CN107741588B - High-efficient self-adaptation aperture side scan sonar - Google Patents
High-efficient self-adaptation aperture side scan sonar Download PDFInfo
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- CN107741588B CN107741588B CN201711147106.4A CN201711147106A CN107741588B CN 107741588 B CN107741588 B CN 107741588B CN 201711147106 A CN201711147106 A CN 201711147106A CN 107741588 B CN107741588 B CN 107741588B
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- cabin
- sonar
- motion information
- sealing baffle
- data source
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
- G01S15/8904—Side-looking sonar using synthetic aperture techniques
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a high-efficiency self-adaptive aperture side scan sonar which comprises a head air guide sleeve, a front cabin, a rear cabin and a tail shell; the front end of the front cabin is provided with a head air guide sleeve, and the front end and the rear end of the rear cabin are respectively in sealing threaded connection through a sealing baffle I and a sealing baffle II; the rear end of the front cabin is in threaded connection with the sealing baffle I; the rear end of the sealing baffle II is in threaded connection with the tail shell, and a dragging frame and a dragging plate are arranged on the front cabin and the rear cabin; a transmitting array and a receiving array are arranged in the front cabin; an electronic cabin is arranged in the rear cabin, and a transmitter, a receiver, a power module and a motion information fusion module are arranged in the electronic cabin; the invention adopts a motion information fusion module to fusion process the motion information of various data sources and output unique high-precision motion information; the problems that the resolution of the track upwards in the side-scan sonar is poor at a distance from the sonar and the speed of the ship used in the contract aperture sonar is low are solved by integrating various speed input interfaces and communication protocol interfaces.
Description
Technical Field
The invention relates to the technical field of ocean exploration engineering equipment, in particular to a high-efficiency self-adaptive aperture side-scan sonar.
Background
With the deep development of ocean technology, ocean economies, awareness and development of the ocean has spread throughout various areas of the ocean, with increasing demands on the ability to probe equipment, one of the most important demands.
The current mainstream side-scan sonar is a signal processor which installs a sonar array on the side of a carrier platform (usually a towed body or UUV), and when in operation, the sonar array transmits sound waves to the side lower side and receives the reflected sound waves, and the sound waves are collected, AD converted and filtered and then uploaded to a main control end. And (3) performing image reconstruction processing on a signal processor to obtain submarine topography strip images on the left side and the right side of the sonar.
One disadvantage of side-scan sonar is that its resolution along the track is proportional to the target distance, with greater values for resolution, i.e., poorer resolution, the farther the target distance is. To solve this problem, synthetic aperture sonar was developed.
The synthetic aperture sonar is a key index that a small aperture matrix is utilized to form a virtual large aperture along the movement of a track direction, and constant line resolution in the track direction is obtained by carrying out coherent processing on echo data, so that the imaging resolution is greatly improved.
Synthetic aperture sonar in order to avoid azimuth ambiguity during imaging, it is required that the sonar advance distance in a single pulse-emission cycle cannot exceed half the array length. This greatly limits the speed of operation and thus the detection efficiency of the sonar device.
Disclosure of Invention
In order to solve the technical problems, the invention provides the high-efficiency self-adaptive aperture side scan sonar, aiming at the defects in the prior art, a motion information fusion module is arranged in an electronic cabin and used as a middleware between a motion sensor data source and a sonar receiver, and after the motion information of a plurality of data sources is transmitted to the motion information fusion module, the motion information is fused by a motion information processing module and then is output to the receiver; the problem that the resolution of the track at a far distance upwards in the side-scan sonar is poor is solved, and the speed of the track used in the contract aperture sonar is low.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a high-efficient self-adaptation aperture side scan sonar, includes head kuppe, front deck, back cabin, tail shell, its characterized in that:
the front cabin is provided with a head guide cover by coaxial clamping screw connection of the front end of the matrix mounting cylinder, and the rear cabin is in clamping seal screw connection by the front end and the rear end of the sealing column shell respectively through a sealing baffle I, a sealing baffle II and an O-shaped sealing ring; the rear end of the matrix installation cylinder of the front cabin is in clamping and threaded connection with the sealing baffle I; the rear end of the sealing baffle II is coaxially clamped and screwed with the tail shell, a dragging frame is fixedly arranged above the front cabin and the rear cabin, and a dragging plate is assembled on the dragging frame; a transmitting array and a receiving array are arranged in the front-rear direction in the front cabin; an electronic cabin is fixedly arranged in the rear cabin through a framework, and a transmitter, a receiver, a power module and a motion information fusion module are arranged in the electronic cabin;
the motion information fusion module is configured between the motion sensor data source and the receiver, a plurality of communication protocol interfaces are integrated in the motion information fusion module, and universal motion data protocol decoding software and programmable motion sensor decoding software are configured in the motion information fusion module and used for outputting unique high-precision motion information to the receiver after the motion information fusion processing of the plurality of data sources.
