CN108549053A - A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled - Google Patents
A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled Download PDFInfo
- Publication number
- CN108549053A CN108549053A CN201810215548.6A CN201810215548A CN108549053A CN 108549053 A CN108549053 A CN 108549053A CN 201810215548 A CN201810215548 A CN 201810215548A CN 108549053 A CN108549053 A CN 108549053A
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- CN
- China
- Prior art keywords
- big dipper
- hydrolocation
- hardware system
- acoustic marker
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides the multi signal system hydrolocation beacon systems that a kind of Big Dipper is synchronous and is remotely controlled, it is made of acoustic marker host electron hardware system and ancillary equipment hardware system, ancillary equipment hardware system includes testing stand and boat-carrying control terminal, battery charger and Big Dipper communication module unit, acoustic marker host electron hardware system uses modularized design, including universal synchronous acoustical signal generation unit, the Big Dipper communicates time service module, wide-band transducer transmitter unit, power supply unit, dual pressure sensor unit, the acoustic marker host electron hardware system is connect with testing stand and boat-carrying control terminal with battery charger respectively by two sets of underwater electrical connectors, beneficial effects of the present invention are：It can arbitrarily be set in the frequency range of setting, for signal form by single CW systems, it is optional to be changed to CW, LFM, increases practicability；It can complete the control of acoustic marker open and close machine, the export of acoustic marker parameter setting, data, detection and relevant information display function.
Description
Technical field
The present invention relates to the multi signal systems that hydrolocation field of navigation technology more particularly to a kind of Big Dipper are synchronous and are remotely controlled
Hydrolocation beacon system.
Background technology
The acoustic positioning system for being presently used for positioning to submarine target mainly has cooperative and non-cooperative, the Big Dipper to synchronize
And more system signal hydrolocation beacon systems of remote control provide cooperation sound source for cooperative acoustic positioning system.In recent years, with
To underwater sound equipment require it is higher and higher, multi signal system acoustic positioning system is more and more used.And existing general sound
Beacon signal system is single, cannot be satisfied the measurement demand of multi signal system acoustic positioning system, while general acoustic marker uses
GPS module is united time service when completing, and usage time pre-programmed strategy completes operating mode switching, and one is set marine can not when using
Change switching, it is therefore desirable to repair transformation by Big Dipper communication time service module, and extend remote parameter setting and cut with state
Change function.
Invention content
The present invention provides the multi signal system hydrolocation beacon systems that a kind of Big Dipper is synchronous and is remotely controlled, and can be arranged
Frequency range in arbitrarily set, for signal form by single CW systems, it is optional to be changed to CW, LFM, increases practicability；System is same
Step clock synchronization is changed to dipper system by GPS system, and running parameter sets mode reformation, increases using north under the premise of retaining pre-programmed
Struggle against module remote control realize running parameter setting, can complete the control of acoustic marker open and close machine, acoustic marker parameter setting, data export,
Detection and relevant information display function.
In order to solve the above technical problems, the embodiment of the present application provides the multi signal system water that a kind of Big Dipper is synchronous and is remotely controlled
Acoustic fix ranging beacon system is made of acoustic marker host electron hardware system and ancillary equipment hardware system, the ancillary equipment
Hardware system includes testing stand and boat-carrying control terminal, battery charger and Big Dipper communication module unit, the acoustic marker main body
Electronic hardware system uses modularized design, including universal synchronous acoustical signal generation unit, the Big Dipper communication time service module, broadband are changed
Energy device transmitter unit, power supply unit, dual pressure sensor unit, the acoustic marker host electron hardware system pass through two
Set underwater electrical connector is connect with testing stand and boat-carrying control terminal with battery charger respectively.
As the present invention a preferred technical solution, universal synchronous acoustical signal generation unit be integrated with main control module,
When system module, signal generator module and plurality of voltages convert dispensing module.
As the preferred technical solution of the present invention, Big Dipper communication time service module is positioned using big-dipper satellite
System short message function（RDSS）Long-range host computer instruction issuing remote control is completed, is awarded using big-dipper satellite alignment system passive location
Shi Gongneng（RNSS）Complete automatic synchronization timing function.
As the preferred technical solution of the present invention, the wide-band transducer transmitter unit uses and is decorated ring structure
Column type energy converter, three of them column construction energy converter sulfide, and integral diameter is consistent after vulcanization, be in mechanical structure for
Independent 1 set of energy converter.
