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Non-cooperative target multinode acoustic positioning method based on deep sea seabed reflection sound

A non-cooperative target and seabed reflection technology, applied in the field of underwater acoustic positioning, can solve the problems of positioning signal interference, time delay difference estimation errors, and affecting the results of underwater acoustic positioning, and achieve the effect of accurate sound source position and accurate time delay difference

Active Publication Date: 2019-06-11
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]The present invention is to solve the problem that in the existing underwater acoustic positioning method, the positioning signal is often interfered by the reflection signal from the sea surface and the bottom of the sea. If the positioning node only has one hydrophone, it cannot be distinguished Whether the signal is a direct wave or a reflected wave will cause an error in the estimation of the delay difference and affect the final result of underwater acoustic positioning.

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  • Non-cooperative target multinode acoustic positioning method based on deep sea seabed reflection sound
  • Non-cooperative target multinode acoustic positioning method based on deep sea seabed reflection sound
  • Non-cooperative target multinode acoustic positioning method based on deep sea seabed reflection sound

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specific Embodiment approach 1

[0017] Specific implementation mode one: refer to Figure 1 to Figure 5 Specifically illustrate this embodiment, the non-cooperative target multi-node underwater acoustic positioning method based on deep-sea bottom reflection sound described in this embodiment, the method includes the following steps:

[0018] Step 1. Arranging multiple base arrays as positioning nodes on the seabed, and monitoring the coordinates of multiple positioning nodes in water;

[0019] When the sound source target emits radiated sound, each array receives one or more acoustic signals, and the beamforming method is used to measure the elevation angles of various acoustic signals arriving at the array, and the direct wave and the primary wave are distinguished according to the obtained elevation angle. sea ​​surface reflection and primary bottom reflection;

[0020] Step 2. Do cross-correlation for the direct waves of every two base stations, do cross-correlation for a sea-surface reflected wave or do...

specific Embodiment approach 2

[0024] Specific embodiment 2: This embodiment is a further description of the non-cooperative target multi-node underwater acoustic positioning method based on deep-sea bottom reflection sound described in specific embodiment 1. In this embodiment, the number of arrays is 4, 4 The basic arrays are vertical linear arrays.

[0025] In this embodiment, in order to achieve the purpose of the present invention, the sound source is relatively close to the water surface, and each positioning node needs to be arranged at a position far from the sea surface.

[0026] In order to realize the purpose of the present invention, the positioning node is composed of a vertical line array with a certain azimuth resolution ability for positioning signals.

specific Embodiment approach 3

[0027] Specific embodiment 3: This embodiment is a further description of the non-cooperative target multi-node underwater acoustic positioning method based on deep-sea bottom reflection sound described in specific embodiment 1 or 2. In this embodiment, in step 1, beamforming is used Method The process of measuring the pitch angle of various acoustic signals arriving at the array is as follows:

[0028] Each vertical linear array uses the beamforming method to measure the pitch angles of the direct wave, the primary sea surface reflection wave and the primary bottom reflection wave. Taking a vertical linear array as an example, using the vertical array for beamforming can obtain the direct wave, The angle at which a reflected wave from the sea surface or a reflected wave from the bottom of the sea reaches the receiving array is:

[0029] Use the vertical linear array to perform conventional beamforming on the received signals from K different directions. Assume that the number...

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Abstract

The invention discloses a non-cooperative target multinode acoustic positioning method based on deep sea seabed reflection sound, and relates to the field of acoustic positioning. The method aims to solve the problems in an existing acoustic positioning method that a positioning signal is always disturbed by sea surface and seabed reflection signals, a time delay difference estimation error is caused to affect a final acoustic positioning result since whether the signal is a direct wave or a reflection wave or not can not be distinguished if a positioning node is only provided with one hydrophone. A plurality of arrays are put on the seabed as positioning nodes, the coordinates of a plurality of positioning nodes in the water are monitored, a wave beam formation method is adopted to measure pitch angles for various sound wave signals to reach the array, vertical linear array wave beam formation is used for separating the sound source direct wave and reflection wave received by each array, then, mutual correlation is solved to obtain a time delay, position calculation is carried out, and therefore, a sound source position is obtained. The method is used for accurately obtaining thesound source position.

Description

technical field [0001] The invention relates to a non-cooperative target multi-node underwater acoustic positioning method based on deep-sea bottom reflection sound, belonging to the field of underwater acoustic positioning. Background technique [0002] The underwater acoustic positioning technology of non-cooperative targets is an important issue in underwater acoustic research. A common practice is to obtain the distance difference between the target and each positioning node by measuring the time delay difference between the target signal arriving at each positioning node. Under the condition of deep sea, the existing methods are all for the analysis of the direct sound, and combined with the sound velocity profile to correct the sound ray bending. However, in the actual underwater acoustic positioning, the signal is often interfered by the reflection signal on the sea surface and the bottom of the sea. If the positioning node has only one hydrophone, it is impossible t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/46G01S7/536G01S7/537
Inventor 兰华林李若男孙大军梅继丹师俊杰滕婷婷吕云飞
Owner HARBIN ENG UNIV