引信水中超声波探测技术研究
|
摘要
以火箭深弹新型多作用体制引信为应用背景，对引信水中超声波探测技术进行了研究，目的是在不改变现有深弹结构的情况下，通过增加超声波探测与控制模块来实现近炸引信功能。
传统主动声纳设计理论主要考虑中远程探测，不能完全适用于引信水中超声波探测系统设计。本文从近程探测的角度出发，参照传统主动声纳设计理论的分析方法，对水中超声波探测相关理论进行深入研究，分析了超声波信道、发射信号形式和回波检测模型，得到了水中超声波探测的体积混响表达式，设计了引信水中超声波探测系统的CW发射信号。
以多管火箭深弹齐射的情况为例，建立了深弹水中分布模型，仿真结果表明，引信水中超声波探测系统探测距离为15m情况下，产生邻弹干扰的概率超过13％。分析了产生邻弹干扰的原因：(1)误认邻弹为目标；(2)将邻弹的发射信号误认为回波信号；(3)将邻弹的回波信号误认为回波信号。完善了多普勒频偏法，解决了前两种邻弹干扰问题；提出了双门窗口控制法，解决了第三种邻弹干扰问题。
进行了引信水中超声波探测系统的总体设计和参数选择，完成了换能器基阵和电路的设计与实现。从提高换能器抗过载能力和长储性的角度出发，采用P-51压电陶瓷材料和环氧绝缘板制作了压电换能器，优化了锥台形6阵元换能器基阵的结构，设计了新型收发转换电路。
由于实验室条件有限，自制了压电换能器导纳测量装置，配合实验室已有的数字信号发生器和计算机，完成压电换能器的导纳特性测量。
为了满足抗邻弹干扰的要求，设计了混频器、滤波器和检波器。因为在宽度为1ms的多普勒频偏信号中只包含有2～6个脉冲，传统二极管包络检波器的输出信号惰性失真大，所以，利用复杂可编程逻辑器件设计了计数检波器，通过在1ms时间内统计输入信号的脉冲个数，来区分干扰脉冲和回波信号，起到检波和滤波的双重作用，提高了电路的抗干扰能力。
最后，对引信水中超声波探测系统进行了静、动态原理试验和抗邻弹干扰模拟试验，结果表明，引信水中超声波探测系统采用多普勒频偏和双门窗口控制技术相结合的方法，能够有效地抗邻弹干扰，实现测距与控制功能。
On the background of the new rocket depth charge multifunction fuze, the underwater ultrasonic detection technology for fuze is studied. The aim of this dissertation is to accomplish proximity fuze function by adding ultrasonic detection and control module without any modification to the structure of the existing depth charge.
The traditional active sonar design theories are applied in medium and long range detection, and not all of them are applicable to the design of the underwater ultrasonic detection system for fuze. According to the short range detection characteristic and the analytical procedure of the traditional active sonar design theories, the underwater ultrasonic detection theories are studied in depth, including the mathematic models of the ultrasonic channel, emitting wave and echo detection. Furthermore the volume reverberation expression of the underwater ultrasonic detection is deduced, and the CW signal is designed for the emitting wave of the underwater ultrasonic detection system for fuze.
Considering the case of the multiple rocket depth charge firing in salvoes, the underwater distributional model is established. The simulation result indicates: on the condition that the detection range of the underwater ultrasonic detection system for fuze is 15 m, the adjacent bomb interference probability is 13%. Furthermore the adjacent bomb interference problems are analyzed, and the results are as follows: (1) mistaking the adjacent bomb for the target; (2) mistaking the adjacent bomb's emitting wave for the echo; (3) mistaking the adjacent bomb's echo for the echo. The first and second adjacent bomb interference problems are solved by consummating the Doppler Shift method, and the Double-Gate Window Control method is put forward for resisting the third adjacent bomb interference.
The overall design and parameters' selection of the underwater ultrasonic detection system for fuze are accomplished. The transducer array and circuit are designed. In order to improve the shock resistance and long-term storage ability, the P-51 piezoelectric ceramic material and epoxy insulation board are used to make piezoelectric transducers. The structure of the transducer array, which is assembled with 6 transducers, is optimized, and a new transmit-receive switching circuit is designed.
