CN108828499B - Pulse phase combined ocean searching system and searching method - Google Patents
Pulse phase combined ocean searching system and searching method Download PDFInfo
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- CN108828499B CN108828499B CN201810657179.6A CN201810657179A CN108828499B CN 108828499 B CN108828499 B CN 108828499B CN 201810657179 A CN201810657179 A CN 201810657179A CN 108828499 B CN108828499 B CN 108828499B
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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
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- 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 pulse phase combined ocean searching system and a searching method, wherein the system comprises a beacon machine arranged on ocean detection equipment to be recovered and a recovery machine operated on a deck, the beacon machine comprises a metal cabin provided with an antenna, a power supply for supplying power to the beacon machine is arranged in the metal cabin, a main control board, a LoRa module and a radio frequency circuit which are electrically connected with the main control board and work under the control of the main control board, the recovery machine comprises a protective box provided with three antennas, the three antennas are arranged in an equilateral triangle shape to form an antenna array, the protective box is internally provided with a power supply, and the main control board is electrically connected with the main control board, and the LoRa module, the signal processing circuit, the time measuring circuit, the phase identifying circuit and the electronic compass are electrically connected with the main control board and work under the control of the main control board. According to the search system disclosed by the invention, the beacon machine adopts the high-pressure-resistant watertight metal protection cabin, so that dependence on the imported glass spherical cabin is eliminated, the beacon machine is smaller in size and lighter in weight, the recovery machine adopts three antennas to form a simple antenna array, and the three antennas are connected with the same main control board, so that the time synchronization problem is solved.
Description
Technical Field
The invention belongs to the field of ocean exploration equipment recovery, and particularly relates to a pulse phase combined ocean searching system and a pulse phase combined ocean searching method in the field.
Background
With the increasing shortage of land resources, humans again direct their eyes to the ocean, which occupies 71% of the earth's area. In the 21 st century, humans entered a period of large-scale development and utilization of the ocean. In order to explore the ocean, a wide variety of detection devices have been developed and put into practice. These devices are either launched into the deep sea for detection or float the sea surface to gather data, playing an important role in the process of humans exploring the sea.
Because the ocean current is difficult to measure, sea surface waves are unstable, the ocean detection equipment tends to generate non-directional offset of the position, the position of the ocean detection equipment, which is out of the water surface, tends to deviate from the throwing position far after the detection work is completed, the deviation of the position is difficult to judge in advance due to the action of the ocean current, the deviation distance tends to be up to several kilometers, and the deviation direction is unknown.
The traditional beacon adopts GPS to collect position information, and the position information is sent out through a data transmission radio station. The GPS module and the data transmission station are large in size and high in power consumption, so that the beacon machine is large in size and high in power consumption, the design is not advantageous in a severe marine environment, and the positioning mode completely depends on a GPS technology.
Disclosure of Invention
The invention aims to solve the technical problem of providing a pulse phase combined ocean searching system and a searching method which are high in precision, small in size, convenient to use and independent of GPS technology.
The invention adopts the following technical scheme:
in a pulse phase combined marine search system, the improvement comprising: the system comprises a beacon machine arranged on ocean detection equipment to be recovered and a recovery machine operated on a deck, wherein the beacon machine comprises a metal cabin provided with an antenna, a power supply for supplying power to the beacon machine is arranged in the metal cabin, a main control board, a LoRa module and a radio frequency circuit are electrically connected with the main control board and work under the control of the main control board, the LoRa module is also electrically connected with the antenna so as to receive a starting pulse signal, a timing pulse signal and a feedback pulse signal of the recovery machine, and the radio frequency circuit is also electrically connected with the antenna so as to emit specific electromagnetic waves; the recycling machine comprises a protective box provided with three antennas, wherein the three antennas are arranged in an equilateral triangle shape to form an antenna array, a power supply for supplying power to the recycling machine is arranged in the protective box, a main control board, a LoRa module which is electrically connected with the main control board and works under the control of the main control board, a signal processing circuit, a time measuring circuit, a phase discrimination circuit and an electronic compass, wherein the LoRa module is electrically connected with the antennas so as to transmit a starting pulse signal and a timing pulse signal to a beacon machine and receive a feedback pulse signal transmitted by the beacon machine, the signal processing circuit is electrically connected with the antennas so as to process specific electromagnetic waves transmitted by the beacon machine received by the antennas, the phase discrimination circuit is used for measuring the phase difference of the electromagnetic waves reaching the two antennas, and a display screen arranged on the surface of the protective box is electrically connected with the main control board in the protective box.