The receiver is characterized by comprising a plurality of navigational speed input interfaces integrated on the receiver, wherein the navigational speed input interfaces comprise a GPS satellite navigation data source, a Beidou satellite navigation data source, an inertial navigation data source and a Doppler log data source.
The communication protocol interface comprises a serial port, an Ethernet port and a CAN port.
The section of the front cabin and the section of the rear cabin are mutually equal-diameter coaxial matched.
The tail shell is provided with a vertical tail wing and a horizontal tail wing, and the rear end of the tail shell is provided with a tail wing baffle.
The front cabin and the rear cabin are mutually and electrically connected through watertight cables and sonar watertight sockets; and a towing rope watertight socket is arranged in the center of the rear end of the rear cabin.
The working principle of the invention is as follows: the interfaces of various communication protocols are configured on hardware, including serial ports, ethernet ports, CAN ports and the like, so that the requirements of the interfaces of the motion sensors which are commonly used at present are met; the software is written with a general motion data protocol analysis code, and a programmable device is used, so that the analysis requirement of any motion sensor data can be realized by identifying data identification and distinguishing data sources according to the protocol requirements of different motion sensors. Therefore, the sonar system integrates the interfaces of various protocols, such as interfaces of various navigation speed data sources including a GPS satellite navigation data source, a Beidou satellite navigation data source, an inertial navigation data source, a Doppler log data source and the like, and the sonar can receive the data in real time and extract the navigation speed information in the data, so that the compatibility of the sonar is improved, and the application range of the sonar is widened; in addition, in the signal processing process, when various motion information data sources exist, the Kalman filtering technology can be utilized to fuse the navigational speed information of the multiple motion information sources, so that navigational speed information with higher accuracy and precision can be obtained. Performing adaptive aperture processing on echo data by using the navigational speed information, and performing Kalman filtering processing on the real-time navigational speed information to obtain a relatively smooth navigational speed change condition; when the navigational speed exceeds a set threshold, the sonar works in a real aperture mode, and when the navigational speed is lower than the set threshold, the sonar works in a synthetic aperture mode; the invention can make up for the deficiency of the resolution of the side-scan sonar and the deficiency of the navigational speed and the detection efficiency of the synthetic aperture sonar; therefore, the sonar system has better adaptability, the application range of detection tasks is wider on one hand, and the applicable carrier platforms are more on the other hand.
Through the technical scheme, the beneficial effects of the technical scheme are as follows: the electronic cabin is internally provided with a motion information fusion module which is used as a middleware between a motion sensor data source and a sonar receiver, and after the motion information of a plurality of data sources is transmitted to the motion information fusion module, the motion information is fused by a motion information processing module and then is output to the receiver; the navigation speed input interface integrating multiple protocols comprises interfaces of multiple navigation speed data sources such as a GPS satellite navigation data source, a Beidou satellite navigation data source, an inertial navigation data source, a Doppler log data source and the like, and the sonar can receive the data in real time and extract navigation speed information in the data, so that the compatibility of the sonar is improved, and the application range of the sonar is widened; performing adaptive aperture processing on echo data by using the navigational speed information, and performing Kalman filtering processing on the real-time navigational speed information to obtain a relatively smooth navigational speed change condition; when the navigational speed exceeds a set threshold, the sonar works in a real aperture mode, and when the navigational speed is lower than the set threshold, the sonar works in a synthetic aperture mode; the problems of insufficient resolution of the side-scan sonar, and insufficient navigational speed and detection efficiency of the synthetic aperture sonar are solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a main cross-sectional view of a high-efficiency adaptive aperture side-scan sonar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a left view of a high-efficiency adaptive aperture side-scan sonar according to an embodiment of the present invention;
fig. 3 is an enlarged schematic diagram of a section of a high-efficiency adaptive aperture side scan sonar electronic cabin according to an embodiment of the present invention.
Corresponding part names are indicated by numerals and letters in the drawings:
1. head dome 2, array mounting cylinder 3, transmitting array 4, receiving array
5. Drag frame 6. Electronic cabin 7. Drag plate 8. Tail shell
9. Vertical tail 10, tail baffle 11, horizontal tail 12, sonar watertight socket
13. Sealing baffle I14, transmitter 15, sealing column casing 16 and skeleton
17. Receiver 18, power module 19, sealing baffle II 20, towing watertight socket
21. Motion information fusion module
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to fig. 1, 2 and 3, the invention provides a high-efficiency self-adaptive aperture side scan sonar, which comprises a head air guide sleeve, a front cabin, a rear cabin and a tail shell.
