CN109073750A - More sector measuring systems and method - Google Patents
More sector measuring systems and method Download PDFInfo
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- CN109073750A CN109073750A CN201780026586.0A CN201780026586A CN109073750A CN 109073750 A CN109073750 A CN 109073750A CN 201780026586 A CN201780026586 A CN 201780026586A CN 109073750 A CN109073750 A CN 109073750A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/586—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
-
- 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
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52003—Techniques for enhancing spatial resolution of targets
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
- G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of measuring system includes multi-beam echo sounder, multi-beam echo sounder has single projector array and single hydrophone array, measurement system building multi -components message, for insonifying multiple sectors, and corresponding message echo has been deconstructed, for analyzing the echo of each sector.
Description
It priority application and is incorporated by reference
The application is the U.S. Patent application No.15 submitted on March 31st, 2017, and 476,137 part connects, the U.S.
The U.S. Provisional Patent Application No.62 that patent requirements are submitted on April 29th, 2016,329,631 equity, and this application claims
62,372,231 equity that August in 2016 is submitted on the 8th, the full content of all these applications are incorporated into actually by reference
This.The application passes through reference for all purposes and includes the United States Patent (USP) No.3,144,631 for being related to Mills cross sonar, relates to
And the sonar for drawing bottom relief map 8,305,841, be related to spread spectrum technic 7,092,440, be related to Doppler
Frequency Estimation 5,483,499 and be related to frequency pulse sonar 9,244,168 disclosure full content.
Technical field
The present invention relates to underwater sound system, use the method for underwater sound system and processing and the number generated using it
According to method.In particular it relates to include sonar system measuring system, the sonar system can to water bottom into
The more sectors of row insonify (ensonification).
Background technique
After Titanic strikes an iceberg one month within 1912, Britain meteorologist Lewis Richardson is special to Britain
Sharp office has applied for the patent of undersea ranging device.Richardson invention it is modern inherit be commonly referred to as sonar (sound navigation and
Ranging) device.These devices include be projected through using transducer array liquid medium sound wave or pressure wave and use from
The feature of scattering and/or reflection percussion wave receives the device of the transducer array of corresponding echo.
The information about these features and its environment can be obtained from echo.For example, water-depth measurement is provided about scattering
The information of the depth at center, water column measurement provide information about the scattering center in water column, seabed characterization measurement provide about
Information on seabed surface and the scattering center of seabed lower face.The diversity and quality of the information returned in echo can be with
Partly by being determined for the characteristic for motivating the signal of projector energy converter.
Obtain the strong influence of the costs of these information by the timetable of people's force-summing device needed for obtaining the information.
Although being taken in terms of improving the quality of data and diversity while the time needed for reducing progress subaqueous survey
Obtained some progress, especially by using multi-beam echo sounder, but long-standing technological challenge and with build and survey
It tries the expensive relevant risk of new measuring device and constitutes major obstacles to being further similarly modified.
Summary of the invention
The present invention provides a kind of more sector measuring systems and methods.More sector measurement operations may be in multiple measurement tasks
In useful, including water-depth measurement, water column monitoring, forward sight measurement, Doppler range rate measurement, Doppler's Current profile and motion stabilization.
Water-depth measurement can benefit from more sector operations and relevant wider ensonification region, have illustrative excellent
Gesture, one or more of many-sided imaging including faster measuring speed, redundancy and target.
Water column monitoring may benefit from more sector operations, and it's similar to water-depth measurements, it is also possible to due to every sound
The ensonification of pulse volume expands.Using including counting biological product, discovery feathering, quantization pollutant concentration etc..
Forward-looking Sonar (FLS) may benefit from more sector operations, for example, sonar is rotated by 90 °, towards its sector.It is special
Not, multiple sectors FLS being capable of large volume in each ping before search source.It names just a few, volume imagery application packet
Include avoidance, monitoring underwater structures and safety.
Doppler anemometer can benefit from more sector operations, and advantage includes using one or more front/rear steering fans
Area, these sectors allow the beam configuration of the similar Janus (Janus) from multi-beam echo sounder, wherein Ke Yijin
Row Doppler estimation, for example, Doppler log (DVL) is estimated.When source is static, it is how general that similar setting may be used as acoustics
It strangles Current profile instrument (ADCP).
The motion stabilizations such as three-axis moving stabilization may benefit from more sector operations.For example, it is common practice in sound
Angle correct is electronically manipulated to be based on vertical reference using pitching/rolling measurement when pulse, so that the report of all pings comes
From the data of same beam angle, but regardless of vessel motions how.It can also be supported using multiple sectors to yaw, along third axis
Rotation correction.
In one embodiment, measuring system, which provides, is used for more sector water-depth measurements, and the measuring system includes for pacifying
Multi-beam echo sounder system on marine vehicle, the measuring system includes: acoustic transceiver, for for list
Multiple energy converters in one or more energy converters and single hydrophone array in a projector array use；Mills cross
The projector and hydrophone array of setting；Transceiver Transmit machine is used for generating the message including N >=3 coded message component
In insonifying each sector of water bottom；Transceiver receiver, with operation of receiver frequency range, the receiver
For receiving from the echo being overlapped over time and frequency for insonifying sector；N number of matched filter in receiver, each
Matched filter selectively detects corresponding sector echo；Also, the operating frequency range of the receiver includes message point
Measure frequency band；Wherein, the message component is overlapped over time and frequency.
In some measuring system embodiments, each message component occupies most of or essentially all of message component frequency
Band.Major part may refer to the message component frequency band for being more than 50% or message component frequency band more than 75%.It is essentially all
May refer to be more than 90% message component frequency band.It is essentially all to may refer to transceiver technologies limitation, these limitations
Cause the frequency error compared with transmitter working band smaller.
Also, in some measuring system embodiments, measuring system further include: N number of signal hair in Transceiver Transmit machine
Raw device, each signal generator are used to generate corresponding one in coded message component.
In some measuring system embodiments, measuring system further include: N number of spread-spectrum signal in Transceiver Transmit machine occurs
Device, each signal generator are used to generate corresponding one in coded message component；And, wherein the message component frequency band
Occupy the half less than operation of receiver frequency range.In other measuring system embodiments, measuring system further include: receive
N number of spread frequency signal generator in device transmitter is sent out, each signal generator is used to generate corresponding one in coded message component
It is a；And, wherein message component frequency band occupies essentially all of operation of receiver frequency range.
