CN112540348A - Application of sound ray correction algorithm based on spatial scale in long-baseline underwater sound positioning system - Google Patents
Application of sound ray correction algorithm based on spatial scale in long-baseline underwater sound positioning system Download PDFInfo
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Abstract
The invention relates to a sound ray correction method, in particular to an application of a sound ray correction algorithm based on a spatial scale to a long-baseline underwater sound positioning system, which simplifies a sound velocity profile according to a vertical distance simplification principle by knowing the depths of a transponder and an underwater target, omits redundant repetition and data which can generate interference, retains data with obvious change and calculation value, greatly reduces calculation iteration of sound ray correction, realizes quick simplification operation and obviously improves the data processing efficiency of sound ray tracking; the simplified sound velocity profile is layered on the spatial scale, the uneven distribution of the seawater space is further considered, and the method is more suitable for actual scenes.
Description
Technical Field
The invention relates to a sound ray correction method, in particular to application of a sound ray correction algorithm based on a space scale to a long-baseline underwater sound positioning system.
Background
The long-baseline underwater acoustic positioning system is one of the most common underwater acoustic positioning methods in the current deep sea environment, and is widely applied to marine engineering and marine scientific research such as underwater precise construction, tracking and positioning of various underwater vehicles, motion monitoring of submarine plates and the like.
The working principle of the long-baseline underwater sound positioning system is as follows: the method comprises the steps that an inquiry signal is sent by a positioned target and is transmitted to a submarine transponder array, the submarine transponder receives the inquiry signal and retransmits a positioning signal to the positioned target, the relative position from the positioned target to the submarine transponder can be obtained by calculating the two-way propagation delay, and if the absolute position of the submarine transponder is known, the absolute position of the target can be positioned. However, since the underwater sound velocity is not constant, a positioning error necessarily exists in a result obtained by directly utilizing the propagation delay to perform positioning calculation. Therefore, in order to reduce the positioning error caused by the sound velocity error, it is necessary to correct the sound ray to obtain the accurate position of the target.
The sound velocity distribution in the sea is not uniform, and as seen from ray acoustics, the propagating sound ray of sound in an ocean channel travels in a curved manner, and the faster the sound velocity changes along the vertical depth, the more curved the sound ray. The bending of the sound ray means that the propagation delay of the sound signal from the transmitting point to the receiving point is larger than the propagation delay of the sound signal in the straight line, and the degree of the influence of the bending of the sound ray is different at different spatial positions. Therefore, the acoustic ray bending effect needs to be evaluated for a positioning system based on a distance intersection model.
The sound ray bending error is related to the complex and changeable marine observation environment and the sonar observation incidence angle. If the average sound velocity or the incorrect sound velocity profile is used, the measurement result is deviated, the positioning precision is reduced, and the positioning point is seriously influenced by a wild value, so that the research on the influence of the sound ray bending on the long-baseline underwater sound positioning system and how to correct the influence have important significance on improving the precision of the long-baseline underwater sound positioning system.
The research on the sound ray correction method is a key problem for realizing high-precision positioning of the long-baseline underwater sound positioning system.
Disclosure of Invention
An object of the present invention is to solve the above-mentioned drawbacks of the background art by providing an application of a spatial scale-based sound ray correction algorithm to a long baseline underwater sound positioning system.