The admittance measuring apparatus of piezoelectric transducer is made, and the transducers' admittance attributes are measured by using the self-made apparatus and the
传统主动声纳设计理论主要考虑中远程探测，不能完全适用于引信水中超声波探测系统设计。本文从近程探测的角度出发，参照传统主动声纳设计理论的分析方法，对水中超声波探测相关理论进行深入研究，分析了超声波信道、发射信号形式和回波检测模型，得到了水中超声波探测的体积混响表达式，设计了引信水中超声波探测系统的CW发射信号。
以多管火箭深弹齐射的情况为例，建立了深弹水中分布模型，仿真结果表明，引信水中超声波探测系统探测距离为15m情况下，产生邻弹干扰的概率超过13％。分析了产生邻弹干扰的原因：(1)误认邻弹为目标；(2)将邻弹的发射信号误认为回波信号；(3)将邻弹的回波信号误认为回波信号。完善了多普勒频偏法，解决了前两种邻弹干扰问题；提出了双门窗口控制法，解决了第三种邻弹干扰问题。
进行了引信水中超声波探测系统的总体设计和参数选择，完成了换能器基阵和电路的设计与实现。从提高换能器抗过载能力和长储性的角度出发，采用P-51压电陶瓷材料和环氧绝缘板制作了压电换能器，优化了锥台形6阵元换能器基阵的结构，设计了新型收发转换电路。
由于实验室条件有限，自制了压电换能器导纳测量装置，配合实验室已有的数字信号发生器和计算机，完成压电换能器的导纳特性测量。
为了满足抗邻弹干扰的要求，设计了混频器、滤波器和检波器。因为在宽度为1ms的多普勒频偏信号中只包含有2～6个脉冲，传统二极管包络检波器的输出信号惰性失真大，所以，利用复杂可编程逻辑器件设计了计数检波器，通过在1ms时间内统计输入信号的脉冲个数，来区分干扰脉冲和回波信号，起到检波和滤波的双重作用，提高了电路的抗干扰能力。
最后，对引信水中超声波探测系统进行了静、动态原理试验和抗邻弹干扰模拟试验，结果表明，引信水中超声波探测系统采用多普勒频偏和双门窗口控制技术相结合的方法，能够有效地抗邻弹干扰，实现测距与控制功能。
On the background of the new rocket depth charge multifunction fuze, the underwater ultrasonic detection technology for fuze is studied. The aim of this dissertation is to accomplish proximity fuze function by adding ultrasonic detection and control module without any modification to the structure of the existing depth charge.
The traditional active sonar design theories are applied in medium and long range detection, and not all of them are applicable to the design of the underwater ultrasonic detection system for fuze. According to the short range detection characteristic and the analytical procedure of the traditional active sonar design theories, the underwater ultrasonic detection theories are studied in depth, including the mathematic models of the ultrasonic channel, emitting wave and echo detection. Furthermore the volume reverberation expression of the underwater ultrasonic detection is deduced, and the CW signal is designed for the emitting wave of the underwater ultrasonic detection system for fuze.
Considering the case of the multiple rocket depth charge firing in salvoes, the underwater distributional model is established. The simulation result indicates: on the condition that the detection range of the underwater ultrasonic detection system for fuze is 15 m, the adjacent bomb interference probability is 13%. Furthermore the adjacent bomb interference problems are analyzed, and the results are as follows: (1) mistaking the adjacent bomb for the target; (2) mistaking the adjacent bomb's emitting wave for the echo; (3) mistaking the adjacent bomb's echo for the echo. The first and second adjacent bomb interference problems are solved by consummating the Doppler Shift method, and the Double-Gate Window Control method is put forward for resisting the third adjacent bomb interference.
