CN108828499A - A kind of impulse phase combined type ocean hunting system and method for searching - Google Patents
A kind of impulse phase combined type ocean hunting system and method for searching Download PDFInfo
- Publication number
- CN108828499A CN108828499A CN201810657179.6A CN201810657179A CN108828499A CN 108828499 A CN108828499 A CN 108828499A CN 201810657179 A CN201810657179 A CN 201810657179A CN 108828499 A CN108828499 A CN 108828499A
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- Prior art keywords
- radio beacon
- recycling machine
- antennas
- phase
- master control
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Classifications
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
- G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
- G01S1/30—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being continuous waves or intermittent trains of continuous waves, the intermittency not being for the purpose of determining direction or position line and the transit times being compared by measuring the phase difference
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/32—Electron compasses
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of impulse phase combined type ocean hunting system and method for searching, system includes the Radio Beacon being installed in hydrospace detection equipment to be recycled and operates in the recycling machine on deck, Radio Beacon includes installing the metal cabin of antenna, the power supply of Radio Beacon power supply is set as in metal cabin, master control borad and the LoRa module and radio circuit for being electrically connected with master control borad and working at the control, recycling machine includes installing the protective housing of three antennas, three antennas shaped formation in equilateral triangle forms antenna array, power supply is set in protective housing, master control borad and the LoRa module for being electrically connected with master control borad and working at the control, signal processing circuit, timekeeping circuit, phase discriminator and electronic compass.Hunting system disclosed in this invention; Radio Beacon uses high pressure resistant watertight metal coating cabin; get rid of the dependence to import glass marble cabin; keep the volume of Radio Beacon smaller; weight is lighter; recycling machine forms simple antenna array using three antennas, and three antennas connect same master control borad, solve time synchronization problem.
Description
Technical field
The invention belongs to hydrospace detection equipment recycling fields, in particular to one of field impulse phase combined type sea
Foreign hunting system and method for searching.
Background technique
As land resources are increasingly in short supply, the mankind have turned one's attention to the ocean of land occupation sphere area 71% again.21 century,
The mankind enter the period for large-scale developing and utilizing ocean.In order to explore ocean, miscellaneous detecting devices is developed successively,
Throw all practices.These equipment are launched deep-sea and are detected, or floating surface search data, find out the process of ocean in the mankind
In, it plays a significant role.
Since deep-sea ocean current difficulty is surveyed, wave of the sea is indefinite, and the non-directional that therefore position often occurs for hydrospace detection equipment is inclined
It moves, after deep-sea detection equipment completes detection operations, it is far that placement position is often deviateed in the position to emerge, this position
Deviation can be difficult to determine in advance because of the effect of ocean current, often up to several kilometers of offset distance, bias direction is even more unknown.
Traditional Radio Beacon uses GPS gathers location information, is sent by data radio station.GPS module sum number conducts electricity
Not only volume is larger for platform, but also power consumption is higher, leads to that the Radio Beacon figure is big and power consumption is high, in severe marine environment, this
Kind design does not have advantage, and this positioning method is completely dependent on GPS technology.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of precision height, compact, easy to use and do not depend on
The impulse phase combined type ocean hunting system and method for searching of GPS technology.