The technical scheme adopted by the invention is as follows: the method comprises the following steps:
step 1: solving the sound velocity by utilizing an EM layered simplified sound velocity formula according to the measured conductivity, temperature and depth of the seawater at different depths;
step 2: simplifying the sound velocity profile according to a vertical distance simplification principle, and solving the vertical distance of a straight line of a sampling point;
and step 3: comparing the distance with the tolerance, if the distance is greater than the set error, reserving the distance, releasing a first point, starting to process the next three sampling points, and repeating the step 2; if the error is less than or equal to the set error, the middle second sampling point is omitted, and the process is repeated until all the sampling points are processed;
and 4, step 4: measuring the depth of the transponder and the underwater target by using a depth sensor, calculating an inclined distance estimation value and estimating theta'0。
And 5: calculating the glancing angle theta of each point according to Snell's law transformation formulai' then, the horizontal distance x of each point is determinedi；
Step 6: searching the maximum distance and the minimum distance of each point in the horizontal distances of each point obtained in the previous step, namely the range of the horizontal distance, and then selecting a proper step length according to the range to carry out horizontal layering; selecting a proper step length according to the depth range of the image to carry out vertical layering, thereby completing layering on the spatial scale of the image;
and 7: acoustic ray tracking; suppose that the iteration from transponder element A is tried, and a small delta theta is utilized, and theta 'is estimated according to step (4)'0Is prepared from (theta'0+ Delta theta or (theta'0Delta theta) and calculating grazing angle theta of sound ray in each space layered medium according to Snell law transformation formulai；
And 8: determining the sound velocity gradient giCalculating propagation delay t 'of sound wave in each layered medium in a circular arc form by adopting a differentiating unit of a sound ray circular arc path'iThen, accumulating the layered propagation delays to obtain the total propagation delay t ' of the sound wave from the target sound source to the underwater matrix receiving array element, calculating the difference value delta t between the sound ray propagation delay t ' and the measurement delay t estimated by the system signal processing equipment, setting the exit condition of iterative calculation, namely judging whether the delay difference delta t meets the set requirement of the approximation degree or not through the approximation degree value Q of the sound ray propagation delay t ' and the measurement delay t obtained through calculation, and deciding to terminate the exit or continue the iteration;
and step 9: after the iterative search is successful, theta meeting the precision requirement is utilized0The value and the difference value delta t between the propagation delay of the sound wave from the sound source to each array element and the measurement delay estimated by the system signal processing equipment10，Δt20And Δ t30Repeating the steps 7-8 for three times, and sequentially iterating and calculating other transponder array elements B, C and D of the system;
step 10: target initial value (x) of measurement estimated by processing equipment0,y0,z0) Obtaining a new coordinate;
step 11: comparing the calculated time delay difference with the actually measured time delay difference, and if the error requirement is met, the set value is the sound source coordinate (x)0,y0,z0) (ii) a If not, according to the difference: Δ t10，Δt20And Δ t30Correcting the initial value; solving the correction quantity (delta x, delta y, delta z) according to the differential positioning principle;
step 12: repeating the steps of 10-11 until the error meets the requirement, and finishing target positioning.
As a preferred technical scheme of the invention: the formula for solving the sound velocity in step 1 is as follows:
c(T,0,S)＝1449.05+T(4.57-T(0.0521-0.00023T))+(1.333-T(0.0126-0.00009T))(S-35)
c(T,D,S)＝c(T,0,S)+16.5D
wherein, S is the conductivity, T is the temperature, D is the depth, when the fresh water depth reaches 0.2km and the seawater depth reaches 1km, the empirical model for calculating the sound velocity in the seawater is a second formula, and when the fresh water depth reaches 2km and the seawater depth reaches 11km, the empirical model for calculating the sound velocity in the seawater is a third formula.
As a preferred technical scheme of the invention: the calculation formula of the vertical distance is as follows:
as a preferred technical scheme of the invention: theta'0The calculation formula of (2) is as follows:
as a preferred technical scheme of the invention: theta is describediThe calculation formula of is
Said xiThe calculation formula of (2) is as follows:
c is mentionediFor the ith sound speed value, p is the Snell constant.
As a preferred technical scheme of the invention: said g isiIs calculated by the formula
The calculation formula of the t' is
The calculation formula of the delta t is as follows: and t-t'.