In some measuring system embodiments, measuring system further include: a different set of frequency hopping code, each code is for instructing
Selection characterizes three or more frequencies of each message component.In some measuring system embodiments, measuring system further include: its
In, the message component includes the continuous sine wave shape of three or more frequencies.Also, in some measuring system embodiments,
Section's Stas code is for instructing selection frequency.
In some measuring system embodiments, message includes five or more message components.It is real in some measuring systems
It applies in example, message includes ten or more message components.In some measuring system embodiments, message is including 20 or more
Multiple message components.In in these embodiments some, the message component in transmitted in parallel message.Also, in these implementations
In some embodiments in example, the message component in serial transmission message.
In some measuring system embodiments, message includes (y+z) message component；The transmitted in parallel y in time interval t1
A message component；Z message component of transmitted in parallel in time interval t2；Also, time interval t2 is later than time interval t1 and opens
Begin.
Detailed description of the invention
Describe the present invention with reference to the accompanying drawings.These attached drawings include herein and to constitute part of specification, illustrate this
The embodiment of invention, and be further used for explaining its principle together with specification, enable those skilled in the relevant art into
It goes and using the present invention.
Figure 1A shows the measuring system including multi-beam echo sounder system of the invention；
Figure 1B to Fig. 1 F shows the embodiment of at least multiple portions of the multi-beam echo sounder system of Figure 1A；
Fig. 1 G shows the legend of selected symbol；
Fig. 2A to Fig. 2 B shows the message cycle used for the multi-beam echo sounder system of Figure 1A；
Fig. 3 A shows Mir's Si (Mills) chiasma type arrangement equipped with the multi-beam echo sounder system for Figure 1A
The ship of array；
Fig. 3 B to Fig. 3 F shows the sector used for the multi-beam echo sounder system of Figure 1A and more sector operations；
Fig. 4 shows the table of the signal code and sequence that use for the multi-beam echo sounder system of Figure 1A；
Fig. 5 A to Fig. 5 G shows the various spread spectrum message used for the multi-beam echo sounder system of Figure 1A.
Specific embodiment
The disclosure provided in lower page describes the example of some embodiments of the present invention.Design, attached drawing and description
It is the non-limiting example of its disclosed embodiment.For example, the other embodiments of disclosed device and/or method may include
It or does not include features described herein.In addition, described feature, advantage or benefit can be only applicable to certain implementations of the invention
Example, and it is not applied to limitation disclosed invention.
Terms used herein " coupling " include directly or indirectly connecting.In addition, in the feelings of the first and second devices coupling
Under condition, the intervening devices including active device can be therebetween.
Figure 1A to Fig. 1 E shows the measuring system including multi-beam echo sounder system, and describes exemplary more waves
Echo beam bathometer embodiment.Fig. 1 G shows the legend for appearing in the selected symbol on Fig. 1 C to Fig. 1 F.
Figure 1A shows the measuring system of 100A according to embodiments of the present invention.Measuring system includes echo sounder system,
For example, multi-beam echo sounder system 102, echo scanner system may be mounted at water vehicle or ship, remote control
On the vehicles, autonomous underwater vehicle etc..As described further below, echo sounder and/or measuring system output
114 can carry out simultaneously with the processing of the echo sounder of hydrophone data, such as in some embodiments for water-depth measurement, or
Person and the processing of hydrophone data do not carry out simultaneously, such as in some embodiments classified for water bottom.
The data that multi-beam echo sounder system 104 obtains include the data from echo sounder monitoring device, are returned
Sound bathometer monitoring device is, for example, hydrophone (for example, energy converter), echo sounder monitoring device receive with from echo depth sounding
The sound/pressure waves that the device projector issues are relevant but the echo that is returned due to the interaction with a variety of inhomogeneities.Phase
Interaction can take the form of reflection or scattering.Inhomogeneities (also referred to as reflector and scattering center) represents the physics of medium
The discontinuity of property.Exemplary scattering center can be found in one or more of following three: i) water body (for example,
Water column) ensonification volume, ii) bottom ensonification surface on or iii) shallow bottom (sub-bottom) ensonification volume in.
The scattering center of biological property is likely to be present in water column, because these centers are a part of marine organisms.It is non-
The scattering center of biological property may be with the turbulent flow (example of bubble, dust and the grains of sand, hot micro-structure and natural or artificial source
Such as, ship wake flow) form be present in water column.Scattering center in bottom surface may be since the machinery of bottom is coarse
Degree, for example, ripple, or due to intrinsic size, shape and the physical arrangement of bottom composition, for example, mud, sand, shell
Fragment, cobblestone and boulder, or due to the two factors.Scattering center in shallow bottom may be the life due to deposit
Object disturbance, the layering of different deposit materials in seabed or the man-made structures for being embedded in underground, for example, assembly line.
Processing while data processing in echo sounder system may include hydrophone data 106, for example, to obtain
Depth measurement and/or back-scatter data.Data processing can also include the non-concurrent place of multi-beam echo sounder system data 108
Reason, for example, to characterize bottom condition or water column.
Data processing may include utilizing supplementary data or other data.For example, processing can while hydrophone data 106
With using simultaneously 110 and/or non-concurrent 112 data, for example, geo-positioning system (" the GPS ") data being collected simultaneously, the velocity of sound are surveyed
Amount, posture and navigation information.For example, the non-concurrent processing of echo sounder system data can use while 110 and/or non-same
When 112 data, for example, the water bottom composition data of non-concurrent collection and tide record.
Figure 1B shows the multiple portions of example multi-beam echo sounder system (" MBES ") 100B.Echo acoustical generator
System includes transducer portion 120 and acoustic transceiver 122.Echo sounder system may include transceiver interface, for example, connecing
Mouth mold block 124 and/or workstation computer 126, for one or more in data processing, data storage and man-machine interface
It is a.This sentences the exemplary energy converter shown in Mills cross arrangement 120 and includes transmitter or projector array 130 and receive
Machine or hydrophone array 140.The projector in projector array can along with install its vehicles or ship keel
The parallel line of line or track is spaced apart, this is properly termed as being arranged along track.In some embodiments, the receiver of transceiver 122
With with the matched operating frequency range of the operating frequency range of the projector and/or hydrophone.