The overall design and parameters' selection of the underwater ultrasonic detection system for fuze are accomplished. The transducer array and circuit are designed. In order to improve the shock resistance and long-term storage ability, the P-51 piezoelectric ceramic material and epoxy insulation board are used to make piezoelectric transducers. The structure of the transducer array, which is assembled with 6 transducers, is optimized, and a new transmit-receive switching circuit is designed.
The admittance measuring apparatus of piezoelectric transducer is made, and the transducers' admittance attributes are measured by using the self-made apparatus and the
引文
1 阎福旺译．水声基础技术．第1版．北京：海洋出版社，2001
2 孙明太．航空反潜概论．第1版．北京：国防工业出版社，1998
3 胡风年，潘铁牛等．引信技术实践．第1版．北京：国防工业出版社，1989
4 中国物理学会．水声学(第一集，第二集)．第1版．北京：科学出版社，1962
5 尤立克著，洪申译．水声原理．第1版．哈尔滨：哈尔滨船舶工程学院出版社，1990
6 李启虎．声纳信号处理引论．北京：海洋出版社，1985
7 顾金海，叶学千．水声学基础．北京：国防工业出版社，1981
8 侯自强，李贵斌．声纳信号处理——原理与设备．北京：海洋出版社，1986
9 刘伯胜，雷家煜水声学原理．第1版．哈尔滨：哈尔滨工程大学出版社，1993
10 钱秋珊，陆根源．水声信号处理基础．北京：国防工业出版社，1981
11 阎福旺，胡颉等．水声设备选择导论．第1版．北京：海洋出版社，1999
12 张福学，王丽坤．应用物理学丛书——现代压电学(上册)．第1版．北京：科学出版社，2001
13 王绍卿．鱼雷近炸引信原理与设计．第1版 西安：西北工业大学出版社，1992
14 李豪杰．反潜深弹采用不同体制引信抗击潜艇的系统分析研究：[学位论文]．北京：北京理工大学，1998
15 陈荷娟．浅海近距声探测技术研究：[学位论文]．北京：北京理工大学，2001
16 石建．浅海水声信号处理与电路设计：[学位论文]．南京：南京理工大学，2001
17 滕舵．水声换能器与换能器阵技术研究：[学位论文]．西安：西北工业大学，2004
18 占春才．水下综合探测机器人测高声纳的研究与设计：[学位论文]．哈尔滨：哈尔滨工程大学，2002
19 许肖梅．浅海水声数据传输技术研究：[学位论文]．厦门：厦门大学，2002
20 GJB175.10-88．舰船及其装备术语深水炸弹及其发射装置
21 GB1125-98．水声用压电陶瓷材料规范
22 GB7965-87．声学 水声换能器测量
23 孙霞，廖小刚．从深海反潜到濒海反潜——美军盯上了柴电潜艇．环球军事．2005(11)：16-17
24 夏志军．火箭式深弹武器系统的现状与发展．舰载武器．2002(2)：41-45
25 任道南，商旭升．深弹攻潜今与昔．现代舰船．1999(12)：41-45
26 俞承涤．舰用火箭深弹打击水面和陆上目标的火控方案和效果探讨．舰船科学技术．1997(4)：18-21
27 孙荣忠，孙冬余．舰载武器的最新发展趋势．舰载武器．2002(4)：13-20
28 吴运发．国外水面舰艇反鱼雷技术的现状和发展简介．声学技术．1999(1)：43-45
29 赵莲芳．水面舰艇和潜艇反鱼雷防御系统和技术．情报指挥控制系统与仿真技术．2001(2)：1-14
30 张永录，梁丽．深弹武器反导功能浅析．国防技术基础．2003(4)：35-36
31 邢昌风，秦兴秋．子母深弹反鱼雷攻击效能及仿真．火力与指挥控制．2005(2)：100-102
32 Sten E. Depth charge fuze.US4911058, 1990
33 骆传骊．俄罗斯“强风”系列火箭式深水炸弹．舰船论证参考．1999(1)：61-64
34 张红译．国外深水炸弹．水雷战与舰船防护．1996(1)：41-42
35 Darrell A. Bymoen. Depth Charge.US3875863, 1975
36 Guenter Backstein, Meerbuschdeng. Dual Underwater Safety Fuze.US4311097, 1982.
37 Shrout T.R. micro-mechanics of electrostrictors for sonar.AD-A261932, 1992
38 Nicholas P. Chotiros, Thomas G. Muir, D. Eric Smith. Physics of Buffed Mine Detection and Classification. AD-A294394, 1995
39 Walton Graham. Roslyn, N.Y. Sonar transducer.US5274608, 1993
40 Karl, Burfeind. Sonar transducer calibration apparatus and method.US5381383, 1995
41 Weita Chang, Niatic. Active sonar range-beam Partitioner.US5737249, 1998
42 Montgomery R.E. Analytical Model for Turbulence-Induced Flexural Noise in Large Conformal Sonar Arrays.AD-A265969, 1993
43 Robert M. Chaprman, Gratan, Conn. Method and apparatus for interpretation of sonar signals.US5526323, 1996