As a preferred technical scheme of the invention: the conditions for deciding whether to terminate the exit or continue the iteration are as follows:
a. if the absolute value delta t is less than or equal to Q, the set approximation condition is met, and a reasonable initial grazing angle theta is successfully searched0Stopping iteration and quitting searching;
b. if delta t is greater than Q, the currently substituted initial grazing angle is larger than the actual value, delta theta is subtracted on the basis, and the next iteration is carried out by returning to the step 7;
c. if Δ t<Q, describing the currently substituted initial grazing angle θ0Is smaller than the actual value, and is added with delta theta, and the next iteration is carried out by returning to the step 7.
As a preferred technical scheme of the invention: said (x)0,y0,z0) The calculation method comprises the following steps:
as a preferred technical scheme of the invention: the correction amount (Deltax, Deltay, Deltaz) is calculated by
As a preferred technical scheme of the invention: the sound source coordinate (x)0,y0,z0) Is new value of
According to the method, the sound velocity profile is simplified according to the principle of simplifying the vertical distance by knowing the depths of the transponder and the underwater target, redundant repeated data which can generate interference are omitted, data with obvious change and calculation value are reserved, the calculation iteration of sound ray correction is greatly reduced, the rapid simplification operation is realized, and the data processing efficiency of sound ray tracking is obviously improved; the simplified sound velocity profile is layered on the spatial scale, the uneven distribution of the seawater space is further considered, and the method is more suitable for actual scenes; the initial grazing angle of a positioning sound signal propagation sound ray emitted by an underwater sound source is quickly searched by utilizing the approximation criterion and the EM hierarchical simplified sound velocity formula, and the algorithm is simple and easy to implement and high in operation speed; according to a differential positioning principle, the long-baseline underwater sound positioning is rapidly and accurately completed through a least square iteration method; the sound ray correction algorithm based on the spatial scale has good engineering practicability and universality.
Drawings
FIG. 1 is a simplified schematic diagram of vertical distance;
FIG. 2 is a schematic diagram of equal gradient sound ray tracing;
FIG. 3 is a schematic view of a long baseline underwater acoustic positioning system.
Detailed Description
It should be noted that, in the present application, features of embodiments and embodiments may be combined with each other without conflict, and technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the preferred embodiment of the present invention provides an application of a sound ray correction algorithm based on spatial scale to a long baseline underwater sound positioning system, which comprises two parts, one part is an interrogator (transceiver transducer) on an underwater moving carrier, and the other part is a series of transponders with known positions and fixed on the seabed, at least 3, and forms a certain geometric shape. The distance between the transponders constitutes a baseline, which may be between a few hundred meters and several kilometers, or even tens of kilometers in length. If the transponder and the responder work in a synchronous mode, high-precision synchronous clocks are required to be respectively arranged on the interrogator and the responder. Typically, the interrogator is mounted on the upper or lower portion of the underwater vehicle to avoid shadowing.
The long baseline positioning system beacon placement should follow the following basic principles:
the beacon has to achieve effective coverage of the operation position and the area nearby, so as to ensure the positioning accuracy of the area.
The beacons should be formed in a regular geometric shape as much as possible.
And thirdly, each beacon should avoid the operation track of the underwater carrier as far as possible.
And fourthly, designing the submerged buoy according to the depth of the throwing position of the submerged buoy, so that the beacon is within plus or minus 100m of the main operation depth of the underwater carrier.
A long-baseline underwater acoustic positioning system positioning test is carried out in a certain sea area, four submarine transponders, A, B, C, D respectively, are put in firstly, are arranged in a square shape, and have known coordinates (X)i,Yi,Zi) And (3) measuring the conductivity S, the temperature T and the depth D of the seawater at different depths according to a thermohaloscope (CTD) after i is 1,2,3 and 4. In the spherical intersection positioning model, the target and the transponder are accurately synchronized, so that the acoustic propagation delay t' can be directly measured, the target depth Z and the transponder depth Z are presetyAnd carrying out positioning measurement on the long-baseline underwater acoustic positioning system.