During echo sounder operation, the sound or pressure wave issued from projector array is in water body and may be
Bottom below water body is advanced, and is done so, and the interaction interfered to pressure-wave propagation track may be undergone, for example,
Reflection or scattering.Hydrophone array " can hear " some reflections or echo.See, for example, the United States Patent (USP) No.3,144 of Etal,
631 disclosure, the full content of the patent are simultaneously for all purposes and incorporated herein by reference.
Acoustic transceiver 122 includes transmitter section 150 and receiver section 170.Acoustic transceiver may be configured to
Emit and received from single hydrophone array 140 to single projector array 130.It in some embodiments, can be with
Say that this transceiver works together with individual transmitter array and single array acceptor.Unless otherwise indicated, term transceiver
Common transmitter and receiver encapsulation is not needed.
In various embodiments, single projector array makes entire band (swath) sound on single ping (ping)
It penetrates.Here, projector array can be single projector array, and with the geometry of used device, arrangement or
Quantity is unrelated.For example, in the case where multiple projectors form projector groups different on multiple spaces, if operating multiple throwings
Emitter is insonify entire band in single ping, then these projectors are single projector arrays.
Echo sounder can also include the device for interconnecting with transceiver 122, for example, interface module 124.The interface
Module can also provide the power supply of transceiver and communication and the workstation computer of transceiver other than providing other function
126 communication and communication with other data sources (for example, same time GPS data source).
Workstation computer 126 can provide one or more data processings, for example, the number for surveying result visualization
According to processing, for the data processing of data storage (for example, storage depth measurement data and back-scatter data), for user's input
Data processing, and for showing any input, system mode and the data processing for surveying result.
Fig. 1 C shows the part of example multi-beam echo sounder system (" MBES ") 100C.Echo sounder system
Including transducer portion 120, transmitter section 150 and receiver section 170.Some embodiments include sensor interface part
190 and/or administrative section 192.
Transducer portion includes the energy converter for emitting acoustic message and the energy converter for receiving acoustic message.Example
Such as, transducer portion may include projector array 130 and hydrophone array 140.
The projector in projector array may include the piezoelectric element that can be stacked or not stack, for example, ceramic component.
Component geometries may include round and non-circular geometry, for example, rectangular geometry.The work frequency of some projectors
Rate range is about 10kHz to 100kHz, about 50kHz to 550kHz or about 100kHz to 1000kHz.
Hydrophone in hydrophone array may include piezoelectric element, for example, ceramic component.Component geometries can wrap
Round and non-circular geometry is included, for example, rectangular geometry.The operating frequency range of some hydrophones be about 10kHz extremely
100kHz, about 50kHz are to 550kHz or about 100kHz to 1000kHz.
During the operation of projector array 130 and hydrophone array 140, transmitter section motivates projector array, from
Projector array issues output message 137, which advances to reflector or scattering center 138 in liquid medium, reflected
Or scattered, then, returns or input message 139 advances to hydrophone array 140, for the processing of receiver 170.It is worth noting
, received sound/pressure waves input 136 may include the disturbance version of transmitted message 137 at hydrophone array 140
And parasitic signal (spurious signal) and/or noise content.
Emitting portion 150 may include signal generator block 158, transmitting beamformer block 156, sum block 154 and function
Rate amplifier block 152.Emitting portion generates or otherwise obtains one or more signals or message component 158, these letters
Number or message component 158 will be used to constitute message 137.It is worth noting that, message can be made of multiple signals, it can also not
It is made of multiple signals.In the case where message is made of multiple signals, the message may include i) signal of parallel (superposition),
Ii) the signal or iii of serial (cascade)) it can be the combination of parallel and serial signal.
Transmitting beamformer block 156 receives signal from the signal generator block 158 for the Wave beam forming for carrying out each signal.
One wave beam (multiple wave beams) is combined in sum block 154, to construct parallel, serial or combined message M.In power amplifier block
In 152, amplify the time series voltage of message, to motivate or drive the energy converter in projector array 130.In one embodiment
In, each energy converter is driven by corresponding amplifier.
Receiving portion 170 includes that multiple hydrophone signals handle assembly line.In one embodiment, receiving portion includes hard
Part assembly line block/analog signal processing block 172, receives Beam-former block at software pipeline block/digital signal processing block 174
176 and processor block 178.Receiving portion, which is provided, is isolated and handles message 137 from the received input 136 of hydrophone array 140.
For example, some embodiments handle echo, to determine depth according to round trip cycle etc., which is based on institute
The message 137 of transmitting with and hydrophone array input 136 be isolated it is correspondingly received to message matched.
In hardware pipeline block 172, multiple hydrophone array energy converters of hydrophone array 140 are to executing Signal Regulation
Input is provided with multiple hardware pipelines of analog-to-digital conversion.In some embodiments, analog-to-digital conversion is configured for over-sampling,
In, converter Fin(highest input frequency) is less than Fs/ 2 (half of converter sampling frequency).In one embodiment, transceiver
122 with the maximum frequency operation of about 800kHz.In one embodiment, transceiver arrives 32MHz model about 5 using sample rate
Enclose interior analog-digital converter.In one embodiment, transceiver is about 5MHz using sample rate or the modulus of about 32MHz turns
Parallel operation.
In software pipeline block 174, hardware pipeline 172 provides input to software pipeline.One or more flowing water
Line is each hydrophone service in hydrophone array.Each software pipeline provides conversion downwards and filtering.In various realities
It applies in example, filter restores message from hydrophone input 136.In one embodiment, each hydrophone is taken by multiple assembly lines
Business, for explaining, distinguishing, deconstruct and/or decoding the message such as multi -components message.
In receiving Wave beam forming or manipulation block 176, software pipeline 174 provides Beam-former input.Beam-former
Function includes the phase shift and/or time delay and summation of multiple input signals.It in one embodiment, is multiple encoded letters
Number each of signal provide Beam-former.For example, being grasped in software pipeline using two encoded signals
In the case where work, the input to the first Beam-former is the software pipeline being decoded to first code, to the second wave beam
The input of shaper is the software pipeline being decoded to second code.
