CN113932911A - Underwater acoustic environment observation system based on wave glider - Google Patents
Underwater acoustic environment observation system based on wave glider Download PDFInfo
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- CN113932911A CN113932911A CN202110841116.8A CN202110841116A CN113932911A CN 113932911 A CN113932911 A CN 113932911A CN 202110841116 A CN202110841116 A CN 202110841116A CN 113932911 A CN113932911 A CN 113932911A
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- 238000012545 processing Methods 0.000 claims abstract description 35
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- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000000875 corresponding effect Effects 0.000 claims abstract description 6
- 238000005070 sampling Methods 0.000 claims description 4
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- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 238000007667 floating Methods 0.000 claims description 2
- 238000011002 quantification Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses an underwater acoustic environment observation system based on a wave glider, which is characterized in that the wave glider is integrated with an acoustic acquisition and processing system, real-time acoustic signal acquisition and online resolving can be carried out, acoustic results can be transmitted back to a shore-based monitoring end in real time through satellite communication, and real-time acoustic monitoring of a target sea area of the wave glider is realized. The wave glider underwater acoustic environment observation system comprises a main control module, an acoustic signal processing module and a hydrophone array dragged by a wave glider tractor. The main control module provides power management function for the acoustic signal processing module and the acoustic array and communicates with the acoustic signal processing module and the acoustic array in real time. The acoustic signal processing module can perform signal conditioning and digital signal processing, and finally realizes real-time observation of the environment. And the main control module performs corresponding actions according to the acoustic signal processing result and transmits the corresponding actions back to the shore-based monitoring end. The hydrophone array is a spatial arrangement combination of a plurality of single-channel hydrophones with the same model, and is installed and distributed according to different requirements.
Description
Technical Field
The invention relates to an underwater acoustic environment observation system based on a wave glider, in particular to the field of underwater acoustic environment observation of the wave glider.
Background
The wave glider is a novel ocean mobile observation platform which utilizes wave energy to provide power and solar energy to provide electric energy required by each sensor. Wave glider surface of water pontoon fluctuates from top to bottom under the effect of wave, and then draws the underwater tractor through the armor cable and produce the up-and-down motion, and the underwater tractor utilizes its swing hydrofoil that has fixed corner spacing to convert the up-and-down motion into forward propulsion to draw the mother ship forward motion of surface of water. In the navigation process, the wave glider utilizes a sensor carried by the wave glider to observe and record the surrounding sea area environment in real time and send the environment to a shore-based monitoring system through satellite communication, so that long-time observation of the ocean mobile platform is realized.
The wave glider does not have the capability of observing underwater acoustic environment at present, and cannot sense and identify large targets such as whales, ships and the like. Due to the defects, the wave glider is easy to collide with peripheral aircrafts and floaters or be caught by fishing boats in the sailing process, thereby not only causing great property loss, but also being not beneficial to long-time marine scientific investigation. The prior patent also does not mention the underwater acoustic environment observation technology for the wave glider.
Disclosure of Invention
The invention aims to realize the observation of the wave glider on the surrounding underwater sound environment, including the detection, the positioning and the identification of a specific underwater sound target, and improve the observation capability of the wave glider platform and the life cycle of equipment. The underwater acoustic environment observation system based on the wave glider can be expanded to other small-sized ocean mobile observation platforms similar to the wave glider detection principle.
The invention relates to an underwater acoustic environment observation system based on a wave glider. Wherein, the main control module is a wave glider main control system; the acoustic signal processing module comprises a digital signal processing module and a weak signal conditioning module; the hydrophone array is a three-dimensional array formed by arranging a plurality of single-channel hydrophones according to a certain spatial layout.
The main control module in the system is a core control system for wave glider data acquisition, positioning navigation and satellite communication, can provide a power management function for the acoustic signal processing module and the acoustic array, and can also be in real-time communication with the acoustic signal processing module. The satellite communication function can transmit underwater acoustic environment observation data back to the shore-based monitoring end in real time; the power management function can control the power-up and power-down of each path of output of the wave glider power module and supply power to the acoustic signal processing module and the hydrophone array, the voltage range is 12-24V of direct current, and the current range is 0-10A; the real-time communication between the main control module and the acoustic signal processing module is realized through RS-232, and the baud rate is 9600bps or 2400 bps.
The acoustic signal processing module is divided into a weak signal conditioning module and a digital signal processing module and can acquire and process multi-channel underwater acoustic signals in real time. The weak signal conditioning module conditions weak electric signals collected by a multi-channel hydrophone, amplifies and filters the conditioned voltage signals, and has a dynamic range of 20-80dB and a passband of 5 KHz. The filtered signals are input into a signal acquisition and processing module for sampling and quantization, the sampling frequency meets the Nyquist theorem, the precision is 24 bits, and the azimuth estimation resolution and the target identification precision are influenced by factors such as sea conditions, hydrophone arrays and the like. And the digital signal processing is developed from multiple angles such as time domain, frequency domain and the like, and is used for extracting underwater target azimuth and voiceprint characteristics, carrying out target azimuth estimation and target identification, and finally sending the observation result to a master control system.
The types of the single-channel hydrophones in the hydrophone array are consistent and are arranged according to specific requirements, and the number of the single-channel hydrophones is one to multiple.
The main control module, the acoustic signal processing module and the hydrophone array are connected through a noise shielding wire for power supply communication. The hydrophone array converts the acoustic signal change in water into an electric signal and transmits the electric signal to the acoustic signal processing module; the acoustic signal processing module is used for acquiring the electric signals in real time and resolving the electric signals on line and then transmitting specific observation results to the master control system; and the main control module takes corresponding action according to the observation result and sends the observation result to the shore-based monitoring terminal by using satellite communication.
