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Tetrahedral array three-dimensional passive direction finding method for underwater glider

An underwater glider, tetrahedron technology, applied in directions such as direction finders using ultrasonic/sonic/infrasonic waves, systems for determining direction or offset, etc. The effect of the simple direction finding process

Active Publication Date: 2019-07-09
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to solve the problem that the underwater glider platform cannot perform three-dimensional direction finding on the underwater line spectrum acoustic signal, and provides a method for three-dimensional direction finding on the line spectrum acoustic signal using a small tetrahedron array loaded on the glider platform

Method used

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  • Tetrahedral array three-dimensional passive direction finding method for underwater glider
  • Tetrahedral array three-dimensional passive direction finding method for underwater glider
  • Tetrahedral array three-dimensional passive direction finding method for underwater glider

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specific Embodiment approach 1

[0030] A kind of underwater glider tetrahedron array three-dimensional passive direction finding method of the present embodiment, described direction finding method is to realize through the following steps:

[0031] Step 1. Combine the four hydrophones A, B, C and D in pairs to obtain the vectors of each combination in the Cartesian coordinate system with Then obtain the obtained vectors and the incident wave direction vector The resulting cosine angle α 1 , α 2 , α 3 , α 4 , α 5 , α 6 ;

[0032] Step 2. Obtain the vectors obtained in step 1 and the direction vector of the incident wave The resulting cosine angle corresponds to the theoretical delay difference τ of the signal arriving at the two hydrophones 1 , τ 2 , τ 3 , τ 4 , τ 5 , τ 6 ;

[0033] Step 3, the received signals of four hydrophones are transformed into frequency domain signal X by Fourier transform (FFT) 1 (f), X 2 (f), X 3 (f), X 4 (f), the frequency domain signal is calculated accordi...

specific Embodiment approach 2

[0041] Different from the specific embodiment 1, in the method for three-dimensional passive direction finding of an underwater glider tetrahedral array in this embodiment, in the step 1, the four hydrophones A, B, C and D are combined in pairs , get the vectors of each combination in the Cartesian coordinate system with process, specifically:

[0042] Step 1-1. Set the underwater glider platform as the carrier to establish a three-dimensional Cartesian coordinate system xyz, which is the carrier coordinate system. The schematic diagram is as follows figure 1 As shown, the positions of the four hydrophones are points A, B, C, D, and L 1 is the vertical distance from No. 3 hydrophone to AB, L 2 is the vertical distance from No. 4 hydrophone to O, L 3 is the vertical distance from the No. 4 hydrophone to the central axis, L 4 is the distance between the two wings AB, R is the radius of Glider, where A and B are located on the y-axis and are symmetrical about the origin, a...

specific Embodiment approach 3

[0056] Different from the second specific embodiment, in the three-dimensional passive direction finding method of an underwater glider tetrahedral array in the present embodiment, in the step 2, the vectors obtained in the step 1 and the incident wave direction vector are obtained The resulting cosine angle corresponds to the theoretical delay difference τ of the signal arriving at the two hydrophones 1 , τ 2 , τ 3 , τ 4 , τ 5 , τ 6 process, specifically:

[0057] Four hydrophones A, B, C, and D form a tetrahedral array, and each hydrophone is used as an array element. The tetrahedral array and the experimental target meet the far-field plane wave condition. The schematic diagram is as follows: figure 2 As shown, between array elements A and B, the angle α between the known incident signal and the line where the array element is located 1 In the case of , the delay difference τ for the signal to reach the two hydrophones A and B 1 for:

[0058]

[0059] where c i...

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Abstract

The invention discloses a tetrahedral array three-dimensional passive direction finding method for an underwater glider, and belongs to the field of detection signal processing. An underwater glider platform cannot perform three-dimensional direction finding on underwater line spectrum sound signals. Four hydrophones are combined in pairs into vectors, in a rectangular coordinate system, of combinations; a theoretical time delay difference of a signal, corresponding to a cosine included angle formed by each vector and an incident wave direction vector, reaching the two hydrophones is calculated; the received signals of the hydrophones are converted into frequency domain signals, cross spectrum calculation results of the frequency domain signals are subjected to modulo averaging to obtain across spectrum amplitude spectrum average value, and then signal frequencies are detected through line spectrum detection; a phase difference of the line spectrum signals of each group of the hydrophones is obtained through the signal frequencies; an actually measured time delay difference is obtained by the line spectrum frequency and the phase difference of the line spectrum signals; two time delay differences are correspondingly simultaneous to obtain a signal incidence direction vector in a carrier coordinate system; and a binary equation set is solved to obtain an azimuth angle and a pitch angle in a geodetic coordinate system. The three-dimensional azimuth angle of a target in the geodetic coordinate system can be measured. In addition, the direction finding process is simple.

Description

technical field [0001] The invention relates to the field of acoustic detection signal processing of an underwater glider, in particular to a method for three-dimensional direction finding of a line spectrum acoustic signal by using a tetrahedron array loaded on an underwater glider. Background technique [0002] Due to the particularity of the environment in the deep sea, there are strict requirements on the detection system platform to realize the passive detection of underwater acoustic targets and the measurement of the characteristics of marine environmental noise. The deep sea glider platform is a good carrier that can meet the above requirements. There are obvious sound convergence and shadow zone effects in deep-sea sound propagation, and the detection performance of the system is greatly affected by the working depth. Favorable detection. As a new type of underwater detection platform, underwater glider has the characteristics of long underwater working time, vari...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S3/802
CPCG01S3/802
Inventor 孙大军张珂梅继丹师俊杰滕婷婷石文佩
Owner HARBIN ENG UNIV
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