In processor block 178, the Beam-former of Beam-former block 176 provides processor input.Processor function
It may include the short of floor detection, backscattering processing, data reduction, doppler processing, acoustics imaging and generation backscattering
Any one or more of time series (sometimes referred to as " segment ").
In one embodiment, administrative section 192 and sensor interface part 190 are provided.Administrative section includes interface
Module 194 and/or workstation computer 196.Sensor interface part, which provides, comes from one or more sensors ES1, ES2, ES3
Interface signal, for example, for time (for example, GPS), movement, posture and the velocity of sound sensor.
In various embodiments, control and/or control relevant signal administrative section 192 and it is following in one or more
Exchange between a: power amplifier block 152, transmitting beamformer block 156, receives Beam-former at software pipeline block 174
Block 176, signal generator block 158, processor block 178.Also, in various embodiments, sensor interface partial data 190 with
Administrative section 192 and processor block 178 exchange.
Fig. 1 D shows the part of example multi-beam echo sounder system (" MBES ") 100D.Echo sounder system
Including transducer portion 120, transmitter section 150 and receiver section 170.Some embodiments include interface section 190 and/or
Administrative section 192.
In an illustrated embodiment, the message 153 comprising the N number of signal of quantity (for example, N number of different coding signal) is for swashing
Multiple projectors in projector array are encouraged, and there is T hardware of quantity or software pipeline and (T × N) a hardware or software
The receiver of pipeline can be used for handling T hydrophone signals, to restore each of N number of encoded signal signal distinctive time
Acoustic intelligence.
Transmitter section 150 is for motivating projector array 130.The part includes signal generator block 158, launching beam
Shaper block 156, sum block 154 and power amplifier block 152.
The N number of signal of quantity or message component can be generated in signal generator block 158, for example, N number of different encoded signal
(for example, Scd1...ScdN).In various embodiments, each of multiple signals in message signal can be shared in public
Frequency of heart and/or common band.
Transmitting beamformer block 156 receives N number of signal generator block output.For every in N number of signal generated
One signal, Beam-former block generates one group of beamformer output signal, so that there are N group beamformer output signals.
Sum block 154 receives and the signal in N group beamformer output of summing, to provide summation output 153.
Power amplifier block 152 includes for driving quantity S of each projector in projector array 130 to amplify
Device.Each power amplifier receives the signal of summation output or the function as summation output 153, amplifies the signal, and with putting
Big signal drives the corresponding projector.
Array comprising T hydrophone of quantity 140 is used to receive returning for the sound/pressure waves from projector array 130
Sound.The hydrophone signals obtained by processing in receiver section 170, receiver section 170 include hardware pipeline block 172, software
Assembly line block 174 receives Beam-former block 176 and processor block 178.
In hardware pipeline block 172, T assembly line is that each of T hydrophone signals provide independent signal
Adjusting and analog-to-digital conversion.
In software pipeline block 174, (T × N) a software pipeline is that each of T hardware pipeline output mentions
For down coversion and filtering.Device (for example, matched filter) known in the art can be used for distinguishing the signal of different coding.Such as
Shown in figure, each of T hardware pipeline output 181,182,183 provides N number of software pipeline input a, b and c, d and e, f
(that is, 3 × 2=6, wherein T=3, N=2).
In receiving Beam-former block 176, the output of (T × N) a software pipeline block 174 is used to form N group wave beam.
Beam-former is provided for each of N number of code.For example, there are T=3 hydrophone and software pipeline processing N=2
In the case where a code, the input to the first Beam-former is processing first code a1、c1、e1Software pipeline, to second
The input of Beam-former is processing second code b1、d1、f1Software pipeline.
In processor block 178, N number of processor receives each wave beam group formed by Beam-former block 176.Processor
178 data of block are exchanged with administrative section 192, and sensor interface 190 data ES1, ES2, ES3 are supplied to administrative section
And/or processor block.
In various embodiments, the control signal from management block 192 is used to carry out the setting of power amplifier block 152
(for example, " S " power amplifier for being used for shade), control transmitting beamformer 156 and reception Beam-former 176, selection
The working frequency of software pipeline block 174 and the working frequency of setting signal generator block 158.
As described above, disclosed echo sounder transmitter can construct the message comprising N number of component, for example, N number of warp
The signal of coding.Also, echo sounder, which can use the receiver with T hardware pipeline and (T × N) a software pipeline, to be come
T hydrophone signals are handled, to restore the distinctive echo information of each of N number of message component.
Fig. 1 E to figure F shows the multiple portions of example multi-beam echo sounder system (" MBES ") 100E-F.It returns
Sound bathometer system includes transducer portion 120, transmitter section 150 and receiver section 170.Some embodiments include interface
Part 190 and/or administrative section 192.
In an illustrated embodiment, the message 153 comprising the first, second, and third message component is (for example, encoded signal
Scd1、Scd2、Scd3, wherein N=3) for motivating three projectors in projector array, and have there are three hardware pipeline and
The receiver of nine software pipelines is for handling three hydrophone signals T=3, to restore each of N number of message component spy
Some echo informations.
Transmitter section 150 is for motivating projector array 130.The part includes signal generator block 158, launching beam
Shaper block 156, sum block 154 and power amplifier block 152.
In signal generator block 158, construction generates, calls and/or otherwise provide signal.Here, use-case
As N=3 signal generator describes example process.In each Beam-former of Beam-former block 156, from each
Signal generates multiple wave beams.In sum block 154, wave beam is combined, to generate sum block output signal or transmitting message
153。
Energy converter block 120 includes projector array 130 and hydrophone array 140, for example, the hydrophone array is set as rice
Er Si intersects.As shown, there are three hydrophones 141 in hydrophone array there are three the projector 131 in projector array.?
In power amplifier block 152, summing signal or transmitting message 153 are the inputs to the power amplifier for driving each projector.
Applicant have observed that for ease of description, the counting of the projector and hydrophone is limited to three.Such as those skilled in the art
What member will be understood that, transducer array does not need the projector and hydrophone of equal amount, does not need the transducing of these types yet
The quantity of device is limited to three.For example, modern multi-beam echo sounder can be used 1 to 96 or more and 64 to
256 or more.