The present invention adopts the following technical scheme that：
A kind of impulse phase combined type ocean hunting system, thes improvement is that：System includes being installed on ocean to be recycled to visit
Radio Beacon on measurement equipment and the recycling machine on deck is operated in, Radio Beacon includes installing the metal cabin of antenna, and metal is set in cabin
It is set to the power supply of Radio Beacon power supply, master control borad and the LoRa module and radio frequency that are electrically connected with master control borad and work at the control
Circuit, wherein LoRa module is also electrically connected to receive starting impulse signal, sprocket pulse signal and the hair of recycling machine with antenna
It penetrates feedback pulse signal, radio circuit and is also electrically connected to transmitting specific electromagnetic wave with antenna；Recycling machine includes three days of installation
The protective housing of line, three antennas shaped formation in equilateral triangle form antenna array, and recycling machine power supply is set as in protective housing
Power supply, master control borad and be electrically connected with master control borad and work at the control LoRa module, signal processing circuit, survey when electricity
Road, phase discriminator and electronic compass, wherein LoRa module be also electrically connected to antenna to Radio Beacon transmitter trigger pulse signal,
Sprocket pulse signal and the feedback pulse signal of reception Radio Beacon transmitting, signal processing circuit also are electrically connected to handle with antenna
The specific electromagnetic wave of the received Radio Beacon transmitting of antenna, phase discriminator are used to measure the phase difference that electromagnetic wave reaches two antennas, peace
Display screen on protective housing surface is electrically connected with the master control borad in protective housing.
Further, the metal cabin of Radio Beacon is high pressure resistant watertight metal coating cabin, minimum to bear deep-sea seven kms depth
Hydraulic pressure；The bottom cover in metal cabin is switching device, which is the master switch of Radio Beacon.
Further, the switching device includes the manual switch and hydraulic pressure switch being cascaded, and wherein hydraulic pressure is opened
Close bear hydraulic pressure be higher than setting value when disconnect, lower than setting value when connect.
Further, the master control borad has serial port resource and peripheral circuit using MCU as core.
Further, after sending or receiving pulse signal, triggering hardware level expression has been sent the LoRa module
Or it receives.
Further, the electromagnetic wave of radio circuit transmitting is sine wave, and initial phase can be set.
Further, the power supply is linear stabilized power supply.
Further, the signal processing circuit includes RF small signals amplifier circuit and filter circuit, is respectively used to
Amplified signal and filtering clutter；The resolution ratio of the timekeeping circuit is more than or equal to 50 picoseconds；The phase discriminator resolution ratio is greater than
Equal to 1 degree；The electronic compass provides directional information using due north as reference direction, for recycling machine；The display screen is with touching
The serial ports screen of function is controlled, the protective housing is the shatter-proof protective housing of portable waterproof.
A kind of impulse phase combined type ocean method for searching, using above-mentioned system, it is improved in that including as follows
Step：
（1）For recycling machine using LoRa module to Radio Beacon transmitter trigger pulse signal, the LoRa module of Radio Beacon receives starting arteries and veins
After rushing signal, radio circuit starts to emit sinusoidal electromagnetic wave, when three antennas of recycling machine receive the sinusoidal electromagnetic wave, by
Different in the distance apart from Radio Beacon, the phase for the sinusoidal electromagnetic wave that three antennas receive is also different, can be with using phase discriminator
Measure the phase difference that electromagnetic wave reaches two antennas；
（2）Recycling machine emits sprocket pulse signal using LoRa module, and Radio Beacon issues feedback pulse signal after receiving immediately, returns
After receipts machine receives feedback pulse signal, timekeeping circuit calculates the round trip used time；
（3）Phase ambiguity can be eliminated using round trip used time data and phase data comparison；
（4）When range difference based on dynamic o'clock to two fixed point is constant, the track for moving point is hyp principle, utilizes two days
The phase difference of line characterizes the time difference, due to the light velocity it is known that the sinusoidal electromagnetic wave of Radio Beacon transmitting reaches two antennas of recycling machine
Range difference is constant, to obtain one group of hyperbola, the available three groups of hyperbolas of three antennas, three groups of hyperbolas meet at one
The orientation of point, the point is exactly the orientation of Radio Beacon, and distance of the Radio Beacon with respect to recycling machine can be obtained referring to the coordinate of recycling machine
The direction and；
（5）Based on electronic compass provide direction, display screen with map mode show Radio Beacon direction and with recycling machine
Relative distance realizes the positioning to Radio Beacon.