44 George Bugiel, Bonn, Fed. Rep. of Germany. Method and arrangement for combating a submerged target object. US5214618, 1993
45 Donald W. Miklovic. Broadband sonar method and apparatus for use with conventional sonar arrays.US5680371, 1997
46 曲东才，唐琳娜．俄罗斯反潜武器探源．1999(2)：11-16
47 傅金祝．水下霹雳——俄罗斯的深弹反潜武器．舰船知识．1999(3)：33-34
48 龚潍．从俄海军火箭深弹的现状谈对火箭深弹发展的思考．水雷战与舰船防护．2000(3)：50-52
49 季良．国外新型反潜深弹．水雷战与舰船防护．2004(3)：56
50 范乃忠．“博福斯”反潜火箭系统．现代舰船．1994(8)：30-33
51 马金文．火箭深弹引信可靠性探讨．电子技术学术委员会学术年会论文集．1991：127-132
52 冀河军．新型深水炸弹研制方案设想．水雷战与舰船防护．2003(12)：32-35
53 施显林．电磁非触发引信在鱼雷中的应用第九届引信年会论文集．1995
54 艾艳辉，赵治平．非声探测技术面面观．水雷战与舰船防护．2003(3)：43-46
55 郭儒政，程镛盘，高福昌．鱼雷引信的现状及展望．第九届引信年会论文集．1995
56 李国英．制导深弹——引起国际上普遍重视．舰船论证参考．1995(3)
57 郑献忠译．MS500深水炸弹．水雷战与舰船防护．1996(1)：38-40
58 刘进译．浅水武器近炸引信．水雷战与舰船防护．1998(1)：32-35
59 王德强译．静电、磁和声近炸引信．制导与引信．1997(4)：36-44
60 邢小平译．小型水下传感器揭示沿海秘密．水雷战与舰船防护．2003(1)：1-8
61 邓甲昊．引信目标探测基本理论与分析．第13届引信年会论文集．2003：273-279
62 Samudl Temkin. Elements of Acoustic. Washington, D.C. 1987
63 Wilson, W. D. Equation for the Speed of Sound in Sea Water as a Function of Temperature, Pressure and Salinity. J Acoust Soc Am. 1961(1): 641-659
64 Del Gross, V.A. and Mader, C. W. Speed of Sound in Pure Water. J Acoust Soc Am. 1972(3): 1442-1453
65 Nerman Medwin. Speed of Sound in Water, A Simple for Realistic Parameters. J Acoust SocAm. 1975(2): 1318-1325
66 邢天安．潜舰导弹连射时间间隔与弹间干扰问题初探．舰船论证参考．1999(1)：14-18
67 贾跃，刘慷等．中远程火箭深弹对潜设计方法．火力与指挥控制．2001(增刊)：24-25
68 李同钰，王晓林．水雷主动声引信抗邻雷干扰研究．现代引信．1994(4)：37-41
69 Kevin V. Jorgensen, Brian L. Grose and F. Anthony Crandall. Doppler Sonar Applied to Precision Underwater Navigation. Proceeding of Engineering In Harmony With The Ocean, 1993: 469-474
70 Rowe, F.D. and Young, J.W. An Ocean Current Profiler Using Doppler Sonar. IEEE Proc. Oceans'79, 1979:292-297
71 Wooh S.C. Doppler-Based airborne ultrasound for detecting surface discontinuities on a moving target. RES NONDESTRUCT EVAL. 2000(3): 145-166
72 Kleinschmidt, V. Magori. Ultrasonic robotic sensors for exact short range distance measurement and object identification. IEEE Ultrasonics Symposium proceeding. 1985:457-469
73 周晓明．回声定位蝙蝠听觉系统的特化．生命科学．1997(2)：65-66
74 张季平，孙心德等．电刺激大马蹄蝠听皮层对下丘神经元听觉敏感性的影响．声学学报．1999(1)：77-81
75 张礼标，卢立仁等．两种扁颅蝠回声定位叫声的比较．动物学研究．2002(4)：48-52
76 舒乃秋．一种新型的双层压电结构超声波传感器．武汉水利电力大学学报．1994(4)：440-445
77 G. Hayward. Ceramic epoxy composite transducers for non contact ultrasonic applications, private communication, 1994
78 Rizzatto, Giorgio. Ultrasound transducers. European Journal of Radiology. 1998(5): 188-195
79 杨崇林，姚蓝．水下高速小目标探测中的信号波形设计研究．声学学报．2001(5)：389-394
80 徐新盛，张燕等．海底混响仿真研究．声学学报．1998(2)：141-148
81 J.L. Stewart, E. C. Westerfield, M. K. Brandon. J. Acoust. Soc. Am., Vol., 33, No. 9, 1961.
82 上海市物理学会．超声在工业上的应用．上海：上海市科学技术编译馆，1962
