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A Deconvolution Algorithm-Based Docking Method for Underwater Autonomous Vehicles

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

Active Publication Date: 2022-08-05
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

Method used

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  • A Deconvolution Algorithm-Based Docking Method for Underwater Autonomous Vehicles
  • A Deconvolution Algorithm-Based Docking Method for Underwater Autonomous Vehicles
  • A Deconvolution Algorithm-Based Docking Method for Underwater Autonomous Vehicles

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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 an underwater autonomous vehicle docking method based on a deconvolution algorithm are as follows:

[0042] (1) Sound source location search and positioning: when the underwater autonomous vehicle moves or hovers, 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 ), using the deconvolution beamforming algorithm to obtain the original sound source distribution s(φ x ) to obtain the azimuth angle φ of the sound source relative to the underwater autonomous vehicle in the horizontal direction xd ; where φ x is the azimuth angle variable:

[0043] (1.1) Suppose 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 press...

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Abstract

The invention discloses an underwater autonomous vehicle docking method based on a deconvolution algorithm. The invention utilizes the reciprocity of transmission and reception of underwater acoustic propagation, and uses the deconvolution algorithm to process the received signal of the vertical line array on the sonar. , obtain the beam pattern diagram, use this beam pattern diagram as the beam pattern diagram of the directional sound source, and draw the sound field diagram through the program. In theory, the place with the highest sound field energy is the position of the original sound source; when the underwater autonomous vehicle is far from the sound When the source is far away, the sound source can be gradually approached by continuous search, and finally reach the sound source, realizing the mid- and long-distance positioning of the underwater sound source. The deconvolution algorithm of the present invention has narrow beams and low side lobes, and can locate the sound source position more accurately; using the high resolution and high gain of the deconvolution algorithm, it can detect far-field targets, which greatly expands the sound source. The detection range of the source target increases the activity range of the underwater autonomous vehicle; the position of the moving sound source is located through repeated searches.

Description

technical field [0001] The invention belongs to the field of underwater sound source localization, and in particular relates to an underwater autonomous vehicle docking method 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. When the underwater autonomous vehicle has completed its mission, it needs to return to the underwater dock (floating or towed dock) to recharge in order to be ready for the next mission. The docking method of underwater autonomous vehicle has gradually become a research hotspot. [0003] The docking methods currently used assume that the docking station is always located 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 w...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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