The array 141 that T=3 hydrophone is constituted is used to receive what the sound/pressure waves from projector array 130 generated
Echo.The hydrophone signals obtained by processing in receiver section 170, receiver section 170 include hardware pipeline block 172, soft
Part assembly line block 174 receives Beam-former block 176 and processor block 178.
In hardware pipeline block 172, each of T=3 hardware pipeline passes through the mould including analog-digital converter
Quasi- component handles corresponding 141 signal of hydrophone.In an illustrated embodiment, hardware pipeline passes through the first amplifier, such as
The frequency overlapped-resistable filters such as low pass anti-aliasing filter, the second amplifier and analog-digital converter provide sequential signal processing.
In software pipeline block 174, T is handled by the N=3 software pipeline with down coversion and matched filtering
Each of=3 hardware pipeline output.In an illustrated embodiment, software pipeline passes through mixer (such as local vibration
Swing the oscillators such as device and may be coupled to mixer), bandpass filter, withdrawal device and matched filter provide at sequential signal
Reason.It can be via processor block 178, signal generator block 158, hardware pipeline block 172, software pipeline block 174 and wave beam shape
The communication link grown up to be a useful person between any one of block 176 is communicated.See, for example, Fig. 1 C to Fig. 1 D.
Each software pipeline, which can have single mixer and/or each hardware pipeline, can not have mixer.Place
Reason device 178 can control the gain of the first and/or second hardware pipeline amplifier.Processor can provide tuning, for example, through
Tuning is provided by the processor control oscillator being coupled with mixer.
In receiving Beam-former block 176, each of N=3 Beam-former handles signal.In this way, i) right
It should export in first group of three software pipeline of the first encoded signal and be handled by the first Beam-former, ii) correspond to second
Second group of three software pipeline output of encoded signal is handled by the second Beam-former and iii) correspond to third coding
Three software pipeline outputs of third group of signal are handled by third Beam-former.It is worth noting that, Beam-former can
To realize in hardware or in software.For example, one or more Beam-formers can be in one or more field-programmable gate arrays
It arranges in (" FPGA ") and realizes.
In processor block 178, each of N=3 processor is for handling corresponding Beam-former output.?
Herein, more than the first a wave beams generated by the first Beam-former are handled in first processor, in the second Beam-former
More than the second a wave beams generated by the second Beam-former are handled, and are handled in third Beam-former by third wave beam shape
It grows up to be a useful person the multiple wave beams of third of generation.
Processor output is interconnected with administrative section 192.It is worth noting that, one or more processors can filled individually
Middle realization is set, for example, single processor or digital signal processor (" DSP "), or realized in multiple devices, for example, more
A signal processor or digital signal processor.
It can be especially via offers supplements such as the sensor interface parts 190 engaged with multiple sensor ES1, ES2, ES3
Data.Sensor interface module can provide sensing data to the processor in administrative section 192 and/or processor block 178.
Administrative section 192 includes sonar interface 194 and/or workstation computer 196.In various embodiments, from pipe
The control signal of reason block 192 is for carrying out the setting of power amplifier block 152 (for example, for array shade), control launching beam
Shaper 156 and reception Beam-former 176, selection 174 working frequency of software pipeline block, setting signal generator block 158
Working frequency and one or more of provide 178 operational order of processor block.
Applicant have observed that the echo sounder system of Fig. 1 C to Fig. 1 F can be used for handling the hydrophone from following target
Echo: i) it is present in the target in the ensonification volume of water body, ii) it is located at the target or iii of bottom insonified on surface)
Target in the ensonification volume of bottom.
Fig. 2A shows first message period 200A.The period includes emitting message during time t1 and in phase time t3
Between receive message sequence of operations.The transmitting of message refers to the process of excitation projector array 130, and the reception of message refers to packet
Include the complementary process that hydrophone array 140 receives message echo.The waiting time changed primarily as range, angle and the velocity of sound
T2 can be between the beginning of end and message sink that message emits.This waiting time can be set by sonar range scale
It sets or the round trip cycle of longest detection range determines, for example, from farthest in the band insonified by projector array
The echo of position or cell that place observes.In some embodiments, message emits length in the range of 10 to 60 microsecond.?
In some embodiments, transmitting message-length is about 5-15 milliseconds or 10 milliseconds.
Fig. 2 B shows second message period 200B.Here, the message of transmitting includes multiple encoded message components.
During the transmitting of message, each message component is manipulated by Beam-former 156, so that the respective strap of water bottom or sector
It insonifies, this will be explained further below.The message component of each transmitting leads to the message component echo of similar codings.It receives
Decoding in machine separates these echoes, so that the distinctive data in each sector can be used for analyzing.
Fig. 3 A to Fig. 3 D shows the exemplary ship equipped with multi-beam echo sounder 300A-D.For example, with reference to figure
The echo sounder of 1A to Fig. 1 E.As shown in Figure 3A, MBES array package 304 is fixed to ship 302, for example, being fixed to ship
Bottom.
Orbit array is crossed in array package 304 along the orbit array and hydrophone 310 of the projector 308.Projection
Device array is used to emit massage stimulus by message of Fig. 2A or Fig. 2 B etc..Hydrophone array is used to receive returning for transmitting message
Sound.As described below, crossed array setting (for example, the Mills cross of the projector and hydrophone array is arranged) makes echo depth sounding
Device can be operated using the transmitting and reception wave beam intersected, wherein right-angled intersection point identifies specific water body position, region
Or unit (cell).Crossed array can have vertical or substantially vertical setting.Substantially vertically refer to by array component
Substantially little deviation caused by any one of tolerance, location tolerance and adjustment tolerance etc. with vertical line.
Fig. 3 B shows bottom and insonifies 300B.Specifically, water bottom 312 cross trace bar band or sector passes through throwing
Transmitter array 308 insonifies.Note that making to cross track sector ensonification along track projector array 308.As shown, with compared with
It is narrow along track angular aperture θt2It compares, projected beam 311 crosses track angular aperture θ with widet1.Hydrophone array 310 can be with
Receive the echo from the ensonification sector.