The beneficial effects of the invention are as follows：
Hunting system disclosed in this invention, Radio Beacon use high pressure resistant watertight metal coating cabin, get rid of to import glass marble
The dependence in cabin keeps the volume of Radio Beacon smaller, and weight is lighter；Recycling machine forms simple antenna arrays using three antennas, and three
Antenna connects same master control borad, solves time synchronization problem.
Method for searching disclosed in this invention, the autonomous positioning mode being combined using impulse phase, by Radio Beacon and
Electromagnetic transmission between recycling machine can realize positioning, be completely free of external boundary's positioning system（Such as GPS）Dependence,
And positioning accuracy is high.It is combined when pulse is surveyed with phase error of measurement, learns from other's strong points to offset one's weaknesses, phase difference measurement is solved when surveying using round trip
Phase fuzzy problem, using after ambiguity solution phase data realize positioning, improve positioning accurate from the angle of calculation method
Degree.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of hunting system disclosed in the embodiment of the present invention 1；
Fig. 2 is the composition schematic diagram of Radio Beacon in hunting system disclosed in the embodiment of the present invention 1；
Fig. 3 is the composition schematic diagram of recycling machine in hunting system disclosed in the embodiment of the present invention 1；
Fig. 4 is the positioning principle schematic diagram of method for searching disclosed in the embodiment of the present invention 1.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1, as shown in Figure 1-3, present embodiment discloses a kind of impulse phase combined type ocean hunting system, system
Including the Radio Beacon and recycling machine being installed in hydrospace detection equipment to be recycled, Radio Beacon includes installing the metal cabin of antenna, gold
Belong to the power supply that Radio Beacon power supply is set as in cabin, master control borad and the LoRa mould for being electrically connected with master control borad and working at the control
Block and radio circuit, wherein LoRa module is also electrically connected to receive starting impulse signal, the sprocket pulse of recycling machine with antenna
Signal and transmitting feedback pulse signal, radio circuit are also electrically connected to transmitting specific electromagnetic wave with antenna；Recycling machine includes peace
The protective housing of three antennas is filled, three antennas shaped formation in equilateral triangle forms antenna array, is set as recycling in protective housing
Machine power supply power supply, master control borad and be electrically connected with master control borad and work at the control LoRa module, signal processing circuit,
Timekeeping circuit, phase discriminator and electronic compass, wherein LoRa module is also electrically connected to Radio Beacon transmitter trigger arteries and veins with antenna
Signal, the feedback pulse signal of sprocket pulse signal and reception Radio Beacon transmitting, signal processing circuit is rushed also to be electrically connected with antenna
To handle the specific electromagnetic wave of the received Radio Beacon transmitting of antenna, phase discriminator is used to measure the phase that electromagnetic wave reaches two antennas
Potential difference, the display screen being mounted on protective housing surface are electrically connected with the master control borad in protective housing.
In the present embodiment, the metal cabin of Radio Beacon is high pressure resistant watertight metal coating cabin, minimum to bear deep-sea 7,000
The hydraulic pressure of meter Shen.
The bottom cover in metal cabin is switching device, which is the master switch of Radio Beacon.The switching device
Including the manual switch and hydraulic pressure switch being cascaded, wherein hydraulic pressure switch disconnects when bearing hydraulic pressure and being higher than setting value, is low
It is connected when setting value.Specifically, before putting into ocean, the manual switch of Radio Beacon is connected, hydraulic pressure switch is not because by hydraulic pressure
And connect, during being put into ocean, with the increase of submergence depth, the hydraulic pressure that hydraulic pressure switch is born also is increasing, and increases
It is added to after being greater than a certain threshold value, hydraulic pressure switch stress disconnects, Radio Beacon power-off energy saving.Deep-sea rise during, hydraulic pressure by
After being gradually decreased to less than a certain threshold value, hydraulic pressure switch is connected, and Radio Beacon works on power, and Radio Beacon has emerged at this time, can be with
Transceiving electromagnetic wave.
The antenna is omnidirectional antenna.The master control borad has serial port resource and peripheral circuit using MCU as core.