As the preferred technical solution of the present invention, the power supply unit is lithium battery, light current battery pack
（+50V）Power supply is respectively converted into ﹢ 3.7V2A, ﹢ 5V2A, ﹢ through solid-state relay circuit output to high-voltage switch gear power circuit
5V3A adds up to 3 channels, is supplied respectively to light current circuit board, pressure sensor and power amplifier light current, Big Dipper communication locating module, wherein ﹢
5V2A, ﹢ 5V3A supply are controlled either on or off by main control singlechip；﹢ 3.7V2A are automatically opened after the power is turned in beacon system, not by it
His circuit control.
As the preferred technical solution of the present invention, the dual pressure sensor unit uses large and small two amounts
Stroke pressure sensor parallel uses, and sensors of large measurement range is responsible for gamut pressure acquisition, and small-range pressure sensor is used for thresholding
Setting, dual pressure sensor complete data fusion using software algorithm and make breakdown judge, with improve system total accuracy of sounding with can
By property.
As the preferred technical solution of the present invention, the testing stand tablet in the testing stand and boat-carrying control terminal
Computer is connect by underwater electrical connector with acoustic marker host electron hardware system through USB-RS422 bus converters, testing stand
Computer is realized by local upper computer software to the local control of beacon, parameter setting, assignment file download, pressure/daily record
The control computer of file abstraction function, boat-carrying control terminal ship is passed through USB-RS422 bus converters connection GNB2A12 Big Dipper numbers
Terminal is remotely connect through Big Dipper RDSS serving satellites with acoustic marker host electron hardware system, and GNB2A12 Big Dipper data transmission terminals make
Function of supplying power is completed with external 19V3A power supply adaptors.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
It can arbitrarily be set in the frequency range of setting, for signal form by single CW systems, it is optional to be changed to CW, LFM, increases reality
The property used；System synchronization clock synchronization is changed to dipper system by GPS system, running parameter sets mode reformation, before retaining pre-programmed
It puts increase and running parameter setting is realized using big dipper module remote control, the control of acoustic marker open and close machine, acoustic marker parameter can be completed
Setting, data export, detection and relevant information display function.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, also
It can be obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram of the embodiment of the present application.
Specific implementation mode
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Figure 1, the multi signal system hydrolocation beacon system of a kind of synchronization of Big Dipper and remote control described in the present embodiment
System, is made of, the ancillary equipment hardware system includes acoustic marker host electron hardware system and ancillary equipment hardware system
Testing stand and boat-carrying control terminal, battery charger and Big Dipper communication module unit, the acoustic marker host electron hardware system
Using modularized design, including universal synchronous acoustical signal generation unit, the Big Dipper communication time service module, wide-band transducer transmitting list
Member, power supply unit, dual pressure sensor unit, the acoustic marker host electron hardware system are patched by two sets of watertights
Part is connect with testing stand and boat-carrying control terminal with battery charger respectively, completes manual switch machine, local parameter setting, system survey
The work such as examination checks, energy resource supply unit charges.
Wherein, in the present embodiment, universal synchronous acoustical signal generation unit be integrated with main control module, when system module, signal
Generation module and plurality of voltages convert dispensing module, and the main control singlechip minimum system of main control module includes STM32F405 monolithics
The active 8MHz crystal oscillators of machine, MAX811 electrification reset circuits, EPSON, the serial electric erasable flash storages of 128Mbit
The devices such as W25Q128FV, the element circuit upon power-up of the system, sustainable supply 3.3V low noise direct currents.Main control singlechip exists
Under dormant state, into low-power consumption standby pattern, to reduce system power consumption.Main control singlechip is general different using using respectively
Walk serial line interface 4/5（UART4/5）, system microcontroller, signal generate microcontroller when connection, complete parameter distribution and state control etc.
Function.Main control singlechip connects electric erasable flash storage chip using synchronous serial communication interface spi bus
W25Q128FV.The memory can save pressure sensor acquisition information, assignment file information, beacon work log, constant-temperature crystal oscillator
The volatile information of a variety of non-power-failures such as voltage-controlled voltage value.
Main control singlechip uses multiple independent universal input/output interfaces（GPIO）Coordinate load switch or controllable linear electricity
Source chip controls the power supply supply of this circuit each unit, power amplifier unit, pressure sensor, Big Dipper communication time service module respectively.In detail
Design is referring to " acoustical signal generation unit scheme of electric power " to the greatest extent.Under test mode, main control singlechip using timer internal TIM3,
TIM5, via the port PA0, PA1, PB4, pulse width, pulse period, the dipulse that system microcontroller generates when automatic measurement checks
The information such as the signal frequency that interval and signal microcontroller generate.
When system module single-chip minimum system include the devices such as STM32F405 microcontrollers, MAX811 electrification reset circuits.