The front cabin is provided with a head guide cover 1 by coaxial clamping screw connection at the front end of a matrix mounting cylinder 2, and the rear cabin is in clamping sealing screw connection by the front end and the rear end of a sealing column shell 15 respectively through a sealing baffle I13, a sealing baffle II 19 and an O-shaped sealing ring; the rear end of the matrix installation cylinder 2 of the front cabin is in clamping and screw connection with the sealing baffle I13; the rear end of the sealing baffle II 19 is coaxially clamped and screwed with the tail shell 8, a dragging frame 5 is fixedly arranged above the front cabin and the rear cabin, and a dragging plate 7 is assembled on the dragging frame 5; a transmitting array 3 and a receiving array 4 are arranged in the front-rear direction in the front cabin; an electronic cabin 6 is fixedly arranged in the rear cabin through a framework 16, and a transmitter 14, a receiver 17, a power module 18 and a motion information fusion module 21 are arranged in the electronic cabin 6;
the motion information fusion module 21 is configured between the motion sensor data source and the receiver 17, and the motion information fusion module 21 is integrated with multiple communication protocol interfaces, and is configured with general motion data protocol decoding software and programmable motion sensor decoding software, and is configured to fuse the motion information of multiple data sources and output unique high-precision motion information to the receiver 17.
The receiver 17 is provided with a plurality of navigational speed input interfaces, wherein the navigational speed input interfaces comprise a GPS satellite navigation data source, a Beidou satellite navigation data source, an inertial navigation data source and a Doppler log data source.
The communication protocol interface comprises a serial port, an Ethernet port and a CAN port.
The section of the front cabin and the section of the rear cabin are mutually equal-diameter coaxial matched.
The tail shell 8 is provided with a vertical tail 9 and a horizontal tail 11, and the rear end of the tail shell 8 is provided with a tail baffle 10.
The front cabin and the rear cabin are mutually and electrically connected through watertight cables and sonar watertight sockets 12; the rear center of the rear compartment is provided with a streamer watertight socket 20.
The specific implementation operation steps of the invention are as follows: the electronic capsule 6 is assembled as a whole: the sonar watertight socket 12 is installed on the sealing baffle I13 through threads and fixed, meanwhile, the towing watertight socket 20 is installed on the sealing baffle II 19 through threads and fixed, then the framework 16 is installed on the sealing baffle I13 through screws, then the receiver 17, the transmitter 14 and the power module 18 are installed on the framework 16 according to the installation, after cables are connected, the O-shaped sealing ring is placed in the groove of the sealing baffle I13 and then inserted into the sealing column casing 15 for internal fixation, and finally the O-shaped sealing ring is placed in the groove of the sealing baffle II 19 and then inserted into the sealing column casing 15 for internal fixation. The electronic compartment 6 is thus assembled.
The transmitting array 3 and the receiving array 4 on the left side and the right side are mounted on the array mounting cylinder 2 through screws, after cables between the transmitting array 3, the receiving array 4 and the sonar watertight socket 12 on the sealing baffle I13 are connected, the array mounting cylinder 2 is inserted into the sealing baffle I13 on the electronic cabin 6 to be fixed, and the head dome 1 is mounted in the array mounting cylinder 2.
After the towing cable is connected with the towing cable watertight socket 20 on the sealing baffle II 19, the tail shell 8 is inserted into the sealing baffle II 19 to be fixed, then the vertical tail 9 and the horizontal tail 11 are sequentially inserted into corresponding clamping grooves on the tail shell 8, the tail baffle 10 is mounted on the tail shell 8 by adopting screws, and the vertical tail 9 and the horizontal tail 11 are fixed on the tail shell 8. The towing bracket 5 is then mounted on the back of the matrix mounting cylinder 2 and the sealing column housing 15 with screws, and finally the towing plate 7 is fixed in the mounting groove of the towing bracket 5 with screws. So far, the self-adaptive aperture side scan sonar is installed, and the detection task can be completed by dragging the towing cable.