(1) Data preprocessing: due to the influence of various factors such as navigation noise of a mother ship, wind waves, ship swinging, inconsistency of equipment thresholds and the like, false signals or leakage signals exist in signals received by the questioning and answering machine inevitably. Whether positioning calculation and array shape measurement mainly utilize response time information, the time information must be analyzed and sorted before being input into a computer, false signals are eliminated, and leaked signals are supplemented to obtain a relatively complete and credible data string. The response round-trip time of the interrogator and any transponder is larger than the arrival time of the submarine echo, so that data preprocessing is carried out according to the formula (1);
τk>2 times/average sound velocity of sea depth (1)
(2) Solving the sound velocity by utilizing an EM layered simplified sound velocity formula according to the measured conductivity S, temperature T and depth D of the seawater at different depths;
c(T,0,S)＝1449.05+T(4.57-T(0.0521-0.00023T))+(1.333-T(0.0126-0.00009T))(S-35)
c(T,D,S)＝c(T,0,S)+16.5D
when the depth of the fresh water reaches 0.2km and the depth of the seawater reaches 1km, the empirical model for calculating the sound velocity in the seawater is a second formula, and when the depth of the fresh water reaches 2km and the depth of the seawater reaches 11km, the empirical model for calculating the sound velocity in the seawater is a third formula.
(3) Simplifying the sound velocity profile according to the principle of vertical distance simplification, as shown in fig. 1, firstly, processing the first three sampling points, connecting the first point and the third point, and calculating the vertical distance D of the straight line of the second point;
(4) comparing the distance with the tolerance, if the distance is greater than the set error, reserving the distance, releasing a first point, starting to process the next three sampling points, and repeating the step two; if the error is less than or equal to the set error, the middle second sampling point is omitted, and the process is repeated until all the sampling points are processed;
(2) the depth of the transponder and the depth of the underwater target are respectively measured by using the depth sensorzyZ, multiplying 1500m/s (reference sound velocity) by the total time t to obtain an estimated slope distance, and then estimating theta 'by using a formula (4)'0At this time, [ theta ]'0The size is very close to theta0；
(6) According to the steps (5) and the formula (4), the glancing angle theta of each point is obtained according to the Snell law transformation formulai' then, the horizontal distance x of each point is obtained from the formula (6)i：
In the formula (6), ciThe ith sound velocity value is p, and the p is a Snell constant;
(6) searching the maximum distance and the minimum distance of each point in the horizontal distances of each point obtained in the previous step, namely the range of the horizontal distance, and then selecting a proper step length according to the range to carry out horizontal layering; selecting a proper step length according to the depth range of the image to carry out vertical layering, thereby completing layering on the spatial scale of the image;
(8) performing equal gradient sound ray tracking; suppose that the iteration from transponder element A is tried, and a small delta theta is utilized, and theta 'is estimated according to step (5)'0Is prepared from (theta'0+ Delta theta or (theta'0- Δ θ), and calculating grazing angle θ of sound ray in each space layered medium according to Snell's law transformation formula shown in formula (7)i：
In the formula (7), ciIs the sound velocity value of the ith layer, and p is SnellA constant value;
(9) the sound velocity gradient g is obtained according to the formula (8)iCalculating propagation delay t 'of sound wave in each layered medium in a circular arc form by adopting a differentiating unit of a sound ray circular arc path'iThen, accumulating the layered propagation time delays to obtain the total propagation time delay t' of the sound wave from the target sound source to the underwater matrix receiving array element;
calculating the difference value delta t between the sound ray propagation delay t' and the measurement delay t estimated by the system signal processing equipment according to the formula (10):
Δt＝t-t' (10)
setting an exit condition of iterative computation, namely, judging whether the delay difference delta t meets the requirement of the set approximation degree through the calculated approximation degree value Q (such as 1 mu s) of the sound ray propagation delay t' and the measured delay t, and determining to terminate the exit or continue the iteration:
a. if the absolute value delta t is less than or equal to Q, the set approximation condition is met, and a reasonable initial grazing angle theta is successfully searched0Stopping iteration and quitting searching;
b. if delta t is greater than Q, the currently substituted initial grazing angle is larger than the actual value, delta theta is subtracted on the basis, and the step (7) is returned to enter the next iteration;
c. if Δ t<Q, describing the currently substituted initial grazing angle θ0If the value is smaller than the actual value, adding delta theta on the basis, and returning to the step (7) to enter the next iteration;