The unit uses 3.3V direct current supplys, power supply supply to be controlled through " can turn off low noise linear power supply chip " by main control singlechip.
Upper electricity operation is completed under pending, transmitting, test mode in beacon system.It is set to reduce system power dissipation, reducing power supply unit
It counts complexity, extend the beacon system complete machine working time, this secondary design abandons original FPGA device, mono- using low-power consumption ARM
Piece machine completes the automatic time service of system, punctual and ranging depth measurement pulse systematic function.When system microcontroller use constant-temperature crystal oscillator as core
The clock source of piece, the chip power on simultaneously with constant-temperature crystal oscillator.All built-in peripheral hardwares of chip interior（Peripherals）, including it is fixed
When device operate on high stable clock reference.When system microcontroller can according to host computer instruct, time service correction as a result, passing through
Iic bus digital regulation resistance（MAX5481）Realize the voltage-controlled calibration function of constant-temperature crystal oscillator small range.
The single-chip minimum system of signal generator module include STM32F405 microcontrollers, MAX811 electrification reset circuits,
The devices such as the active 8MHz crystal oscillators of EPSON.The unit uses 3.3V direct current supplys, and power supply supply is by main control singlechip through that " can turn off
Low noise linear power supply chip " controls.Upper electricity operation is completed under pending, transmitting, test mode in beacon system.Signal produces
System microcontroller provides ranging, depth measurement pulse front edge when raw microcontroller foundation（LFM signals are without depth measurement pulse）, use DDS algorithm solutions
The sample digital signal for generating regulation system/parameter is calculated, the cooperation sample simulation is then emitted by DAC built in microcontroller outward
Signal.To ensure that the data integrity of transmitting signal, signal generate microcontroller and need to use direct memory access DMA（In chip
It sets）Complete forwarding work of the on piece memory to DAC data registers.DAC transmitting startings have been triggered by ranging, depth measurement pulse front edge
At output sampling frequency rate is fixed as 230KHz.
Plurality of voltages conversion dispensing module, which uses, exempts from transformer high-voltage power amplifier scheme gallium nitride（GaN）Power tube has work(
Rate capacity is high, parasitic capacitance is small, switching frequency is high, it is big to be fanned out to voltage, saturation conduction resistance is minimum, reliability is high etc. many has
Point is highly suitable for design high-frequency and high-voltage power amplifier, directly drives the higher piezoelectric ceramic transducer of impedance.The program takes
Power amplifier battery voltage is boosted to 450V using inversion step-up circuit, is then sent by the analogue transformer for the power amplifier rear class that disappeared
GaN high pressure full-bridges directly drive energy converter transmitting signal after LC low-pass filtering.
Wherein, in the present embodiment, Big Dipper communication time service module uses big-dipper satellite alignment system short message work(
Energy（RDSS）Long-range host computer instruction issuing remote control is completed, big-dipper satellite alignment system passive location timing function is used（RNSS）
Complete automatic synchronization timing function.
Wherein, in the present embodiment, the wide-band transducer transmitter unit uses and is decorated ring structure column type energy converter,
Three column construction energy converters sulfide, and integral diameter is consistent after vulcanization, are for independent 1 set of transducing in mechanical structure
Device.
Wherein, in the present embodiment, the power supply unit is lithium battery, light current battery pack（+50V）Power supply is through solid
State relay circuit is exported to high-voltage switch gear power circuit, is respectively converted into ﹢ 3.7V2A, ﹢ 5V2A, ﹢ 5V3A and is added up to 3 channels, point
Not Gong Gei light current circuit board, pressure sensor and power amplifier light current, the Big Dipper communicate locating module, wherein ﹢ 5V2A, ﹢ 5V3A supply by
Main control singlechip controls either on or off；﹢ 3.7V2A are automatically opened after the power is turned in beacon system, not by other circuit controls.
Wherein, in the present embodiment, the dual pressure sensor unit uses large and small two range pressure sensors simultaneously
Connection uses, and sensors of large measurement range is responsible for gamut pressure acquisition, and small-range pressure sensor is arranged for thresholding, double pressure sensings
Device completes data fusion using software algorithm and makees breakdown judge, to improve system total accuracy of sounding and reliability.
Wherein, in the present embodiment, the testing stand tablet computer in the testing stand and boat-carrying control terminal is through USB-
RS422 bus converters are connect by underwater electrical connector with acoustic marker host electron hardware system, and testing stand computer passes through this
Ground host computer software realization to the local control of beacon, parameter setting, assignment file download, pressure/journal file abstraction function,
The control computer of boat-carrying control terminal ship connects GNB2A12 Big Dipper data transmission terminals through USB-RS422 bus converters, through the Big Dipper
RDSS serving satellites are remotely connect with acoustic marker host electron hardware system, and GNB2A12 Big Dipper data transmission terminals use external 19V3A
Power supply adaptor completes function of supplying power.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to the technical essence of the invention
To any simple modification, equivalent change and modification made by above example, in the range of still falling within technical solution of the present invention.