Through the specific embodiment, the beneficial effects of the invention are as follows: the electronic cabin is internally provided with a motion information fusion module which is used as a middleware between a motion sensor data source and a sonar receiver, and after the motion information of a plurality of data sources is transmitted to the motion information fusion module, the motion information is fused by a motion information processing module and then is output to the receiver; the navigation speed input interface integrating multiple protocols comprises interfaces of multiple navigation speed data sources such as a GPS satellite navigation data source, a Beidou satellite navigation data source, an inertial navigation data source, a Doppler log data source and the like, and the sonar can receive the data in real time and extract navigation speed information in the data, so that the compatibility of the sonar is improved, and the application range of the sonar is widened; performing adaptive aperture processing on echo data by using the navigational speed information, and performing Kalman filtering processing on the real-time navigational speed information to obtain a relatively smooth navigational speed change condition; when the navigational speed exceeds a set threshold, the sonar works in a real aperture mode, and when the navigational speed is lower than the set threshold, the sonar works in a synthetic aperture mode; the problems of insufficient resolution of the side-scan sonar, and insufficient navigational speed and detection efficiency of the synthetic aperture sonar are solved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The high-efficiency self-adaptive aperture side scan sonar is characterized by comprising a head air guide sleeve, a front cabin, a rear cabin and a tail shell; the front cabin is provided with a head guide cover by coaxial clamping screw connection of the front end of the matrix mounting cylinder, and the rear cabin is in clamping seal screw connection by the front end and the rear end of the sealing column shell respectively through a sealing baffle I, a sealing baffle II and an O-shaped sealing ring; the rear end of the matrix installation cylinder of the front cabin is in clamping and threaded connection with the sealing baffle I; the rear end of the sealing baffle II is coaxially clamped and screwed with the tail shell, a dragging frame is fixedly arranged above the front cabin and the rear cabin, and a dragging plate is assembled on the dragging frame; a transmitting array and a receiving array are arranged in the front-rear direction in the front cabin; an electronic cabin is fixedly arranged in the rear cabin through a framework, and a transmitter, a receiver, a power module and a motion information fusion module are arranged in the electronic cabin;
the motion information fusion module is configured between the motion sensor data source and the receiver, a plurality of communication protocol interfaces are integrated in the motion information fusion module, and universal motion data protocol decoding software and programmable motion sensor decoding software are configured in the motion information fusion module and used for outputting unique high-precision navigational speed information to the receiver after the motion information fusion processing of the plurality of data sources.
2. The efficient adaptive aperture side scan sonar according to claim 1, wherein said motion information fusion module uses navigational speed information to perform adaptive aperture processing on echo data and performs kalman filter processing on real-time navigational speed information to obtain a relatively smooth navigational speed variation; when the speed exceeds the set threshold, the sonar operates in a real aperture mode, and when the speed is below the set threshold, the sonar operates in a synthetic aperture mode.
3. A high efficiency adaptive aperture side scan sonar according to claim 1, wherein said receiver has integrated thereon a plurality of navigational speed input interfaces including a GPS satellite navigation data source, a beidou satellite navigation data source, an inertial navigation data source, a doppler log data source.
4. The efficient adaptive aperture side scan sonar of claim 1, wherein said communication protocol interface comprises a serial port, an ethernet port, a CAN port; the section of the front cabin and the section of the rear cabin are coaxially matched with each other in an equal diameter manner; the tail shell is provided with a vertical tail wing and a horizontal tail wing, and the rear end of the tail shell is provided with a tail wing baffle; the front cabin and the rear cabin are mutually and electrically connected through watertight cables and sonar watertight sockets; and a towing rope watertight socket is arranged in the center of the rear end of the rear cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711147106.4A CN107741588B (en) | 2017-11-17 | 2017-11-17 | High-efficient self-adaptation aperture side scan sonar |
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| CN201711147106.4A CN107741588B (en) | 2017-11-17 | 2017-11-17 | High-efficient self-adaptation aperture side scan sonar |
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| CN107741588A CN107741588A (en) | 2018-02-27 |
| CN107741588B true CN107741588B (en) | 2023-09-08 |
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| CN201711147106.4A Active CN107741588B (en) | 2017-11-17 | 2017-11-17 | High-efficient self-adaptation aperture side scan sonar |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108845326A (en) * | 2018-07-02 | 2018-11-20 | 中科探海(苏州)海洋科技有限责任公司 | One kind is lower depending on integrating underwater panorama three-dimensional imaging sonar with side view |
| CN113777613A (en) * | 2021-08-20 | 2021-12-10 | 宁波博海深衡科技有限公司 | Three-dimensional side-scan sonar system and equipment |
| CN113702957B (en) * | 2021-08-27 | 2024-04-16 | 海南水声技术有限公司 | Ultra-wideband high-resolution single-beam side-scan sonar easy to install and application method thereof |
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