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

A technology of uniform motion of underwater vehicles, which is applied in direction finders and instruments using re-radiation and ultrasonic/sonic/infrasonic waves, which can solve the problem of low speed estimation accuracy and the inability to obtain the closest distance to the depth level of underwater vehicles and azimuth angle etc.

Active Publication Date: 2016-05-18
NORTHWESTERN POLYTECHNICAL UNIV
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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 joi

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

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specific Embodiment approach

[0018] (1) The hydrophone array for measuring the vertical vector has M array elements, and the total number of array elements M can be any integer not less than 2. The horizontal closest distance is L. in water depth h m The pitch angle formed by the mth array element of and the aircraft in the balance position is θ m , the vertical and horizontal distance is R m , where m=1,2,...,M. During the movement of the underwater vehicle, each array element of the vertical vector hydrophone array continuously receives the sound pressure signal radiated by the vehicle and the three-dimensional particle vibration velocity signal, which is converted into a voltage signal after passing through the preamplifier and recorded by the data acquisition instrument. The sound pressure information and the three-dimensional particle velocity information x m (t)=[p m (t), v xm (t), v ym (t), v zm (t)] T , 0m (t) represents the sound pressure information received by the array element, v xm ...

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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...

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Application Information

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IPC IPC(8): G01S11/14G01S3/802
CPCG01S3/8022G01S11/14
Inventor 杨益新于事咄徐灵基杨龙
Owner NORTHWESTERN POLYTECHNICAL UNIV
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