging model of power series |
| CN110632347A (en) * | 2018-06-22 | 2019-12-31 | 中国计量大学 | Novel four-beam ADCP (acoustic Doppler Current profiler) small-sized calibration device |
| CN111025302A (en) * | 2019-12-20 | 2020-04-17 | 中国船舶重工集团公司七五0试验场 | Intelligent shipborne underwater sound positioning device, system and method |
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