基于二维成像声纳的水下运动目标定位技术研究
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摘要
水下运动目标的测量技术无论在军事领域还是在民用领域均具有广阔的应用前景，对水下运动目标的三维运动轨迹测量，通常采用的手段有内测和外测两种方式，其中内测方式是在运动目标自身内部安装速度、姿态等相关传感器来感知运动目标的运动过程中的状态信息，然后通过事后数据提取和事后处理方式推算出目标的运动轨迹；而外测方式通常采用超短基线、短基线、长基线定位系统以及水下光学或声学成像系统对运动目标进行轨迹测量。除了光学和声学成像以外，无论哪种测量方法都需要在运动物体上安装相应的测量设备，然而在很多特定情况下运动物体上不具备相关设备的安装条件，因此无法借助基于合作信标或是内测方式的测量手段；而基于光学测量设备的外测方法的测量效果受环境影响很大，尤其是水体的浑浊度直接影响光学成像的质量，进而造成动目标轨迹测量误差较大甚至无法测量；借助主动的高分辨成像声纳可以克服以上手段或需求所面临的问题，虽然高分辨的三维成像声纳是最佳选择，但是由于测量场所以及当前与之相关的技术实现条件所限而无法实现，同时采用单部二维声纳仅能实现二维测量，综合考虑技术要求以及技术实现等诸多因素，本文根据水下高速目标成像的试验任务需求，对二维成像声纳测量水下运动目标的三维轨迹测量的一些关键技术进行研究，并完成了成像声纳设备系统的研制，较好地解决了特定环境下的高速目标的成像与跟踪问题，本文具体研究内容如下：
阐述了论文的研究背景及其意义，对国内外的测扫声纳、前视声纳、声透镜声纳和合成孔径声纳的发展状况及其主要的产品性能技术指标和成像效果进行简要的概述；基于国内外成像声纳的研究现状及水下运动目标测量的特定需求，引出本文所需研究的关键技术。
针对强混响背景下的高速运动目标的实时成像技术，首先阐述了常规波束形成（即时延求和波束形成技术）的基本原理和性能，为了满足测量系统的实时观测要求，常规的波束形成算法不能满足要求，为了满足系统的实时性以及易于实现的要求，研究了基于FFT的波束形成技术；针对系统近场工作的要求，拓展了传统的基于中心波束不同距离的多点聚焦的FFT波束形成算法，给出了一种宽波束（本测量系统的扫描扇面为90度）条件下的多波束、不同距离聚焦的FFT波束形成算法，有效地解决了近场成像质量与成像实时性的要求。其次，由于系统需工作在强混响条件下，同时高速运动的体目标导致目标回波信号不再是简单的多普勒频移而是多普勒扩展，而基于FFT的波束形成技术本质上是窄带的相移波束形成，因此不再适应高速标成像要求；利用高速运动的体目标回波的宽带特性，本文提出了利用宽带波束形成算法进行对目标进行成像，从而解决动目标的多普勒效应引起的成像位置偏移问题以及强混响背景下的高速目标的有效成像问题。
对本文所采用的基于两部高分辨二维成像声纳的水下运动目标三维运动轨迹解算技术进行了研究。针对二维成像声纳的成像特点提出了一种基于解集合交汇思想的三维轨迹解算技术，分析了测量系统的误差源，建立了测量系统的解算模型，推导了不同误差源条件下的系统综合测量误差，理论和仿真分析了本文所提出的解算算法能够满足测量要求。
最后对测量系统安装与工作的要求对系统的接收声纳与发射声纳的软硬件结构进行了优化设计，给出了具体的实现方案，并依据该方案实现了该系统，测量系统的水池试验表明：
（1）两部二维成像声纳的成像性能满足系统设计指标（即距离和方位分辨力）；
（2）本文提出的基于两部二维成像声纳的目标三维位置解算技术的测量精度满足设计指标要求；
（3）水池条件下模拟的高速目标成像结果表明：本文的提出针对高速目标的成像算法能够有效地抑制背景混响的影响，并且提高了系统高速目标成像的能力。
Measurement techniques for underwater moving target all have wide application prospectswhether in the military or in the civilian areas. Generally, there are interior and exterior meansto measure the3D motion trajectory of underwater moving targets. The interior measurementacquires the relative motion status information through velocity and attitude sensors installedinside the moving target and then calculate the motion trajectory via data post-extraction andpost-processing. Moreover, the exterior measurement commonly makes use of USBL, SBL,LBL, underwater optical imaging or underwater acoustic imaging. Except the above twoimaging means, any other means all have to install the appropriate equipment on the movingtarget. However, there is no installation condition for relative equipment in many special cases,thus whether acoustic beacons or interior measurement all can’t be used in such cases. Due toits sensitivity to environment change, the performance of optical imaging is directly influencedby the water turbidity, which may cause coarse measurement errors or even invalidate themeasurements. Fortunately, the above problems can be overcome by making use of the highresolution imaging sonar. Though the3D high resolution imaging sonar is the best choice, itcan’t be implemented because of test site and immature techniques. Besides, the2D imagingsonar can only achieve the2D measurement of underwater moving target. After considering therelative technical needs and implementation conditions, a scheme adopting two2D imagingsonars for measuring the3D motion trajectory of underwater moving target is proposed in thisdissertation. In order to fulfill the special demands of device installation, the whole systemdesign is optimized, which have been validated in the trial effectively.
In the first chapter, it introduces the research background and meanings firstly. Then itsummarizes the state of the art, the performance parameters and imaging results of the mainproducts about oversea and domestic side-scanning sonar, forward-looking sonar, acoustic lenssonar and synthetic aperture sonar. Herein, it concludes the key technology of underwater targetmotion measurement system studied in this dissertation. In the end, it gives the specificstructures of the following research work.