(10) after the iterative search is successful, theta meeting the precision requirement is utilized0The value and the difference value delta t between the propagation delay of the sound wave from the sound source to each array element and the measurement delay estimated by the system signal processing equipment10，Δt20And Δ t30Repeating the steps (8) to (9) three times, and sequentially carrying out iterative computationOther transponder elements B, C and D out of the system;
(11) substituting (11) the measured time delay estimated by the system signal processing equipment to obtain a target initial value (x)0,y0,z0)；
(12) Comparing the calculated time delay difference with the actually measured time delay difference, and if the error requirement is met, the set value is the sound source coordinate (x)0,y0,z0) (ii) a If not, according to the difference: Δ t10，Δt20And Δ t30Correcting the initial value; solving the correction quantity (delta x, delta y, delta z) according to the differential positioning principle;
the new coordinates are:
(13) repeating the steps (11) to (12) until the error meets the requirement, and finishing target positioning; .
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. An application of a sound ray correction algorithm based on a space scale in a long-baseline underwater sound positioning system is characterized in that: the method comprises the following steps:
step 1: solving the sound velocity by utilizing an EM layered simplified sound velocity formula according to the measured conductivity, temperature and depth of the seawater at different depths;
step 2: simplifying the sound velocity profile according to a vertical distance simplification principle, and solving the vertical distance of a straight line of a sampling point;
and step 3: comparing the distance with the tolerance, if the distance is greater than the set error, reserving the distance, releasing a first point, starting to process the next three sampling points, and repeating the step 2; if the error is less than or equal to the set error, the middle second sampling point is omitted, and the process is repeated until all the sampling points are processed;
and 4, step 4: measuring the depth of the transponder and the underwater target by using a depth sensor, calculating an inclined distance estimation value and estimating theta'0。
And 5: calculating the glancing angle theta of each point according to Snell's law transformation formulai' then, the horizontal distance x of each point is determinedi；
Step 6: searching the maximum distance and the minimum distance of each point in the horizontal distances of each point obtained in the previous step, namely the range of the horizontal distance, and then selecting a proper step length according to the range to carry out horizontal layering; selecting a proper step length according to the depth range of the image to carry out vertical layering, thereby completing layering on the spatial scale of the image;
and 7: acoustic ray tracking; suppose that the iteration from transponder element A is tried, and a small delta theta is utilized, and theta 'is estimated according to step (4)'0Is prepared from (theta'0+ Delta theta or (theta'0Delta theta) and calculating grazing angle theta of sound ray in each space layered medium according to Snell law transformation formulai；
And 8: determining the sound velocity gradient giCalculating propagation delay t 'of sound wave in each layered medium in a circular arc form by adopting a differentiating unit of a sound ray circular arc path'iThen, accumulating the layered propagation delays to obtain the total propagation delay t ' of the sound wave from the target sound source to the underwater matrix receiving array element, calculating the difference value delta t between the sound ray propagation delay t ' and the measurement delay t estimated by the system signal processing equipment, setting the exit condition of iterative calculation, namely judging whether the delay difference delta t meets the set requirement of the approximation degree or not through the approximation degree value Q of the sound ray propagation delay t ' and the measurement delay t obtained through calculation, and deciding to terminate the exit or continue the iteration;
and step 9: after the iterative search is successful, theta meeting the precision requirement is utilized0The value and the difference value delta t between the propagation delay of the sound wave from the sound source to each array element and the measurement delay estimated by the system signal processing equipment10，Δt20And Δ t30Repeating the steps 7-8 for three times, and sequentially iterating and calculating other transponder array elements B, C and D of the system;
step 10: target initial value (x) of measurement estimated by processing equipment0,y0,z0) Obtaining a new coordinate;
step 11: comparing the calculated time delay difference with the actually measured time delay difference, and if the error requirement is met, the set value is the sound source coordinate (x)0,y0,z0) (ii) a If not, according to the difference: Δ t10，Δt20And Δ t30Correcting the initial value; solving the correction quantity (delta x, delta y, delta z) according to the differential positioning principle;
step 12: repeating the steps of 10-11 until the error meets the requirement, and finishing target positioning.