83 Ellis D D. A shallow-water normal-mode reverberation model. J Acoust Soc Am. 1995(5): 2804-2814
84 S. Stanic, E. Kennedy, R. I. Ray. High-frequency Bistatic reverberation from a smooth ocean bottom. J Acoust Soc Am. 1993(5): 2633-2638
85 Carl F. Eyring, Ralph J. Christensed, Russell W. Raitt. Reverberation in the sea. J Acoust Soc Am. 1948(4): 462-475
86 Herbert R. Carleton. Theoretical Development of Volume Reverberation as a First-order Scattering Phenomenon. J Acoust Soc Am. 1961 (3): 317-323
87 Wolfgang Bachmann, Bernard de Raigniac. Calculation of Reverberation and Average Intensity of Broad-band Acoustic Signals in the Ocean by Means of the RAIBAC Computer Model. J Acoust Soc Am. 1976:31-39
88 Dale D. Ellis, D. Vance Crowe. Bistatic Reverberation Calculations Using a Three-dimensional Scattering Function. J Acoust Soc Am. 1991: 2207-2214
89 Msksym, Josegh N., Sandys-Wunsch, Mlcheal. Adaptive beam forming against reverberation for a three-sensor array. J Acoust Soc Am. 1997(6): 3433-3438
90 韩静．潜艇回声特性模拟研究．舰船科学技术．2002(2)：53-54
91 李正刚．潜艇目标尺度模拟方法与技术研究．声学技术．1997(2)：90-93
92 李桂娟，韩静等．浅海信道中沉底目标回波特性研究．舰船科学技术．2002(1)：16-23
93 Urick R. J., A. G. Pieper. Determination of Target strength of a Submarine by a New Method. Office of Naval Research Informal Report. 1972
94 Reid G. N. Identification of Underwater Targets via Active Sonar. AD-A279824, 1993
95 唐宗瑜．浅说声呐方程．声学与电子工程．2000(1)：10-16
96 马庆云，杨辉．激励脉冲宽度对超声发射能量的影响．矿业研究与开发．2000(5)：38-39
97 V. kohler. Impulse Response of a piezoelective Layer. Acustica, 1991(1): 144-152
98 王东生．橡胶在水声系统中的应用．橡胶工业．1996(8)：494-497
99 张强，翟敏等．压电晶体导纳圆测量仪的设计与实现．压电与声光．2005(1)：21-23
100 Richard J. Vaccaro. The past, Present and Future of Underwater Acoustic Signal Processing. IEEE Signal Magazine. 1998(7): 21-51
101 方志来，王宇等．一种大动态水下声信号的调整方法．系统工程与电子技术1999(4)：31-33
102 李亚安．水雷超声引信接收系统的噪声分析．现代引信．1995(2)：38-41
103 余小廉．超声水深信号的处理及实现．水运工程．1994(2)：53-56
104 Willian C. Knight, Roger G. Pridham, Steven M. Kay. Digital Signal Processing for Sonar. Proceedings of the IEEE. 1981 (11): 1451-1506
105 温海青．用TMS320C25实现主动声呐回波多卜勒分析．声学与电子工程1994(3)：18-21
106 Milica Stojanovic. Recent Advances in High-Speed Underwater Acoustic Communications. IEEE J. Oceanic Eng.. 1996 (2): 125-136
107 Milan Prokin. Double Buffered Wide Range Frequency Measurement Method for Digital Tachometers. IEEE Trans. Instru. Meas.. 1991 (3): 606-610
108 蔡平，梁国龙等．WVD-HT用于混响背景中检测低多卜勒目标回波的仿真研究．哈尔滨工程大学学报．2000(3)：20-23
109 张仁和，裘辛方等．浅海声传播和混响的选频衰减．海洋学报．1998(1)：41-49
110 赵航芳，宫先仪等．浅海混响实验数据垂直指向性简正波建模分析．声学与电子工程．2001(4)：10-15
111 王峰，赵俊渭等．一种高精度通用水声接收机的设计与研究．仪器仪表学报．2002(3)．249-252
112 J. F. Figueroa. A method for accurate detection of time of arrival, Analysis and design of an ultrasonic ranging system. J.Acoust. Soc. Am. 1992(1): 486-495
113 J. Szilard. Ultrasonic Testing-Non-Conventional Testing Techniques. John Wiley & Sons, Ltd., 1998