Fig. 3 C shows the echo that bottom insonifies and generated by bottom 300C.Particularly, hydrophone array 310, which receives, comes
The echo of track sector 312 is crossed from ensonification.As shown, crossing track angle θ with relatively narrowR2It compares, receives wave beam 321 and have
Have wide along track angular aperture θR1.Also, as shown, hydrophone array wave beam can be manipulated, to observe or read one group of edge
Trace bar band 331,332, sector 312 phase of these bands of 333...... at multiple adjacent or overlapping position with ensonification
It hands over.Data can be obtained from each of these intersection locations or region 340, for example, depth measurement data, and the data and this
A little each of intersection locations or region 340 are associated, so that whenever crossing track sector and being insonified, multiple received waves
Beam observes multiple reception bands, and provides depth measurement data at along the multiple positions for insonifying sector.
As can observe or read single ensonification sector 312 by multiple reception wave beams 321, it can also pass through
Multiple sectors insonified are read in multiple reception wave beam observations.
Fig. 3 D shows more sector bottoms and insonifies 300D.Here, projector array is manipulated, it is fixed on track to generate
To it is multiple adjacent or overlapping the band insonified or sector.Although any number of sector can be projected, for example, 2,3,
4,5,10 or more sector, but the example of Fig. 3 D shows the sectors of five projections, including front A and the rear portion sector A
The center sector of side, front A and the rear portion sector A are respectively in the side of front B and the rear portion sector B.As previously mentioned, multiple connect
It collects one group of 351 offer and receives band 361,362,363... along track.These receive band and intersect with multiple sectors 372.
When reception band 362 intersects with multiple sectors, it can be observed that multiple 372 cells 340.Also, it multiple ought connect
When receipt band 361,362,363... intersect with multiple sectors, latticed or 2 dimensional region 370 is generated, and can be from by the area
Each cell of junction recognition in domain obtains bathymetric data.
Applicant have observed that as shown in Figure 3D, each sector has the opposite of substantially straight line to cross track boundary.
This presentation is Utopian.In fact, these opposite sector borders can be it is curved.For example, the fan in water bottom
Shape profile can be parabolic shape, have the key dimension for crossing track.Launching beam shapes and/or removes plane water bottom
Except bottom potentially contribute to sector there is boundary in addition to straight line crosses track boundary, but cell of origin is not precluded in this
340 center.
The advantages of more sector operations may include measuring speed increase, this is because the extension of such as ensonification along track
Region, via region overlapping redundancy (for example, between ping with 50% overlapping, can be in each water observed
Body bottom position provide twice observe) and from many aspects to given target imaging.For example, being included in from many aspects imaging
Minimum point and from the image side faces other than two opposite minimum points.For example, from many aspects imaging include front, top and after
Side.
In various embodiments, realize that the benefit of more sector measuring systems is required to distinguish time returned from each sector
The MBES of sound.Although the temporal separation of the component in message may be used, this needs separation in time to insonify each sector
Signal.The content of message can be emitted in single or multiple message cycles.Although possible frequency of use separation, this needs
Divide the bandwidth of receiver.When echo signal includes from the echo of multiple sectors, there may be a kind of more reliable solution
Scheme, these echoes are overlapped in time and do not need to divide receiver bandwidth.Particularly, comprising it is multiple it is parallel, it is serial or
The separation of message component may be implemented in the transmitter message of parallel-to-serial coded message component.In addition, including multiple strings in message
In the case where row component, entire transmitter source level can successively be exclusively used in each component, to generate the signal of higher energy.
Fig. 3 E shows the transmitting message for insonifying five sector 300E.Here, MBES projector array 308 is by five
Central sector is arrived in the wave beam 381-385 transmitting 380 of a formation, is emitted to positioned at the rear portion sector A of central sector side and front B
Sector, and it is emitted to the sector peripheral rear portion B and the front sector B.Each of the wave beam 381-385 of this five formation makes phase
An ensonification of the sector answered by five different coding signals in message or in message component, allows receiver will
Its corresponding sector of message echo component is associated.
In the example shown, the first wave beam 381 insonifies the sector rear portion B by encoded signal 1, and the second wave beam 382 is logical
It crosses encoded signal 2 and insonifies the sector rear portion A, third wave beam 383 insonifies central sector, the 4th wave beam 384 by encoded signal 3
The sector front A is insonified by encoded signal 4, the 5th wave beam 385 insonifies the sector front B by encoded signal 5.It is worth noting
, as described herein, single message may include all message components for insonifying multiple sectors.In addition,
These message components can be set within the single message period, i) serially it is arranged, so that sequentially insonifying multiple fans with some
Area, ii) concurrently it is arranged, so that insonifying multiple sectors or iii simultaneously) serial-to-parallel message structure.In another example
In, these message components can divide between multiple message cycles.
Fig. 3 F shows the echo 300F of the message from Fig. 3 E.Here, MBES hydrophone array 310 receives 390
From central sector, from the rear portion sector A and the front sector A for being located at central sector side and from the peripheral rear portion sector B and
Five shape beam 391-395 of the front sector B.Each of five shape beam 391-395, which are provided, comes from respective sectors
Echo, wherein one in five different messages components be included in transmitting message in, allow receiver to separate these
Echo.
Fig. 4 shows the table of signal code and sequence (" code ") 400.The generation of spread spectrum and similar noise is listed here
Code, these codes can be used to construct different signal or message component, to be included in emitted message.Disappear from this
Different wave and/or waveform combination in the echo of breath allow a receiver to distinguish these message for example, by matched filtering
Component.
Signal spread-spectrum code can be used for generating spread-spectrum signal.As shown in Table, signal extension can be completed by frequency hopping.It jumps
Frequency is shifted using the pseudorandom carrier wave of frequency shift keying (FSK) signal.Applicable coding includes section's Stas (Costas) and Reed-
The frequency selecting method of Saloman (Reed Solomon) guidance.
Signal extension can also be completed by directly sorting.For directly sorting, phase-shift keying (PSK) (PSK) signal exists pseudo-
Random phase shift.Directly sequence spread spectrum (DSSS) can use code, including Bark (Barker), GoerTek moral (Gold), most greatly enhance
The phase selection method of degree, Ka Sha meter (Kasami) code and Walsh (Walsh) guidance.
Another encoding scheme constructs the signal with low predictability, for example, the encoded signal of similar noise.In table
Shown, the waveform configuration of similar noise can be inputted by pseudorandom to be guided, for example, Gaussian noise and deterministic chaos.Various
In embodiment, any one of signal frequency or phase can be inputted by these pseudorandoms to manipulate, different to construct
Waveform, to contain in the message, allowing echo to be received machine separation or uniquely separate.