Furthermore, the metal cabin of the beacon machine is a high-pressure-resistant watertight metal protection cabin, and can bear the water pressure of seven kilometers deep in the deep sea at the lowest; the bottom cover of the metal cabin is a switching device which is the main switch of the beacon machine.
Further, the switch device comprises a manual switch and a water pressure switch which are connected in series, wherein the water pressure switch is turned off when the water pressure is higher than a set value and turned on when the water pressure is lower than the set value.
Furthermore, the main control board takes the MCU as a core and is provided with serial port resources and peripheral circuits.
Further, after the LoRa module sends or receives the pulse signal, the level of the trigger hardware indicates that the pulse signal is sent or received.
Further, the electromagnetic wave emitted by the radio frequency circuit is a sine wave, and an initial phase can be set.
Further, the power supply is a linear stabilized voltage power supply.
Further, the signal processing circuit comprises a radio frequency small signal amplifier circuit and a filter circuit which are respectively used for amplifying signals and filtering clutter; the resolution of the time measurement circuit is greater than or equal to 50 picoseconds; the resolution of the phase discrimination circuit is more than or equal to 1 degree; the electronic compass takes north as a reference direction and provides direction information for the recycling machine; the display screen is a serial port screen with a touch function, and the protection box is a portable waterproof and earthquake-resistant protection box.
In a pulse phase combined marine search method employing the above system, the improvement comprising the steps of:
(1) The recovery machine transmits a starting pulse signal to the beacon machine by using the LoRa module, after the LoRa module of the beacon machine receives the starting pulse signal, a radio frequency circuit of the beacon machine starts to transmit sinusoidal electromagnetic waves, when three antennas of the recovery machine receive the sinusoidal electromagnetic waves, as the distances from the three antennas to the beacon machine are different, the phases of the sinusoidal electromagnetic waves received by the three antennas are also different, and the phase difference of the electromagnetic waves reaching the two antennas can be measured by using the phase discrimination circuit;
(2) The recycling machine transmits a timing pulse signal by using the LoRa module, the beacon machine transmits a feedback pulse signal immediately after receiving the timing pulse signal, and the time measuring circuit calculates the double-way time consumption after receiving the feedback pulse signal;
(3) The phase ambiguity can be eliminated by utilizing the comparison of the double-pass time-consuming data and the phase difference data;
(4) Based on the principle that the track of a moving point is a hyperbola when the distance difference between the moving point and two fixed points is constant, the time difference is represented by utilizing the phase difference of the two antennas, and the distance difference between the sinusoidal electromagnetic wave emitted by the beacon machine and the two antennas of the recovery machine is constant because the light speed is known, so that a group of hyperbolas can be obtained, three groups of hyperbolas can be obtained by the three antennas, the three groups of hyperbolas intersect at one point, the azimuth of the point is the azimuth of the beacon machine, and the distance and the direction of the beacon machine relative to the recovery machine can be obtained by referring to the coordinates of the recovery machine;
(5) Based on the direction provided by the electronic compass, the display screen displays the direction of the beacon machine and the relative distance between the beacon machine and the recycling machine in a map mode, so that the beacon machine is positioned.
The beneficial effects of the invention are as follows:
according to the searching system disclosed by the invention, the beacon adopts the high-pressure-resistant watertight metal protection cabin, so that dependence on the imported glass spherical cabin is eliminated, the beacon is smaller in size and lighter in weight; the recovery machine adopts three antennas to form a simple antenna array, and the three antennas are connected with the same main control board, so that the time synchronization problem is solved.
The searching method disclosed by the invention adopts an autonomous positioning mode of pulse phase combination, can realize positioning through electromagnetic wave transmission between the beacon machine and the recovery machine, completely gets rid of dependence on an external positioning system (such as GPS), and has high positioning precision. The pulse time measurement and the phase measurement difference are combined to make up for the advantages, the phase ambiguity problem of phase difference measurement is solved by using the double-pass time measurement, the positioning is realized by adopting the phase difference data after the ambiguity resolution, and the positioning precision is improved from the angle of a calculation method.