114 Elfes A. Sonar-based Real-world Mapping and Navigation. IEEE Journal of Robotics and Automation. 1987(3): 249-265
115 Leonard JJ, Durrant-Whyte HF. Directed sonar sensing for mobile robot navigation. Kluwer Academic Publishers, 1992
116 Gall J L. Sonar detection in Weibull bottom reverberation. ICASSR 1984:1293-1296
117 Intersil. CA3140 Data Sheet, 1998(9)
118 MAXIM. MAX260/261/262 Microprocessor Programmable Universal Active Filters. MAXIM Data Sheet, 2001
119 张捷贤，傅元．超声探伤仪检波电路的新方案．仪表技术与传感器．1996 (9)：42-43
120 Zainalabedin, Navabi. VHDL: Analysis and Modeling of digital system. New York: Mcgraw-hill publishing Inc, 1998
121 Kevin Skahill. VHDL for programming. Cypress semiconductor, 1995
122 IEEE Standard VHDL Language Reference Manual. IEEE Std. 1993:1076
123 Stephen Brown, Jonathan Rose. FPGA and CPLD Architecture: A Tutorial. IEEE DESIGN & TEST OF COMPUTER. 1996, Summer: 42-57
124 John Gallant. Designing For Speed With High-Performance PLDs. EDN. 1995(7):20-26
125 Sandi Habinc, Peter Sinander. Using VHDL for Board Level Simulation. DESIGN & TEST OF COMPUTER. 1996, fa11:66-77
126 郝力勤，魏月芬．水雷信号模糊模式识别．舰船科学技术．1994(4)：42-47
127 王贵明，张光法．水雷引信发展趋势及采用的主要技术．水雷战与舰船防护．2002(3)：36-38
128 山西新闻网．http://www.sxrb.com/mag6/20050824/ca385811.htm
129 中国武器大全论坛．http://www.zgjunshi.com/bbs/index.asp
2 孙明太．航空反潜概论．第1版．北京：国防工业出版社，1998
3 胡风年，潘铁牛等．引信技术实践．第1版．北京：国防工业出版社，1989
4 中国物理学会．水声学(第一集，第二集)．第1版．北京：科学出版社，1962
5 尤立克著，洪申译．水声原理．第1版．哈尔滨：哈尔滨船舶工程学院出版社，1990
6 李启虎．声纳信号处理引论．北京：海洋出版社，1985
7 顾金海，叶学千．水声学基础．北京：国防工业出版社，1981
8 侯自强，李贵斌．声纳信号处理——原理与设备．北京：海洋出版社，1986
9 刘伯胜，雷家煜水声学原理．第1版．哈尔滨：哈尔滨工程大学出版社，1993
10 钱秋珊，陆根源．水声信号处理基础．北京：国防工业出版社，1981
11 阎福旺，胡颉等．水声设备选择导论．第1版．北京：海洋出版社，1999
12 张福学，王丽坤．应用物理学丛书——现代压电学(上册)．第1版．北京：科学出版社，2001
13 王绍卿．鱼雷近炸引信原理与设计．第1版 西安：西北工业大学出版社，1992
14 李豪杰．反潜深弹采用不同体制引信抗击潜艇的系统分析研究：[学位论文]．北京：北京理工大学，1998
15 陈荷娟．浅海近距声探测技术研究：[学位论文]．北京：北京理工大学，2001
16 石建．浅海水声信号处理与电路设计：[学位论文]．南京：南京理工大学，2001
17 滕舵．水声换能器与换能器阵技术研究：[学位论文]．西安：西北工业大学，2004
18 占春才．水下综合探测机器人测高声纳的研究与设计：[学位论文]．哈尔滨：哈尔滨工程大学，2002
19 许肖梅．浅海水声数据传输技术研究：[学位论文]．厦门：厦门大学，2002
20 GJB175.10-88．舰船及其装备术语深水炸弹及其发射装置
21 GB1125-98．水声用压电陶瓷材料规范
22 GB7965-87．声学 水声换能器测量
23 孙霞，廖小刚．从深海反潜到濒海反潜——美军盯上了柴电潜艇．环球军事．2005(11)：16-17
24 夏志军．火箭式深弹武器系统的现状与发展．舰载武器．2002(2)：41-45
25 任道南，商旭升．深弹攻潜今与昔．现代舰船．1999(12)：41-45
26 俞承涤．舰用火箭深弹打击水面和陆上目标的火控方案和效果探讨．舰船科学技术．1997(4)：18-21
27 孙荣忠，孙冬余．舰载武器的最新发展趋势．舰载武器．2002(4)：13-20
28 吴运发．国外水面舰艇反鱼雷技术的现状和发展简介．声学技术．1999(1)：43-45
29 赵莲芳．水面舰艇和潜艇反鱼雷防御系统和技术．情报指挥控制系统与仿真技术．2001(2)：1-14
30 张永录，梁丽．深弹武器反导功能浅析．国防技术基础．2003(4)：35-36
31 邢昌风，秦兴秋．子母深弹反鱼雷攻击效能及仿真．火力与指挥控制．2005(2)：100-102
32 Sten E. Depth charge fuze.US4911058, 1990
33 骆传骊．俄罗斯“强风”系列火箭式深水炸弹．舰船论证参考．1999(1)：61-64
34 张红译．国外深水炸弹．水雷战与舰船防护．1996(1)：41-42
35 Darrell A. Bymoen. Depth Charge.US3875863, 1975
36 Guenter Backstein, Meerbuschdeng. Dual Underwater Safety Fuze.US4311097, 1982.