Claims (7)
1. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization and remote control, it is characterised in that：By acoustic marker main body
Electronic hardware system and ancillary equipment hardware system composition, the ancillary equipment hardware system include testing stand and boat-carrying control
End, battery charger and Big Dipper communication module unit, the acoustic marker host electron hardware system use modularized design, packet
It is the generation unit of acoustical signal containing universal synchronous, Big Dipper communication time service module, wide-band transducer transmitter unit, power supply unit, double
Pressure sensor unit, the acoustic marker host electron hardware system by two sets of underwater electrical connectors respectively with testing stand and ship
Control terminal is carried to connect with battery charger.
2. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is：Universal synchronous acoustical signal generation unit be integrated with main control module, when system module, signal generator module and plurality of voltages turn
It changes to module.
3. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is that the Big Dipper communicates time service module and uses big-dipper satellite alignment system short message function（RDSS）It completes long-range upper
Machine instruction issuing is remotely controlled, and uses big-dipper satellite alignment system passive location timing function（RNSS）Complete automatic synchronization time service work(
Energy.
4. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is that the wide-band transducer transmitter unit uses and is decorated ring structure column type energy converter, three of them column construction energy converter
It sulfides, integral diameter is consistent after vulcanization, is for independent 1 set of energy converter in mechanical structure.
5. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is that the power supply unit is lithium battery, light current battery pack（+50V）Power supply through solid-state relay circuit output extremely
High-voltage switch power supply circuit is respectively converted into ﹢ 3.7V2A, ﹢ 5V2A, ﹢ 5V3A and adds up to 3 channels, is supplied respectively to light current circuit board, pressure
Force snesor and power amplifier light current, the Big Dipper communicate locating module, and wherein ﹢ 5V2A, ﹢ 5V3A supply are controlled to open by main control singlechip and be closed
It closes；﹢ 3.7V2A are automatically opened after the power is turned in beacon system, not by other circuit controls.
6. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is that the dual pressure sensor unit is used in parallel using large and small two range pressure sensors, sensors of large measurement range
It is responsible for gamut pressure acquisition, small-range pressure sensor is arranged for thresholding, and dual pressure sensor is completed using software algorithm
Data fusion simultaneously makees breakdown judge, to improve system total accuracy of sounding and reliability.
7. the multi signal system hydrolocation beacon system of a kind of Big Dipper synchronization according to claim 1 and remote control, special
Sign is that the testing stand tablet computer in the testing stand and boat-carrying control terminal passes through through USB-RS422 bus converters
Underwater electrical connector is connect with acoustic marker host electron hardware system, and testing stand computer is realized by local upper computer software to letter
The local control of target, parameter setting, assignment file download, pressure/journal file abstraction function, the control meter of boat-carrying control terminal ship
Calculation machine connects GNB2A12 Big Dipper data transmission terminals through USB-RS422 bus converters, through Big Dipper RDSS serving satellites and acoustic marker master
Body electronic hardware system remote connects, and GNB2A12 Big Dipper data transmission terminals are completed using external 19V3A power supply adaptors for electric work
Energy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810215548.6A CN108549053A (en) | 2018-03-15 | 2018-03-15 | A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled |
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| CN201810215548.6A CN108549053A (en) | 2018-03-15 | 2018-03-15 | A kind of multi signal system hydrolocation beacon system Big Dipper synchronization and be remotely controlled |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110058215A (en) * | 2019-04-03 | 2019-07-26 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Small object analogue experiment method at a slow speed |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
| CN113890631A (en) * | 2021-09-27 | 2022-01-04 | 武汉中科海讯电子科技有限公司 | Underwater wireless beacon and underwater communication method based on Beidou transmission |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058215A (en) * | 2019-04-03 | 2019-07-26 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Small object analogue experiment method at a slow speed |
| CN112540340A (en) * | 2020-11-26 | 2021-03-23 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning equipment based on same |
| CN112540340B (en) * | 2020-11-26 | 2024-04-30 | 博雅工道（北京）机器人科技有限公司 | Precision error compensation method and self-calibration acoustic beacon positioning device based on same |
| CN113890631A (en) * | 2021-09-27 | 2022-01-04 | 武汉中科海讯电子科技有限公司 | Underwater wireless beacon and underwater communication method based on Beidou transmission |
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