After sending or receiving pulse signal, triggering hardware level expression has sent or has received the LoRa module.Described penetrates
The electromagnetic wave of frequency circuit transmitting is sine wave, and initial phase can be set.The power supply is linear stabilized power supply.It is described
Signal processing circuit includes RF small signals amplifier circuit and filter circuit, is respectively used to amplified signal and filtering clutter；Institute
The resolution ratio for stating timekeeping circuit is more than or equal to 50 picoseconds；The phase discriminator resolution ratio is more than or equal to 1 degree；The electronic compass with
Due north is reference direction, provides directional information for recycling machine；The display screen is the serial ports screen with touch function, can be carried out
Secondary development can be shown in addition to data are shown with animation.The protective housing is the shatter-proof protective housing of portable waterproof.
The present embodiment also discloses a kind of impulse phase combined type ocean method for searching, using above-mentioned system, including such as
Lower step：
（1）For recycling machine using LoRa module to Radio Beacon transmitter trigger pulse signal, the LoRa module of Radio Beacon receives starting arteries and veins
After rushing signal, radio circuit starts to emit sinusoidal electromagnetic wave, when three antennas of recycling machine receive the sinusoidal electromagnetic wave, by
Different in the distance apart from Radio Beacon, the phase for the sinusoidal electromagnetic wave that three antennas receive is also different, can be with using phase discriminator
Measure the phase difference that electromagnetic wave reaches two antennas；
（2）Recycling machine emits sprocket pulse signal using LoRa module, and Radio Beacon issues feedback pulse signal after receiving immediately, returns
After receipts machine receives feedback pulse signal, timekeeping circuit calculates the round trip used time；
（3）Phase ambiguity can be eliminated using round trip used time data and phase data comparison；
（4）As shown in figure 4, A, B and C as shown in the figure are three omnidirectional antennas of recycling machine, equilateral triangle antenna array, base are formed
Known to line length.When range difference based on dynamic o'clock to two fixed point is constant, the track for moving point is hyp principle, utilizes two
The phase difference of a antenna characterizes the time difference, due to the light velocity it is known that the sinusoidal electromagnetic wave of Radio Beacon transmitting reaches two days of recycling machine
The range difference of line is constant, to obtain one group of hyperbola, the available three groups of hyperbolas of three antennas, three groups of hyperbolas are met at
A bit, the orientation of the point is exactly the orientation of Radio Beacon, referring to recycling machine coordinate can be obtained Radio Beacon relatively recycling machine away from
From and direction；
（5）Based on electronic compass provide direction, display screen with map mode show Radio Beacon direction and with recycling machine
Relative distance realizes the positioning to Radio Beacon.
Claims (9)
1. a kind of impulse phase combined type ocean hunting system, it is characterised in that：System includes being installed on hydrospace detection to be recycled
Radio Beacon in equipment and the recycling machine on deck is operated in, Radio Beacon includes installing the metal cabin of antenna, setting in metal cabin
For the power supply of Radio Beacon power supply, master control borad and the LoRa module and radio frequency electrical that are electrically connected with master control borad and work at the control
Road, wherein LoRa module is also electrically connected to receive starting impulse signal, sprocket pulse signal and the transmitting of recycling machine with antenna
Feedback pulse signal, radio circuit are also electrically connected to transmitting specific electromagnetic wave with antenna；Recycling machine includes three antennas of installation
Protective housing, three antennas shaped formation in equilateral triangle forms antenna array, the electricity of recycling machine power supply is set as in protective housing
Source, master control borad and be electrically connected with master control borad and work at the control LoRa module, signal processing circuit, timekeeping circuit,
Phase discriminator and electronic compass, wherein LoRa module is also electrically connected to Radio Beacon transmitter trigger pulse signal, meter with antenna
When pulse signal and receive Radio Beacon transmitting feedback pulse signal, signal processing circuit be also electrically connected to antenna processing day
The specific electromagnetic wave of the received Radio Beacon transmitting of line, phase discriminator are used to measure the phase difference that electromagnetic wave reaches two antennas, installation
It is electrically connected in the display screen on protective housing surface with the master control borad in protective housing.
2. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The metal cabin of Radio Beacon
For high pressure resistant watertight metal coating cabin, the minimum hydraulic pressure for bearing deep-sea seven kms depth；The bottom cover in metal cabin is switch dress
It sets, which is the master switch of Radio Beacon.
3. impulse phase combined type according to claim 2 ocean hunting system, it is characterised in that：The switching device
Including the manual switch and hydraulic pressure switch being cascaded, wherein hydraulic pressure switch disconnects when bearing hydraulic pressure and being higher than setting value, is low
It is connected when setting value.
4. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The master control borad with
MCU is core, has serial port resource and peripheral circuit.
5. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The LoRa module
After sending or receiving pulse signal, triggering hardware level expression has sent or has received.
6. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The radio circuit
The electromagnetic wave of transmitting is sine wave, and initial phase can be set.
7. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The power supply is line
Property regulated power supply.
8. impulse phase combined type according to claim 1 ocean hunting system, it is characterised in that：The signal processing electricity
Road includes RF small signals amplifier circuit and filter circuit, is respectively used to amplified signal and filtering clutter；The timekeeping circuit
Resolution ratio be more than or equal to 50 picoseconds；The phase discriminator resolution ratio is more than or equal to 1 degree；The electronic compass is reference with due north
Direction provides directional information for recycling machine；The display screen is the serial ports screen with touch function, and the protective housing is portable
Waterproof is shatter-proof protective housing.
9. a kind of impulse phase combined type ocean method for searching, uses system described in claim 1, which is characterized in that including
Following steps：
（1）For recycling machine using LoRa module to Radio Beacon transmitter trigger pulse signal, the LoRa module of Radio Beacon receives starting arteries and veins
After rushing signal, radio circuit starts to emit sinusoidal electromagnetic wave, when three antennas of recycling machine receive the sinusoidal electromagnetic wave, by
Different in the distance apart from Radio Beacon, the phase for the sinusoidal electromagnetic wave that three antennas receive is also different, can be with using phase discriminator
Measure the phase difference that electromagnetic wave reaches two antennas；
（2）Recycling machine emits sprocket pulse signal using LoRa module, and Radio Beacon issues feedback pulse signal after receiving immediately, returns
After receipts machine receives feedback pulse signal, timekeeping circuit calculates the round trip used time；
（3）Phase ambiguity can be eliminated using round trip used time data and phase data comparison；
（4）When range difference based on dynamic o'clock to two fixed point is constant, the track for moving point is hyp principle, utilizes two days
The phase difference of line characterizes the time difference, due to the light velocity it is known that the sinusoidal electromagnetic wave of Radio Beacon transmitting reaches two antennas of recycling machine
Range difference is constant, to obtain one group of hyperbola, the available three groups of hyperbolas of three antennas, three groups of hyperbolas meet at one
The orientation of point, the point is exactly the orientation of Radio Beacon, and distance of the Radio Beacon with respect to recycling machine can be obtained referring to the coordinate of recycling machine
The direction and；
（5）Based on electronic compass provide direction, display screen with map mode show Radio Beacon direction and with recycling machine
Relative distance realizes the positioning to Radio Beacon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657179.6A CN108828499B (en) | 2018-06-25 | 2018-06-25 | Pulse phase combined ocean searching system and searching method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810657179.6A CN108828499B (en) | 2018-06-25 | 2018-06-25 | Pulse phase combined ocean searching system and searching method |
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| Publication Number | Publication Date |
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| CN108828499A true CN108828499A (en) | 2018-11-16 |
| CN108828499B CN108828499B (en) | 2023-06-02 |
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| CN108828499B (en) | 2023-06-02 |
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