37 Shrout T.R. micro-mechanics of electrostrictors for sonar.AD-A261932, 1992
38 Nicholas P. Chotiros, Thomas G. Muir, D. Eric Smith. Physics of Buffed Mine Detection and Classification. AD-A294394, 1995
39 Walton Graham. Roslyn, N.Y. Sonar transducer.US5274608, 1993
40 Karl, Burfeind. Sonar transducer calibration apparatus and method.US5381383, 1995
41 Weita Chang, Niatic. Active sonar range-beam Partitioner.US5737249, 1998
42 Montgomery R.E. Analytical Model for Turbulence-Induced Flexural Noise in Large Conformal Sonar Arrays.AD-A265969, 1993
43 Robert M. Chaprman, Gratan, Conn. Method and apparatus for interpretation of sonar signals.US5526323, 1996
44 George Bugiel, Bonn, Fed. Rep. of Germany. Method and arrangement for combating a submerged target object. US5214618, 1993
45 Donald W. Miklovic. Broadband sonar method and apparatus for use with conventional sonar arrays.US5680371, 1997
46 曲东才，唐琳娜．俄罗斯反潜武器探源．1999(2)：11-16
47 傅金祝．水下霹雳——俄罗斯的深弹反潜武器．舰船知识．1999(3)：33-34
48 龚潍．从俄海军火箭深弹的现状谈对火箭深弹发展的思考．水雷战与舰船防护．2000(3)：50-52
49 季良．国外新型反潜深弹．水雷战与舰船防护．2004(3)：56
50 范乃忠．“博福斯”反潜火箭系统．现代舰船．1994(8)：30-33
51 马金文．火箭深弹引信可靠性探讨．电子技术学术委员会学术年会论文集．1991：127-132
52 冀河军．新型深水炸弹研制方案设想．水雷战与舰船防护．2003(12)：32-35
53 施显林．电磁非触发引信在鱼雷中的应用第九届引信年会论文集．1995
54 艾艳辉，赵治平．非声探测技术面面观．水雷战与舰船防护．2003(3)：43-46
55 郭儒政，程镛盘，高福昌．鱼雷引信的现状及展望．第九届引信年会论文集．1995
56 李国英．制导深弹——引起国际上普遍重视．舰船论证参考．1995(3)
57 郑献忠译．MS500深水炸弹．水雷战与舰船防护．1996(1)：38-40
58 刘进译．浅水武器近炸引信．水雷战与舰船防护．1998(1)：32-35
59 王德强译．静电、磁和声近炸引信．制导与引信．1997(4)：36-44
60 邢小平译．小型水下传感器揭示沿海秘密．水雷战与舰船防护．2003(1)：1-8
61 邓甲昊．引信目标探测基本理论与分析．第13届引信年会论文集．2003：273-279
62 Samudl Temkin. Elements of Acoustic. Washington, D.C. 1987
63 Wilson, W. D. Equation for the Speed of Sound in Sea Water as a Function of Temperature, Pressure and Salinity. J Acoust Soc Am. 1961(1): 641-659
64 Del Gross, V.A. and Mader, C. W. Speed of Sound in Pure Water. J Acoust Soc Am. 1972(3): 1442-1453
65 Nerman Medwin. Speed of Sound in Water, A Simple for Realistic Parameters. J Acoust SocAm. 1975(2): 1318-1325
66 邢天安．潜舰导弹连射时间间隔与弹间干扰问题初探．舰船论证参考．1999(1)：14-18
67 贾跃，刘慷等．中远程火箭深弹对潜设计方法．火力与指挥控制．2001(增刊)：24-25
68 李同钰，王晓林．水雷主动声引信抗邻雷干扰研究．现代引信．1994(4)：37-41
69 Kevin V. Jorgensen, Brian L. Grose and F. Anthony Crandall. Doppler Sonar Applied to Precision Underwater Navigation. Proceeding of Engineering In Harmony With The Ocean, 1993: 469-474
70 Rowe, F.D. and Young, J.W. An Ocean Current Profiler Using Doppler Sonar. IEEE Proc. Oceans'79, 1979:292-297
71 Wooh S.C. Doppler-Based airborne ultrasound for detecting surface discontinuities on a moving target. RES NONDESTRUCT EVAL. 2000(3): 145-166
72 Kleinschmidt, V. Magori. Ultrasonic robotic sensors for exact short range distance measurement and object identification. IEEE Ultrasonics Symposium proceeding. 1985:457-469
