Method for estimating parameters of underwater constant-speed vehicle based on vertical vector array

Abstract

The invention provides a method for estimating the parameters of an underwater constant-speed vehicle based on a vertical vector array. According to the technical scheme of the invention, on a vertical array-based underwater vehicle noise measurement platform or an underwater vehicle detection platform, a Doppler frequency shift difference is generated according to different spatial information of each array element, and then the accurate Doppler frequency shift of each array element is obtained through the polynomial frequency-modulation wavelet transformation process. In combination with the pitch angle information of each vector sensor, the weighted nonlinear least squares of a joint multi-objective function is optimized and solved. Therefore, the joint estimation on the speed of an underwater vehicle, the depth of the underwater vehicle, the horizontal proximal distance of the underwater vehicle and the abeam distance thereof to different array elements is realized. The above method is simpler in implementation and higher in estimation accuracy. Based on the method, the parameter estimation robustness and the estimation speed are significantly increased.

Description

technical field [0001] The invention relates to the field of underwater vehicle measurement, in particular to a measurement method using a vertical vector array and Doppler frequency shift. Background technique [0002] The parameters of underwater motion vehicles mainly include physical quantities such as speed, depth and distance. Passive estimation of these parameters using the radiated noise of the aircraft is an important content in the research of underwater acoustic signal processing. This technology can be widely used in many fields such as sonar buoys, target motion analysis in underwater acoustic experiments, and radiated noise measurement of underwater vehicles. Passive estimates of the vehicle's speed, depth and distance are based on indirect measurements of the various changes in the signal due to differences in these parameters. Compared with active target parameter estimation, passive estimation is concealed and the complexity of the system is lower. [000...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the existing methods that cannot obtain the depth, horizontal shortest distance and azimuth of the underwater vehicle, and the speed estimation accuracy is low, the present invention proposes to use the vertical vector line array and jointly use the Doppler frequency output from the vector array multi-sensor It can not only estimate the depth and horizontal distance of the underwater vehicle, but also estimate the azimuth angle of the underwater vehicle, and the estimated value of the vehicle speed is more accurate.

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