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Underwater autonomous vehicle docking method based on deconvolution algorithm

An autonomous vehicle, deconvolution technology, applied in instruments, water resource assessment, re-radiation of sound waves, etc., can solve the problem of limited use range, and achieve the effect of high resolution, high gain, and extended detection range

Active Publication Date: 2020-08-18
ZHEJIANG UNIV
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Problems solved by technology

High frequency means high resolution is possible, but its use is limited to short distances, say 35 meters

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  • Underwater autonomous vehicle docking method based on deconvolution algorithm
  • Underwater autonomous vehicle docking method based on deconvolution algorithm
  • Underwater autonomous vehicle docking method based on deconvolution algorithm

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] refer to Figure 1 to Figure 5 , the steps of a method for docking an underwater autonomous vehicle based on a deconvolution algorithm are as follows:

[0042] (1) Sound source position search and positioning: When the underwater autonomous vehicle is moving or hovering, the received signal of the horizontal hydrophone in the planar hydrophone array is processed by the conventional beamforming algorithm to obtain the spatial power spectrum p(φ x ), the original sound source distribution s(φ x ), get the azimuth φ of the sound source relative to the underwater autonomous vehicle in the horizontal direction xd ; among them, φ x is the azimuth angle variable:

[0043] (1.1) Assume that the received sound pressure signal at a certain moment is x=[x 1 ,x 2 ,x 3 ,...,x M ] H , where x m is the received sound pressure signal of the mth (m=1,2,...,M) hydrophon...

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Abstract

The invention discloses an underwater autonomous vehicle docking method based on a deconvolution algorithm. According to the method, a receiving signal of a vertical linear array on sonar is processedby using a deconvolution algorithm by utilizing the characteristic of underwater acoustic propagation receiving-transmitting reciprocity to obtain a wave beam mode pattern, the wave beam mode patternis used as a wave beam mode pattern of a directional sound source, a sound field pattern is drawn through a program, and theoretically, the place with the highest sound field energy is the position of an original sound source; when the underwater autonomous vehicle is far away from a sound source, the underwater autonomous vehicle can gradually approach the sound source through continuous searching and finally reach the sound source, and middle-distance and long-distance positioning of the underwater sound source is achieved. The deconvolution algorithm provided by the invention has a narrowbeam and a low sidelobe, so that the sound source position can be positioned more accurately; by utilizing high resolution and high gain of a deconvolution algorithm, a far-field target can be detected, the sound source target detection range is greatly expanded, and the activity range of the autonomous underwater vehicle is increased; and repeatedly searching and positioning the position of the moving sound source.

Description

technical field [0001] The invention belongs to the field of underwater sound source positioning, in particular to a method for docking an underwater autonomous vehicle based on a deconvolution algorithm. Background technique [0002] With the deepening of ocean development, the role of underwater autonomous vehicles in the field of ocean information collection and detection has become increasingly prominent. After the underwater autonomous vehicle completes its mission, it needs to return to the underwater dock (floating or towed docking station) to recharge in order to be ready for the next mission. The docking method of underwater autonomous vehicles has gradually become a research hotspot. [0003] Current dock positioning methods assume that the dock is always on the ocean floor. It obtains the orientation angle of the dock by performing conventional beam processing on the acoustic signals received by the underwater autonomous vehicle. One reason for underwater auton...

Claims

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Application Information

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IPC IPC(8): G01S15/89G01S15/06G01S7/539
CPCG01S15/89G01S15/06G01S7/539Y02A90/30
Inventor 杨子江张建国
Owner ZHEJIANG UNIV
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