73 周晓明．回声定位蝙蝠听觉系统的特化．生命科学．1997(2)：65-66
74 张季平，孙心德等．电刺激大马蹄蝠听皮层对下丘神经元听觉敏感性的影响．声学学报．1999(1)：77-81
75 张礼标，卢立仁等．两种扁颅蝠回声定位叫声的比较．动物学研究．2002(4)：48-52
76 舒乃秋．一种新型的双层压电结构超声波传感器．武汉水利电力大学学报．1994(4)：440-445
77 G. Hayward. Ceramic epoxy composite transducers for non contact ultrasonic applications, private communication, 1994
78 Rizzatto, Giorgio. Ultrasound transducers. European Journal of Radiology. 1998(5): 188-195
79 杨崇林，姚蓝．水下高速小目标探测中的信号波形设计研究．声学学报．2001(5)：389-394
80 徐新盛，张燕等．海底混响仿真研究．声学学报．1998(2)：141-148
81 J.L. Stewart, E. C. Westerfield, M. K. Brandon. J. Acoust. Soc. Am., Vol., 33, No. 9, 1961.
82 上海市物理学会．超声在工业上的应用．上海：上海市科学技术编译馆，1962
83 Ellis D D. A shallow-water normal-mode reverberation model. J Acoust Soc Am. 1995(5): 2804-2814
84 S. Stanic, E. Kennedy, R. I. Ray. High-frequency Bistatic reverberation from a smooth ocean bottom. J Acoust Soc Am. 1993(5): 2633-2638
85 Carl F. Eyring, Ralph J. Christensed, Russell W. Raitt. Reverberation in the sea. J Acoust Soc Am. 1948(4): 462-475
86 Herbert R. Carleton. Theoretical Development of Volume Reverberation as a First-order Scattering Phenomenon. J Acoust Soc Am. 1961 (3): 317-323
87 Wolfgang Bachmann, Bernard de Raigniac. Calculation of Reverberation and Average Intensity of Broad-band Acoustic Signals in the Ocean by Means of the RAIBAC Computer Model. J Acoust Soc Am. 1976:31-39
88 Dale D. Ellis, D. Vance Crowe. Bistatic Reverberation Calculations Using a Three-dimensional Scattering Function. J Acoust Soc Am. 1991: 2207-2214
89 Msksym, Josegh N., Sandys-Wunsch, Mlcheal. Adaptive beam forming against reverberation for a three-sensor array. J Acoust Soc Am. 1997(6): 3433-3438
90 韩静．潜艇回声特性模拟研究．舰船科学技术．2002(2)：53-54
91 李正刚．潜艇目标尺度模拟方法与技术研究．声学技术．1997(2)：90-93
92 李桂娟，韩静等．浅海信道中沉底目标回波特性研究．舰船科学技术．2002(1)：16-23
93 Urick R. J., A. G. Pieper. Determination of Target strength of a Submarine by a New Method. Office of Naval Research Informal Report. 1972
94 Reid G. N. Identification of Underwater Targets via Active Sonar. AD-A279824, 1993
95 唐宗瑜．浅说声呐方程．声学与电子工程．2000(1)：10-16
96 马庆云，杨辉．激励脉冲宽度对超声发射能量的影响．矿业研究与开发．2000(5)：38-39
97 V. kohler. Impulse Response of a piezoelective Layer. Acustica, 1991(1): 144-152
98 王东生．橡胶在水声系统中的应用．橡胶工业．1996(8)：494-497
99 张强，翟敏等．压电晶体导纳圆测量仪的设计与实现．压电与声光．2005(1)：21-23
100 Richard J. Vaccaro. The past, Present and Future of Underwater Acoustic Signal Processing. IEEE Signal Magazine. 1998(7): 21-51
101 方志来，王宇等．一种大动态水下声信号的调整方法．系统工程与电子技术1999(4)：31-33
102 李亚安．水雷超声引信接收系统的噪声分析．现代引信．1995(2)：38-41
103 余小廉．超声水深信号的处理及实现．水运工程．1994(2)：53-56
104 Willian C. Knight, Roger G. Pridham, Steven M. Kay. Digital Signal Processing for Sonar. Proceedings of the IEEE. 1981 (11): 1451-1506
105 温海青．用TMS320C25实现主动声呐回波多卜勒分析．声学与电子工程1994(3)：18-21
106 Milica Stojanovic. Recent Advances in High-Speed Underwater Acoustic Communications. IEEE J. Oceanic Eng.. 1996 (2): 125-136
107 Milan Prokin. Double Buffered Wide Range Frequency Measurement Method for Digital Tachometers. IEEE Trans. Instru. Meas.. 1991 (3): 606-610
108 蔡平，梁国龙等．WVD-HT用于混响背景中检测低多卜勒目标回波的仿真研究．哈尔滨工程大学学报．2000(3)：20-23
109 张仁和，裘辛方等．浅海声传播和混响的选频衰减．海洋学报．1998(1)：41-49
110 赵航芳，宫先仪等．浅海混响实验数据垂直指向性简正波建模分析．声学与电子工程．2001(4)：10-15
111 王峰，赵俊渭等．一种高精度通用水声接收机的设计与研究．仪器仪表学报．2002(3)．249-252
112 J. F. Figueroa. A method for accurate detection of time of arrival, Analysis and design of an ultrasonic ranging system. J.Acoust. Soc. Am. 1992(1): 486-495
113 J. Szilard. Ultrasonic Testing-Non-Conventional Testing Techniques. John Wiley & Sons, Ltd., 1998
114 Elfes A. Sonar-based Real-world Mapping and Navigation. IEEE Journal of Robotics and Automation. 1987(3): 249-265
115 Leonard JJ, Durrant-Whyte HF. Directed sonar sensing for mobile robot navigation. Kluwer Academic Publishers, 1992
116 Gall J L. Sonar detection in Weibull bottom reverberation. ICASSR 1984:1293-1296
117 Intersil. CA3140 Data Sheet, 1998(9)
118 MAXIM. MAX260/261/262 Microprocessor Programmable Universal Active Filters. MAXIM Data Sheet, 2001
119 张捷贤，傅元．超声探伤仪检波电路的新方案．仪表技术与传感器．1996 (9)：42-43
120 Zainalabedin, Navabi. VHDL: Analysis and Modeling of digital system. New York: Mcgraw-hill publishing Inc, 1998
121 Kevin Skahill. VHDL for programming. Cypress semiconductor, 1995
122 IEEE Standard VHDL Language Reference Manual. IEEE Std. 1993:1076
123 Stephen Brown, Jonathan Rose. FPGA and CPLD Architecture: A Tutorial. IEEE DESIGN & TEST OF COMPUTER. 1996, Summer: 42-57
124 John Gallant. Designing For Speed With High-Performance PLDs. EDN. 1995(7):20-26
125 Sandi Habinc, Peter Sinander. Using VHDL for Board Level Simulation. DESIGN & TEST OF COMPUTER. 1996, fa11:66-77
126 郝力勤，魏月芬．水雷信号模糊模式识别．舰船科学技术．1994(4)：42-47
127 王贵明，张光法．水雷引信发展趋势及采用的主要技术．水雷战与舰船防护．2002(3)：36-38
128 山西新闻网．http://www.sxrb.com/mag6/20050824/ca385811.htm
129 中国武器大全论坛．http://www.zgjunshi.com/bbs/index.asp