Drawings
FIG. 1 is a diagram illustrating the structure of a search system according to embodiment 1 of the present invention;
FIG. 2 is a diagram showing the constitution of a beacon in the search system according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a recycling machine in the search system according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a positioning principle of the searching method disclosed in embodiment 1 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
1, as shown in fig. 1-3, the embodiment discloses a pulse phase combined ocean search system, the system comprises a beacon machine and a recovery machine, wherein the beacon machine is installed on ocean detection equipment to be recovered, the beacon machine comprises a metal cabin provided with an antenna, a power supply for supplying power to the beacon machine is arranged in the metal cabin, a main control board, a LoRa module and a radio frequency circuit are electrically connected with the main control board and work under the control of the main control board, wherein the LoRa module is also electrically connected with the antenna so as to receive a starting pulse signal, a timing pulse signal and a feedback pulse signal of the recovery machine, and the radio frequency circuit is also electrically connected with the antenna so as to emit specific electromagnetic waves; the recycling machine comprises a protective box provided with three antennas, wherein the three antennas are arranged in an equilateral triangle shape to form an antenna array, a power supply for supplying power to the recycling machine is arranged in the protective box, a main control board, a LoRa module which is electrically connected with the main control board and works under the control of the main control board, a signal processing circuit, a time measuring circuit, a phase discrimination circuit and an electronic compass, wherein the LoRa module is electrically connected with the antennas so as to transmit a starting pulse signal and a timing pulse signal to a beacon machine and receive a feedback pulse signal transmitted by the beacon machine, the signal processing circuit is electrically connected with the antennas so as to process specific electromagnetic waves transmitted by the beacon machine received by the antennas, the phase discrimination circuit is used for measuring the phase difference of the electromagnetic waves reaching the two antennas, and a display screen arranged on the surface of the protective box is electrically connected with the main control board in the protective box.
In the embodiment, the metal cabin of the beacon machine is a high-pressure-resistant watertight metal protection cabin, and can bear the water pressure of seven kilometers deep in the deep sea at the lowest.
The bottom cover of the metal cabin is a switching device which is the main switch of the beacon machine. The switch device comprises a manual switch and a water pressure switch which are connected in series, wherein the water pressure switch is turned off when the water pressure is higher than a set value and turned on when the water pressure is lower than the set value. Specifically, before the beacon is put into the ocean, the manual switch of the beacon is connected, the water pressure switch is connected due to the fact that the water pressure switch is not subjected to water pressure, in the process of being put into the ocean, along with the increase of the sinking depth, the water pressure born by the water pressure switch is increased, after the water pressure is increased to be larger than a certain threshold value, the water pressure switch is stressed to be disconnected, and the beacon is powered off to save energy. In the process of rising in the deep sea, after the water pressure is gradually reduced to be smaller than a certain threshold value, the water pressure switch is turned on, the beacon machine is electrified, and at the moment, the beacon machine is floated on the water surface and can transmit and receive electromagnetic waves.
The antenna is an omni-directional antenna. The main control board takes the MCU as a core and is provided with serial port resources and peripheral circuits. The LoRa module triggers the hardware level to indicate that the pulse signal is sent or received after the pulse signal is sent or received. The electromagnetic wave emitted by the radio frequency circuit is a sine wave, and the initial phase can be set. The power supply is a linear stabilized voltage power supply. The signal processing circuit comprises a radio frequency small signal amplifier circuit and a filter circuit which are respectively used for amplifying signals and filtering clutter; the resolution of the time measurement circuit is greater than or equal to 50 picoseconds; the resolution of the phase discrimination circuit is more than or equal to 1 degree; the electronic compass takes north as a reference direction and provides direction information for the recycling machine; the display screen is a serial screen with a touch function, can be developed for the second time, and can be used for displaying data and animation. The protective box is a portable waterproof and earthquake-resistant protective box.
The embodiment also discloses a pulse phase combined ocean searching method, which uses the system and comprises the following steps:
(1) The recovery machine transmits a starting pulse signal to the beacon machine by using the LoRa module, after the LoRa module of the beacon machine receives the starting pulse signal, a radio frequency circuit of the beacon machine starts to transmit sinusoidal electromagnetic waves, when three antennas of the recovery machine receive the sinusoidal electromagnetic waves, as the distances from the three antennas to the beacon machine are different, the phases of the sinusoidal electromagnetic waves received by the three antennas are also different, and the phase difference of the electromagnetic waves reaching the two antennas can be measured by using the phase discrimination circuit;
(2) The recycling machine transmits a timing pulse signal by using the LoRa module, the beacon machine transmits a feedback pulse signal immediately after receiving the timing pulse signal, and the time measuring circuit calculates the double-way time consumption after receiving the feedback pulse signal;
(3) The phase ambiguity can be eliminated by utilizing the comparison of the double-pass time-consuming data and the phase difference data;
(4) As shown in fig. 4, A, B and C are three omni-directional antennas of the reclaimer, forming an equilateral triangular antenna array with a known base line length. Based on the principle that the track of a moving point is a hyperbola when the distance difference between the moving point and two fixed points is constant, the time difference is represented by utilizing the phase difference of the two antennas, and the distance difference between the sinusoidal electromagnetic wave emitted by the beacon machine and the two antennas of the recovery machine is constant because the light speed is known, so that a group of hyperbolas can be obtained, three groups of hyperbolas can be obtained by the three antennas, the three groups of hyperbolas intersect at one point, the azimuth of the point is the azimuth of the beacon machine, and the distance and the direction of the beacon machine relative to the recovery machine can be obtained by referring to the coordinates of the recovery machine;
(5) Based on the direction provided by the electronic compass, the display screen displays the direction of the beacon machine and the relative distance between the beacon machine and the recycling machine in a map mode, so that the beacon machine is positioned.
