A kind of ultra-short baseline submarine target localization method based on broadband signal time delay detectionTechnical field
It is particularly suitable the present invention relates to a kind of ultra-short baseline submarine target localization method based on broadband signal time delay detectionIn the ultra-short baseline positioning of submarine target (transponder) and parameter Underwater Acoustic Telemetry.Belong to submarine target field of locating technology.
Background technology
Ultra-short baseline（USBL）It is a kind of underwater position fixing technique, ultra-short baseline submarine object-locating system is due to its basic matrix chiIt is very little small, it is easily installed, and also equipment cost is relatively low, and use is very convenient, in marine exploration research, ocean engineering, seaThe foreign ocean such as offshore oil exploration and exploitation, the ocean salvaging production development aspect that is widely used at present is widely applied.
Above-mentioned traditional ultra-short baseline positioning is to use method for detecting phases.During work, by the ultra-short baseline battle array of lash shipTransmitting transducer to transponder launch request signal, transponder return answer signal, system according to target (transponder) shouldAnswer the time and measure the distance of submarine target, while the answer signal phase difference used up to each array element measures the orientation of target, fromAnd obtain the position of target.But in order to which anti-phase measurement obscures, the array element spacing d of ultra-short baseline battle array should be less than l/2, and (l is letterNumber wavelength), the size is smaller under normal circumstances, and the high accuracy positioning of target is difficult under so small basic matrix size.
To improve the positioning precision of system, it is a common method to expand basic matrix size.But when with phase-detection, basic matrix chiVery little obscured by phase measurement is limited, and need to design follow-on more array element ultra-short baseline battle arrays.And the processing of the short baseline battle array andCalibrate difficulty it is larger, realize it is extremely difficult, further, since more way influential effects bring phase fluctuation, direct shadow to simple signalRing positioning precision.
The content of the invention
It is an object of the invention to overcome above-mentioned prior art not jump, a kind of broadband ultra-short baseline submarine target positioning is inventedWith information telemetry method, it can realize the high accuracy positioning of submarine target (transponder), and can to transponder posture, depth,The work information such as water temperature, transponder cell voltage carries out Underwater Acoustic Telemetry and transponder sound source level is remotely controlled at transponder.
Ultra-short baseline submarine target localization method of the invention based on broadband signal time delay detection is so completed：TargetLocalization method carries out target positioning using answer-mode, and first platform or ship-borne equipment launch request signal, be arranged in submarine targetOn transponder carry out corresponding response, platform or ship-borne equipment receive answer signal, then solved by the data meter of acquisitionUnderwater transponder location.
Described platform or ship-borne equipment transmitting request signal are the shapes using positive negative-chirp (LFM) assembled pulseFormula, when (LFM) pulse of linear positive frequency modulation is preceding, negative-chirp (LFM) pulse is the inquiry to target 1 when rear, works as negative wirePreceding, (LFM) pulse of linear positive frequency modulation is the inquiry to target 2 when rear for property frequency modulation (LFM) pulse.
The different modulation intervals of described positive and negative LFM signal pulses produce different types of request signal；
As the time interval T between two pulseskFor：
Tk=T0+k´D(k=0……6) (1)
In formula：TkComplete the pulse interval modulation of different mode, T0For initial interval, k represents 7 kinds of different inquiriesPattern, D are modulation intervals；
1) k=0, target 1 (2) location inquiries；
2) k=1, target 1 (2) positioning and posture inquiry；
3) k=2, target 1 (2) positioning and depth inquiry；
4) k=3, target 1 (2) positioning and temperature inquiry；
5) k=4, target 1 (2) positioning and voltage inquiry；
6) k=5, target 1 (2) positioning and sound source level increase；
7) k=6, target 1 (2) positioning and sound source level reduce.
Transponder detects the time interval between the order of positive and negative linear FM signal and positive and negative linear FM signal,Judge target number, positioning or the particular content of remote measurement of inquiry, it is corresponding with reference to the related sensor information of measurement, modulate emissionAnswer signal,
Specifically answer signal step is：Pulse Pw1 is MFSK broadband signals, and for target 1, frequency coding order is fL、fMAnd fH, for target 2, frequency coding order is fH、fMAnd fL, pulse Pw2 and Pw3 to telemetry intelligence (TELINT) modulation；
When carrying out target positioning, transponder transmitting position pulse (MFSK pulses), ultra-short baseline battle array receives response letterAfter number, the detection of relative two primitive reception signals is completed by platform (or boat-carrying) electronic equipment, it is conventional by broadband signalAfter processing, correlation peak detection, interpolation fitting, high-precision time-delay detection is completed,
Target location is calculated according still further to formula (2)；
x=Rctx/d (2)
y=Rcty/d (2)
Wherein, R is basic matrix to the oblique distance of transponder, unit:m；D is basic matrix aperture, unit：m；txAnd tyRespectively responseSignal reaches the horizontal, time difference of two primitives of vertical direction, unit：
s；R=（1/2）Ct, c be water in the velocity of sound, unit：m/s；T is transmitting request signal to receiving prolonging for answer signalWhen, unit：s.