Frequency and phase modulated signal are not referred in table, these signals can also be used to distinguish the echo for carrying out spontaneous emission message
In waveform, signal or message component.
For example, in a limiting case, one of linear FM, hyperbolic FM, stepping chirp and the modulation of Frank's multiphase or
It is a variety of to can be used for creating the message that distinguish signal including limited quantity (for example, two).
For example, in a limiting case, frequency modulation(PFM) (linear FM, hyperbolic FM etc.), stepping chirp and Frank's multiphase tune
One of system or a variety of message that can be used for creation and can distinguish signal including limited quantity (for example, two).
Fig. 5 A to Fig. 5 G shows the exemplary of one of code of Fig. 4 and uses 500A-G.Specifically, Detailed description of the invention uses
Section's Stas code instructs the construction of the various combination of waveform, wherein each waveform combination represents the given section in transmitting message
Stas code and message component.As shown in figure 4 above, this use of section's Stas code is spread spectrum frequency hopping.
The table of Fig. 5 A shows the 5 transmitting sectors insonified by corresponding section's Stas encoded signal 500A.Especially
Ground, five sectors (for example, 380 of Fig. 3 E) are insonified by five corresponding section Stas encoded signals.
Sector 1 in the B location of rear portion is insonified by the orthogonal spectrum expansion signal (" OSS ") for being appointed as OSS1.Based on sequence N
=4 section's Stas array, section's Stas code { 1,2,4,3 } of signal are in 12 effective section Stas codes of the array order
One.At rear portion, the sector 2 of location A is worn by the OSS signal sound for being appointed as OSS2 with section's Stas code { 1,3,4,2 }
Thoroughly.The sector 3 of place-centric is insonified by the OSS signal for being appointed as OSS3 with section's Stas code { Isosorbide-5-Nitrae, 2,3 }.Preceding
The sector 4 of portion's location A is insonified by the OSS signal for being appointed as OSS4 with section's Stas code { 2,1,3,4 }.In front B
The sector 5 of position is insonified by the OSS signal for being appointed as OSS5 with section's Stas code { 2,3, Isosorbide-5-Nitrae }.
The right column of the table shows the spectrogram of message component, for insonifying respective sectors.As shown, sector
1 is insonified by message component, instructs to encode by section's Stas code { 1,2,4,3 }.Spectrogram shows four time intervals
Ts1, ts2, ts3, ts4 and corresponding frequency fs1, fs2, fs4, fs3.Waveform associated with the spectrogram can be frequency
For four sine waves of fs4 > fs3 > fs2 > fs1, so that for example establishing spectrogram frequency in multiple periods of specific frequency.
In a similar way, sector 2 is insonified by message component, instructs to encode by section's Stas code { 1,3,4,2 }, fan
Area 3 is insonified by message component, instructs to encode by section's Stas code { Isosorbide-5-Nitrae, 2,3 }, and sector 4 is insonified by message component, by
Section's Stas code { 2,1,3,4 } guidance coding, sector 5 is insonified by message component, is referred to by section's Stas code { 2,3, Isosorbide-5-Nitrae }
Lead coding.
Because of the message component of coded excitation, message echo can be separated or is uniquely separated into from each sector
Independent echo.It in some embodiments, include such as matched filter (see, for example, figure when receiver is each message component
The MF of 1F) etc. filters when, provide the facility, which is designed to only detect the message component.In one embodiment,
Receiver includes N number of matched filter, and each filter selectively detects corresponding sector echo.
Fig. 5 B to Fig. 5 G shows exemplary Parallel, serial and concurrent-serial message 500B-G, for making multiple sector sound
It penetrates (see, for example, Fig. 3 E).It can be used as shown, these message may occupy a part of, substantially all or whole receivers
Bandwidth.
The selection of parallel and serial transmitting about message component can highly determine more preferably transmitting format, wherein
Height is the depth measured between water bottom immediately below projector array and projector array.Particularly, with height
It reduces, at the end of transmitting must be before first echo returns, message launch time window reduces.The transmitting of this shortening
Time window can produce the parallel rather than preference of serial transmission to message component.As height reduces, there are also one kind to become
Gesture is transmitter signal surplus, this is further supported using the transmitted in parallel for sharing total source level.
In a similar way, as height increases, launch time window increases, and the transmitting of serial message component may be can
It takes.Here, have the tendency that a kind of separate transmitter signal is superfluous, this shows the serial message component for not sharing total source level
It is desirable.In another consideration, if due to the applications such as height, source level limitation and cause to send out in the single message period
Penetrate all message components be it is unfavorable, then message component can the transmitting of serial in multiple message cycles or serial-to-parallel.
Fig. 5 B shows more than first sector measurement message transmitting.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, transmitted in parallel
Five orthogonal spectrum expansion message components, so that each of message component OSS1, OSS2, OSS3, OSS4, OSS5 are occupied as connecing
Receive the entire message frequency band of the subset of unit frequency opereating specification.Subset herein is referred to less than receiver frequency operating range
All, for example, half, one third or a quarter.
Fig. 5 C shows more than second sector measurement message transmitting.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, transmitted in parallel
Five orthogonal spectrum expansion message components, so that the frequency band that each of message component OSS1, OSS2, OSS3, OSS4, OSS5 are occupied
It is the frequency operating range of substantially all or whole receivers.Compared with the technology that frequency of use separates to distinguish signal, this
Kind of technology makes each message component be able to use the entire frequency operating range of receiver, therefore, for given receiver,
When sending each message component, the entire frequency operating range of receiver cannot be made full use of.
Fig. 5 D shows the more sector measurement message transmittings of third.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, serial transmission
Five orthogonal spectrum expansion message components.As shown in Figure 5 B, each of message component OSS1, OSS2, OSS3, OSS4, OSS5 is accounted for
According to the entire message frequency band of the subset as receiver frequency range.In addition, in the case where message includes multiple serial components,
Transmitter source level can be exclusively used in each component, so that generating more high energy compared with the overlapping parallel signal of shared source level
The signal of amount.