Drawings
FIG. 1 is a schematic diagram of a wave glider underwater acoustic environment observation system.
FIG. 2 is a schematic diagram showing the connection of the modules of the wave glider underwater acoustic environment observation system.
Detailed Description
FIG. 1 is a schematic diagram of a wave glider underwater acoustic environment observation system. As shown in the figure, the main control module and the acoustic signal processing module are installed in a control cabin of the wave glider floating ship and connected with the hydrophone array through a noise shielding wire. The hydrophone array is connected with a wave glider tractor in a dragging mode through a gravity buoyancy chain.
FIG. 2 is a schematic diagram showing the connection of the modules of the wave glider underwater acoustic environment observation system. As shown in the figure, the main control module supplies power to the acoustic signal processing module and the hydrophone array through the noise shielding wire, and sends corresponding instructions to enable the system to operate normally. The hydrophone array carries out sound-electricity conversion, and acoustic signals are transmitted to the acoustic signal processing module through the noise shielding wire. And a weak electric signal conditioning module in the acoustic signal processing module receives the acoustic signal, pre-filters the signal after pre-amplification, and amplifies the signal again to finish conditioning. Acoustic signals are conditioned, subjected to analog-to-digital conversion and input into a main control chip, and are subjected to real-time calculation by using a related algorithm to obtain characteristics such as target voiceprints, and underwater acoustic environment observation is performed based on the characteristics. And the observation result is sent to the main control module, and the main control module integrates the observation information, takes corresponding action and sends the observation result to the shore-based monitoring terminal through satellite communication.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.
Claims (4)
1. A wave glider-based underwater acoustic environment observation system is characterized in that a main control module and an acoustic signal processing module are arranged in a wave glider floating vessel control cabin, and a single-channel hydrophone array dragged by a wave glider tractor;
the acoustic signal processing module is connected with the single-channel hydrophone array through a noise shielding wire for communication.
2. The wave glider-based underwater acoustic signal processing system according to claim 1, wherein the main control module located on the wave glider vessel is a core control system for wave glider data acquisition, positioning navigation and satellite communication, and meanwhile, the system can provide a power management function for the acoustic signal processing module and the single-channel hydrophone array, and can also communicate with the acoustic signal processing module by using an RS-232 serial port, and the baud rate is 9600bps or 2400 bps.
3. The wave glider-based hydroacoustic signal processing system of claim 1, wherein the hydroacoustic signal processing module located on the wave glider vessel can perform signal conditioning and digital signal processing on the signals collected by the hydrophone array;
the signal conditioning comprises the functions of multiple amplification, a band-pass filter and the like, the dynamic range of the amplification is 20-80dB, and the passband is 5 KHz;
the digital signal processing module has the functions of acquisition and quantification, azimuth estimation and voiceprint recognition, the sampling frequency meets the Nyquist theorem, the sampling precision is 24 bits, and the azimuth estimation resolution and the target recognition precision are influenced by factors such as sea conditions, acoustic arrays and the like;
and the final result of the signal processing is transmitted to the main control module by using the serial port, and the main control module performs corresponding action according to the observation result and sends the action to the shore-based monitoring terminal.
4. The wave glider-based underwater acoustic signal processing system according to claim 1, wherein the hydrophone array is a spatial arrangement combination of a plurality of single-channel hydrophones of the same type, and can be installed and deployed according to different requirements.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110841116.8A CN113932911A (en) | 2021-07-24 | 2021-07-24 | Underwater acoustic environment observation system based on wave glider |
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| CN202110841116.8A CN113932911A (en) | 2021-07-24 | 2021-07-24 | Underwater acoustic environment observation system based on wave glider |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237132A (en) * | 2022-02-23 | 2022-03-25 | 中国海洋大学 | Redundant satellite positioning communication system for wave glider |
| CN114593810A (en) * | 2022-02-22 | 2022-06-07 | 浙江咸临智能科技有限责任公司 | Underwater sound detection hardware processing system for underwater glider |
| CN116929540A (en) * | 2023-09-18 | 2023-10-24 | 中国海洋大学 | Marine environment noise observation system based on wave glider |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287018A (en) * | 2018-01-25 | 2018-07-17 | 国家海洋技术中心 | Ambient sea noise measuring device based on wave glider |
| CN110703203A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider |
| CN111521972A (en) * | 2020-04-14 | 2020-08-11 | 哈尔滨工程大学 | Wave glider-based depth-fixed marine acoustic information acquisition system |
-
2021
- 2021-07-24 CN CN202110841116.8A patent/CN113932911A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287018A (en) * | 2018-01-25 | 2018-07-17 | 国家海洋技术中心 | Ambient sea noise measuring device based on wave glider |
| CN110703203A (en) * | 2019-10-22 | 2020-01-17 | 哈尔滨工程大学 | Underwater pulsed sound positioning system based on multi-acoustic wave glider |
| CN111521972A (en) * | 2020-04-14 | 2020-08-11 | 哈尔滨工程大学 | Wave glider-based depth-fixed marine acoustic information acquisition system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114593810A (en) * | 2022-02-22 | 2022-06-07 | 浙江咸临智能科技有限责任公司 | Underwater sound detection hardware processing system for underwater glider |
| CN114237132A (en) * | 2022-02-23 | 2022-03-25 | 中国海洋大学 | Redundant satellite positioning communication system for wave glider |
| CN116929540A (en) * | 2023-09-18 | 2023-10-24 | 中国海洋大学 | Marine environment noise observation system based on wave glider |
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