2. The application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: the formula for solving the sound velocity in step 1 is as follows:
c(T,0,S)＝1449.05+T(4.57-T(0.0521-0.00023T))+(1.333-T(0.0126-0.00009T))(S-35)
c(T,D,S)＝c(T,0,S)+16.5D
wherein, S is the conductivity, T is the temperature, D is the depth, when the fresh water depth reaches 0.2km and the seawater depth reaches 1km, the empirical model for calculating the sound velocity in the seawater is a second formula, and when the fresh water depth reaches 2km and the seawater depth reaches 11km, the empirical model for calculating the sound velocity in the seawater is a third formula.
3. The application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: the calculation formula of the vertical distance is as follows:
4. the application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: theta'0The calculation formula of (2) is as follows:
5. the application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: theta is describedi' calculation formulaIs composed of
Said xiThe calculation formula of (2) is as follows:
c is mentionediFor the ith sound speed value, p is the Snell constant.
6. The application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: said g isiIs calculated by the formula
The calculation formula of the t' is
The calculation formula of the delta t is as follows: and t-t'.
7. The application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: the conditions for deciding whether to terminate the exit or continue the iteration are as follows:
a. if the absolute value delta t is less than or equal to Q, the set approximation condition is met, and a reasonable initial grazing angle theta is successfully searched0Stopping iteration and quitting searching;
b. if delta t is greater than Q, the currently substituted initial grazing angle is larger than the actual value, delta theta is subtracted on the basis, and the next iteration is carried out by returning to the step 7;
c. if Δ t<Q, describing the currently substituted initial grazing angle θ0Is smaller than the actual value, and is added with delta theta, and the next iteration is carried out by returning to the step 7.
8. The space-based of claim 1The application of the sound ray correction algorithm on the scale in the long-baseline underwater sound positioning system is characterized in that: said (x)0,y0,z0) The calculation method comprises the following steps:
9. the application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: the correction amount (Deltax, Deltay, Deltaz) is calculated by
10. The application of the sound ray correction algorithm based on the spatial scale in the long-baseline underwater sound positioning system according to claim 1, wherein: the sound source coordinate (x)0,y0,z0) Is new value of
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| CN113156413A (en) * | 2021-04-28 | 2021-07-23 | 哈尔滨工程大学 | Seabed reference calibration method based on double-pass acoustic path |
| CN113406645A (en) * | 2021-05-10 | 2021-09-17 | 山东科技大学 | Novel average sound velocity underwater sonar positioning method |
| CN113465770A (en) * | 2021-05-17 | 2021-10-01 | 浙江大学 | Small-scale vertical profile two-dimensional temperature field observation method |
| CN114355287A (en) * | 2022-01-04 | 2022-04-15 | 湖南大学 | Ultra-short baseline underwater acoustic ranging method and system |
| CN114397643A (en) * | 2021-12-22 | 2022-04-26 | 山东科技大学 | Sound ray correction method based on ultra-short baseline underwater sound positioning system |
| CN117031398A (en) * | 2023-10-08 | 2023-11-10 | 青岛智能导航与控制研究所 | Position correction method for underwater transponder |
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