Fig. 5 E shows more than the 4th sector measurement message transmitting.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, serial transmission
Five orthogonal spectrum expansion message components.As shown in Figure 5 C, each of message component OSS1, OSS2, OSS3, OSS4, OSS5 is accounted for
According to frequency band be substantially all or whole receivers frequency operating range.
Fig. 5 F shows more than the 5th sector measurement message transmitting.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, transmitted in parallel
First three in five orthogonal spectrum expansion message components is a, then serial transmission most latter two message component.Message component OSS1,
Each of OSS2, OSS3, OSS4, OSS5 occupy the entire message frequency band of the subset as receiver frequency range.
Fig. 5 G shows more than the 6th sector measurement message transmitting.Here, for making illustrative one group of five sector sound
The message penetrated utilizes spread spectrum, for example, the frequency hopping for instructing frequency to select using section's Stas code.Particularly, transmitted in parallel
First three in five orthogonal spectrum expansion message components is a, then serial transmission most latter two message component.Message component OSS1,
The frequency band that each of OSS2, OSS3, OSS4, OSS5 are occupied is the frequency work model of substantially all or whole receivers
It encloses.
Applicant have observed that as the frequency-hopping spread sequence with section's Stas coding frequency selection technique can be used for constructing
The message of Fig. 5 A to Fig. 5 G is the same, and other codes and sequence of Fig. 4 can also be used for building and be included in the single transmitting for leading to echo
Message component in message, wherein message component can pass through the code dehind of its variation or unique separation by receiver.
Although various embodiments of the present invention are described above, it should be appreciated that, only by example rather than
Limitation is to be presented these embodiments.It is apparent to a person skilled in the art that not departing from spirit and model of the invention
In the case where enclosing, various changes can be carried out to form and details.In this way, width and range of the invention should not be by above-mentioned
The limitation of exemplary embodiment, and should be limited according only to following claim and its equivalent.
Claims (18)
1. a kind of for executing the measuring system of more sector water-depth measurements, the measuring system includes for being mounted on traveling waterborne
The vehicles on multi-beam echo sounder system, the measuring system includes:
Acoustic transceiver, for for more in the one or more energy converters and single hydrophone array in single projector array
A energy converter uses；
The projector array and the hydrophone array of Mills cross setting；
Transceiver Transmit machine, for generating the message including the encoded message component in N >=3, for insonifying water bottom
On each sector；
Transceiver receiver, with operation of receiver frequency range, the receiver is for receiving from the fan insonified
The echo being overlapped over time and frequency in area；
N number of matched filter in receiver, each matched filter selectively detect corresponding sector echo；And
The operating frequency range of the receiver includes message component frequency band；
Wherein, the message component is overlapped over time and frequency.
2. measuring system according to claim 1, wherein each message component occupies essentially all of message component frequency
Band.
3. measuring system according to claim 1, further includes:
N number of signal generator in the Transceiver Transmit machine, each signal generator is for generating the encoded message
Corresponding one in component.
4. measuring system according to claim 1, further includes:
N number of spread frequency signal generator in the Transceiver Transmit machine, each signal generator are described encoded for generating
Corresponding one in message component；And
Wherein, the message component frequency band occupies the half less than operation of receiver frequency range.
5. measuring system according to claim 1, further includes:
N number of spread frequency signal generator in the Transceiver Transmit machine, each signal generator are described encoded for generating
Corresponding one in message component；And
Wherein, the message component frequency band occupies essentially all of operation of receiver frequency range.
6. measuring system according to claim 5, further includes:
A different set of frequency hopping code, three or more frequencies that each code is used to that selection to be instructed to characterize each message component
Rate.
7. measuring system according to claim 6, wherein the message component include three or more frequencies it is continuous just
String waveform.
8. measuring system according to claim 7, wherein section's Stas code is for instructing selection frequency.
9. measuring system according to claim 8, wherein multiple message components in transmitted in parallel message.
10. measuring system according to claim 5, wherein the message includes five or more message components.
11. measuring system according to claim 5, wherein the message includes ten or more message components.
12. measuring system according to claim 5, wherein the message includes 20 or more message components.
13. measuring system according to claim 10, wherein multiple message components in transmitted in parallel message.
14. measuring system according to claim 10, wherein multiple message components in serial transmission message.
15. measuring system according to claim 10, in which:
Message includes y+z message component；
Y message component of transmitted in parallel in time interval t1；
Z message component of transmitted in parallel in time interval t2；And
Time interval t2 is later than time interval t1 and starts.
16. a kind of for executing the measuring system of more sector water-depth measurements, the measuring system includes multi-beam echo sounder
System, multi-beam echo sounder system are used to be mounted on the vehicles of traveling waterborne, and the measuring system includes:
Acoustic transceiver, for being used for projector array and hydrophone array；
The projector array and the hydrophone array of Mills cross setting；
Transceiver Transmit machine, for generating the message including the encoded message component in N >=3, for insonifying water bottom
On each sector；
Transceiver receiver, with operation of receiver frequency range, the receiver is for receiving from the fan insonified
The echo being overlapped over time and frequency in area；
N number of matched filter in receiver, each matched filter selectively detect corresponding sector echo；And
The operating frequency range of the receiver includes message component frequency band；
Wherein, the message component is overlapped over time and frequency.
17. measuring system according to claim 16, wherein the projector array insonifies whole in single ping
A band.
18. measuring system according to claim 17, wherein the projector array includes multiple and different projector
Group.
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| US201662329631P | 2016-04-29 | 2016-04-29 | |
| US62/329,631 | 2016-04-29 | ||
| US201662372231P | 2016-08-08 | 2016-08-08 | |
| US62/372,231 | 2016-08-08 | ||
| US15/476,137 | 2017-03-31 | ||
| US15/476,137 US10132924B2 (en) | 2016-04-29 | 2017-03-31 | Multimission and multispectral sonar |
| PCT/US2017/029184 WO2017189449A2 (en) | 2016-04-29 | 2017-04-24 | Multifan survey system & method |
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| CN113534165A (en) * | 2021-06-08 | 2021-10-22 | 杭州电子科技大学 | Doppler log algorithm performance verification device based on echo data simulator |
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| CN109073750B (en) | 2023-08-15 |
| CN116879906A (en) | 2023-10-13 |
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