In described request signal system, LFM assembled pulse signal systems, positive and negative LFM are born using positive LFM+ to target 1Between inceptive impulse at intervals of T0, D is modulation intervals, and k (k=0 ... 6) sets the modulation intervals of different mode；Similarly, it is rightIt is identical with target 1 using the positive LFM assembled pulses signal systems of negative LFM+, the modulator approach and parameter of different mode in target 2；
In the answer signal system, for mode of operation 1 (positioning), only launch position pulse (Pw1)；For Working mould3~mode of operation of formula 7 (positioning and the parameter remote measuring and controlling in addition to posture is inquired), launches Pw1+Pw2 assembled pulses, T1 is adjustedTelemetry intelligence (TELINT) processed；For mode of operation 2 (positioning and posture inquiry), launch Pw1+Pw2+Pw3 assembled pulses, wherein T1 modulationRoll information, T2 modulation trim information.
With respect to two groups reception signals are sampled, after signal detection by A/D, carry out broadband correlation conventional treatment, complete phaseHigh-precision time-delay estimation is completed after closing blob detection and interpolation fitting, brings formula into（2）Obtain X-coordinate and Y of the target with respect to basic matrixCoordinate, so as to complete target positioning；
Calculating the formula (2) of target location is；
x=Rctx/d (2)
y=Rcty/d (2)
Wherein, R is basic matrix to the oblique distance of transponder, unit:m；D is basic matrix aperture, unit：m；txAnd tyRespectively responseSignal reaches the horizontal, time difference of two primitives of vertical direction, unit：s；
R=(1/2) ct, wherein：C be water in the velocity of sound, unit：m/s；T is transmitting request signal to receiving answer signalDelay, unit：s.
Technical principle：Ultra short baseline locating system is made up of transmitting transducer, transponder, reception basic matrix.Transmitting transducerInstalled aboard ship with basic matrix is received, transponder is fixed on underwater carrier.Transmitting transducer sends a ping, and transponder is receivedAfter arriving, ping is postbacked, after reception basic matrix receives, measures the phase difference of X, Y both direction, and according to the arrival time of sound waveUnderwater units are calculated to the distance R of basic matrix, so as to which position of the underwater detectoscope on plane coordinates and underwater spy be calculatedSurvey the depth of device.
The present invention realizes that ultra-short baseline High Precision Underwater target positions using wideband spread spectrum techniques, overcomes traditional phaseThe influence that detection method is brought due to phase fluctuation to positioning precision.
The present invention realizes the high accuracy positioning of target using broadband time delay detection technology, simplifies basic matrix design, reducesBasic matrix difficulty of processing.
Brief description of the drawings
Fig. 1 ultra-short baseline battle array sound primitive arrangement schematic diagrames of the present invention.
Fig. 2 request signal system schematic diagrames of the present invention.
Fig. 3 answer signal system schematic diagrames of the present invention.
Fig. 4 Digital Signal Processing flow charts of the present invention.
Embodiment
Present system carries out target positioning using answer-mode.Platform (or boat-carrying) equipment launches request signal, arrangementCorresponding response is carried out in the transponder on submarine target, platform (or boat-carrying) equipment receives answer signal, under water should calculateDevice position is answered, this external system also has target information telemetry and telecommand function.
Ultra-short baseline formation formula of the present invention is as shown in figure 1,1~No. 4 receives primitive and is uniformly distributed, for receiving response letterNumber, centre is transmitting primitive, for launching request signal.
Request signal uses the form of positive negative-chirp (LFM) assembled pulse, and signal system is as shown in Figure 2.Work as main trackPreceding, negative-chirp (LFM) pulse is the inquiry to target 1 when rear for property frequency modulation (LFM) pulse；Work as negative-chirp(LFM) pulse is preceding, and (LFM) pulse of linear positive frequency modulation is the inquiry to target 2 when rear.
The different modulation intervals of positive and negative LFM signal pulses produce different types of request signal.Time between two pulsesIt is spaced TkFor：
Tk=T0+k´D(k=0……6) (1)
TkComplete the pulse interval modulation of different mode, T0For initial interval, k represents 7 kinds of different interrogation modes, DFor modulation intervals.
1) k=0, target 1 (2) location inquiries；
2) k=1, target 1 (2) positioning and posture inquiry；
3) k=2, target 1 (2) positioning and depth inquiry；
4) k=3, target 1 (2) positioning and temperature inquiry；
5) k=4, target 1 (2) positioning and voltage inquiry；
6) k=5, target 1 (2) positioning and sound source level increase；
7) k=6, target 1 (2) positioning and sound source level reduce.
