The acoustic array and the conformal microphone arrays of the underwater positioning system of the multi-joint unmanned underwater vehicle are used in pairs, one conformal microphone array is arranged on the head section of the unmanned underwater vehicle, and the other conformal microphone array is arranged on the tail section of the unmanned underwater vehicle; array elements on the conformal microphone array are uniformly distributed along the circumferential direction; acoustic signals received by microphone array elements on the conformal array are processed through band-pass filtering, optimal array element acoustic signal selection, array acoustic signal rapid cross-correlation, array acoustic signal cross-correlation peak selection and the like, and time delay of the acoustic signals from a subsurface buoy of the underwater positioning system to the optimal microphone array elements of the conformal array is obtained. And calculating the coordinates of the multi-joint unmanned underwater vehicle in the underwater three-dimensional space by combining the sound velocity profile. The invention further comprises a signal processing method of the acoustic array of the underwater positioning system of the multi-joint unmanned underwater vehicle. The method helps to solve the problem that the positioning error is increased due to sea wave noise and noise pollution of the tail propeller.
多关节无人潜行器水下定位系统声学阵列,共形传声器阵列成对使用,一个共形传声器阵列布置于无人潜行器的头部段,另一个共形传声器阵列布置于无人潜行器的尾部段;共形传声器阵列上的阵元沿周向均匀分布;共形阵列上传声器阵元接收的声学信号经过带通滤波、最优阵元声学信号选取、阵列声信号快速互相关和阵列声信号互相关峰选取等处理,得到声学信号从水下定位系统的潜标直达共形阵列最优传声器阵元的时延,进而结合声速剖面计算多关节无人潜行器在水下三维空间的坐标。本发明还包括多关节无人潜行器水下定位系统声学阵列的信号处理方法。本发明有助于海浪噪声以及尾部推进器噪声污染而导致定位误差增大的问题。
Acoustic array of underwater positioning system of multi-joint unmanned underwater vehicle and signal processing method thereof
多关节无人潜行器水下定位系统声学阵列及其信号处理方法
23.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | H04R LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS , Lautsprecher, Mikrofone, Schallplatten-Tonabnehmer oder ähnliche akustische, elektromechanische Wandler / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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