Claims (1)
1. The pulse phase combined ocean searching method uses a pulse phase combined ocean searching system, the system comprises a beacon machine arranged on ocean detection equipment to be recovered and a recovery machine operated on a deck, the beacon machine comprises a metal cabin provided with an antenna, a power supply for supplying power to the beacon machine is arranged in the metal cabin, a main control board, a LoRa module and a radio frequency circuit are electrically connected with the main control board and work under the control of the main control board, wherein the LoRa module is electrically connected with the antenna so as to receive a starting pulse signal, a timing pulse signal and a feedback pulse signal of the recovery machine, and the radio frequency circuit is electrically connected with the antenna so as to emit electromagnetic waves; the recycling machine comprises a protective box provided with three antennas, the three antennas are arranged in an equilateral triangle shape to form an antenna array, a power supply for supplying power to the recycling machine is arranged in the protective box, a main control board, a LoRa module which is electrically connected with the main control board and works under the control of the main control board, a signal processing circuit, a time measuring circuit, a phase identifying circuit and an electronic compass, wherein the LoRa module is electrically connected with the antennas so as to transmit a starting pulse signal, a timing pulse signal and a feedback pulse signal transmitted by a receiving beacon machine to the beacon machine, the signal processing circuit is electrically connected with the antennas so as to process electromagnetic waves transmitted by the beacon machine received by the antennas, the phase identifying circuit is used for measuring the phase difference of the electromagnetic waves reaching the two antennas, and a display screen arranged on the surface of the protective box is electrically connected with the main control board in the protective box, and the recycling machine is characterized by comprising the following steps:
(1) The recovery machine transmits a starting pulse signal to the beacon machine by using the LoRa module, after the LoRa module of the beacon machine receives the starting pulse signal, a radio frequency circuit of the beacon machine starts to transmit sinusoidal electromagnetic waves, when three antennas of the recovery machine receive the sinusoidal electromagnetic waves, as the distances from the three antennas to the beacon machine are different, the phases of the sinusoidal electromagnetic waves received by the three antennas are also different, and the phase difference of the electromagnetic waves reaching the two antennas can be measured by using the phase discrimination circuit;
(2) The recycling machine transmits a timing pulse signal by using the LoRa module, the beacon machine transmits a feedback pulse signal immediately after receiving the timing pulse signal, and the time measuring circuit calculates the double-way time consumption after receiving the feedback pulse signal;
(3) The phase ambiguity can be eliminated by utilizing the comparison of the double-pass time-consuming data and the phase difference data;
(4) Based on the principle that the track of a moving point is a hyperbola when the distance difference between the moving point and two fixed points is constant, the time difference is represented by utilizing the phase difference of the two antennas, and the distance difference between the sinusoidal electromagnetic wave emitted by the beacon machine and the two antennas of the recovery machine is constant because the light speed is known, so that a group of hyperbolas can be obtained, three groups of hyperbolas can be obtained by the three antennas, the three groups of hyperbolas intersect at one point, the azimuth of the point is the azimuth of the beacon machine, and the distance and the direction of the beacon machine relative to the recovery machine can be obtained by referring to the coordinates of the recovery machine;
(5) Based on the direction provided by the electronic compass, the display screen displays the direction of the beacon machine and the relative distance between the beacon machine and the recycling machine in a map mode, so that the beacon machine is positioned.
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| CN201810657179.6A CN108828499B (en) | 2018-06-25 | 2018-06-25 | Pulse phase combined ocean searching system and searching method |
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| CN201810657179.6A CN108828499B (en) | 2018-06-25 | 2018-06-25 | Pulse phase combined ocean searching system and searching method |
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| CN108828499B true CN108828499B (en) | 2023-06-02 |
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2018
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