Transponder was detected between the time between the order of positive and negative linear FM signal and the positive and negative linear FM signal of detectionEvery, judge inquiry target number, positioning or remote measurement particular content, with reference to the related sensor information of measurement, modulate emission phaseThe answer signal answered, answer signal system such as Fig. 3.Pulse Pw1 is that (for target 1, frequency coding order is MFSK broadband signalsfL、fMAnd fH, for target 2, frequency coding order is fH、fMAnd fL), pulse Pw2 and Pw3 to telemetry intelligence (TELINT) modulation.
When carrying out target positioning, transponder transmitting MFSK pulses (position pulse), ultra-short baseline battle array receives answer signalAfterwards, platform (boat-carrying) electronic equipment completes the detection of relative two primitive reception signals, by broadband signal relevant treatment, correlationHigh-precision time-delay is completed after peakvalue's checking, interpolation fitting to detect, signal processing flow such as Fig. 4, (2) calculate according to the following formulaTarget location.
x=Rctx/d (2)
y=Rcty/d (2)
Wherein, R is basic matrix to the oblique distance of transponder, unit:m；
D is basic matrix aperture, unit：m；
txAnd tyRespectively answer signal reaches the horizontal, time difference of two primitives of vertical direction, unit：s；
R=(1/2)ct,
Wherein:C be water in the velocity of sound, unit：m/s；
T is transmitting request signal to the delay for receiving answer signal, unit：s.
Request signal system using positive LFM+ to target 1 as shown in Fig. 2 bear LFM assembled pulse signal systems, positive and negative LFMBetween inceptive impulse at intervals of T0, D is modulation intervals, and k (k=0 ... 6) sets the modulation intervals of different mode；Similarly, it is rightIt is identical with target 1 using the positive LFM assembled pulses signal systems of negative LFM+, the modulator approach and parameter of different mode in target 2.
Answer signal system only launches position pulse (Pw1) as shown in figure 3, for mode of operation 1 (positioning)；For work3~mode of operation of operation mode 7 (positioning and the parameter remote measuring and controlling in addition to posture is inquired), launches Pw1+Pw2 assembled pulses,T1 modulates telemetry intelligence (TELINT)；For mode of operation 2 (positioning and posture inquiry), launch Pw1+Pw2+Pw3 assembled pulses, wherein T1Modulate roll information, T2 modulation trim information.
With respect to two groups reception signals are sampled, after signal detection by A/D, carry out wideband correlation processing, complete relevant peaksHigh-precision time-delay estimation is completed after detection and interpolation fitting, formula is brought into and obtains X-coordinate and Y-coordinate of the target with respect to basic matrix, fromAnd complete target positioning.
After various measurement parameters are first set in host computer, by the setting corresponding request signal of Mode Launch.Transponder connectsAfter receiving request signal, signal detection and demodulation are carried out, the target number and particular content of inquiry is differentiated, is such as location inquiries orderThen transmitting positioning answer signal (Pw1)；When such as being ordered for positioning+parameter remote measurement (or remote control), then modulation returns to corresponding responseSignal (Pw1+Pw2 or Pw1+Pw2+Pw3 assembled pulses), and perform corresponding operation.
After ultra-short baseline battle array receives answer signal, the conditioning such as it is amplified, filters to it by analogue signal processor, byDigital signal processor estimated up to signal time difference of primitive two-by-two relatively respectively using high-precision wide with time delay detection technology, i.e.,txAnd ty, bring formula (2) into and complete target positioning.
France production POSIDONIA 6000 is using frequency modulation acoustic signal (Chirp) at present, and by spread spectrum, multifrequency is compiledThe wide-band processing technology such as code signal and pulse compression technique realizes the high accuracy positioning of submarine target.
Due at a high speed, the development of ultra-large device, make it possible the real-time high-precision time delay detection of broadband signal, thisInvention completes the positioning of ultra-short baseline submarine target using broadband signal time delay detection and is undoubtedly a kind of new selection.
Submarine target positioning is carried out using broadband signal time delay detection principle of the present invention, basic matrix aperture is not limited strictlyIt is required that therefore under the relatively simple design condition of basic matrix structure, the fine positioning of target can be improved by improving basic matrix apertureDegree.
The present invention realizes that ultra-short baseline High Precision Underwater target positions using wideband spread spectrum techniques, overcomes traditional phaseThe influence that detection method is brought due to phase fluctuation to positioning precision；Additionally have to transponder depth, posture, transponderThe remote measurement of the information such as water temperature, transponder cell voltage and the distant control function of transponder sound source level.
The present invention realizes the high accuracy positioning of target using broadband time delay detection technology, simplifies basic matrix design, reducesBasic matrix difficulty of processing.