The second chapter focuses on the real-time imaging technology for the high-speedmoving target under the strong reverberation background. Firstly, it introduces the principlesand performance about the conventional beam-forming (i.e. time-delay sum beam-forming).Because the conventional beam-forming can’t meet the requirements of real-time imaging, theFFT beam-forming is studied for real-time and easy implementation. Aiming at the system requirement working in the near field, it extends the traditional FFT beam-forming based on thecenter beam of multi-points focused at different distances and gives a FFT beam-formingalgorithm on the basis of multi-beams focused at different distances in the condition of broadbeam (the studied measurement system with scanning fan of90degrees), meeting therequirements of the imaging quality of near-field and real-time imaging. Secondly, due to theinfluence of the strong reverberation, the received echoes are not simply Doppler shift butDoppler spread, which causes the FFT beam-forming ineffective. In this dissertation, abroadband beam-forming method is proposed by making use of the characteristics of targetechoes. And this method solves the imaging problem of high-speed moving target in thecondition of strong reverberation.
The third chapter presents the method to calculate the3D motion trajectory of underwatermoving target through two2D high resolution imaging sonars. According to the imagingcharacteristics of2D imaging sonar, it proposes a method of calculating3D trajectory via2Dintersection. And then it analyzes the error sources of the measurement system, establishes thesolution model of the measurement system and derives integrated measurement errors ofdifferent error sources. The theoretical and numerical simulation all has validated the proposedalgorithm.
In the last chapter, the software and hardware structures of receiving and transmittingsonars are optimized, considering the installation and working requirements of themeasurement system. And the specific scheme is introduced and implemented. The tank trialindicates:
(1) the imaging performance of the two2D imaging sonars meets the system index (i.e.range and azimuth resolution);
(2) the proposed method to calculate the3D trajectory position based on the two2Dimaging sonars satisfies the demand of measurement precision;
(3) the proposed imaging algorithm of high-speed moving target can suppress thereverberation effectively and improve the imaging quality for high-speed moving targets.
阐述了论文的研究背景及其意义，对国内外的测扫声纳、前视声纳、声透镜声纳和合成孔径声纳的发展状况及其主要的产品性能技术指标和成像效果进行简要的概述；基于国内外成像声纳的研究现状及水下运动目标测量的特定需求，引出本文所需研究的关键技术。
针对强混响背景下的高速运动目标的实时成像技术，首先阐述了常规波束形成（即时延求和波束形成技术）的基本原理和性能，为了满足测量系统的实时观测要求，常规的波束形成算法不能满足要求，为了满足系统的实时性以及易于实现的要求，研究了基于FFT的波束形成技术；针对系统近场工作的要求，拓展了传统的基于中心波束不同距离的多点聚焦的FFT波束形成算法，给出了一种宽波束（本测量系统的扫描扇面为90度）条件下的多波束、不同距离聚焦的FFT波束形成算法，有效地解决了近场成像质量与成像实时性的要求。其次，由于系统需工作在强混响条件下，同时高速运动的体目标导致目标回波信号不再是简单的多普勒频移而是多普勒扩展，而基于FFT的波束形成技术本质上是窄带的相移波束形成，因此不再适应高速标成像要求；利用高速运动的体目标回波的宽带特性，本文提出了利用宽带波束形成算法进行对目标进行成像，从而解决动目标的多普勒效应引起的成像位置偏移问题以及强混响背景下的高速目标的有效成像问题。
对本文所采用的基于两部高分辨二维成像声纳的水下运动目标三维运动轨迹解算技术进行了研究。针对二维成像声纳的成像特点提出了一种基于解集合交汇思想的三维轨迹解算技术，分析了测量系统的误差源，建立了测量系统的解算模型，推导了不同误差源条件下的系统综合测量误差，理论和仿真分析了本文所提出的解算算法能够满足测量要求。
最后对测量系统安装与工作的要求对系统的接收声纳与发射声纳的软硬件结构进行了优化设计，给出了具体的实现方案，并依据该方案实现了该系统，测量系统的水池试验表明：
（1）两部二维成像声纳的成像性能满足系统设计指标（即距离和方位分辨力）；
（2）本文提出的基于两部二维成像声纳的目标三维位置解算技术的测量精度满足设计指标要求；
（3）水池条件下模拟的高速目标成像结果表明：本文的提出针对高速目标的成像算法能够有效地抑制背景混响的影响，并且提高了系统高速目标成像的能力。
Measurement techniques for underwater moving target all have wide application prospectswhether in the military or in the civilian areas. Generally, there are interior and exterior meansto measure the3D motion trajectory of underwater moving targets. The interior measurementacquires the relative motion status information through velocity and attitude sensors installedinside the moving target and then calculate the motion trajectory via data post-extraction andpost-processing. Moreover, the exterior measurement commonly makes use of USBL, SBL,LBL, underwater optical imaging or underwater acoustic imaging. Except the above twoimaging means, any other means all have to install the appropriate equipment on the movingtarget. However, there is no installation condition for relative equipment in many special cases,thus whether acoustic beacons or interior measurement all can’t be used in such cases. Due toits sensitivity to environment change, the performance of optical imaging is directly influencedby the water turbidity, which may cause coarse measurement errors or even invalidate themeasurements. Fortunately, the above problems can be overcome by making use of the highresolution imaging sonar. Though the3D high resolution imaging sonar is the best choice, itcan’t be implemented because of test site and immature techniques. Besides, the2D imagingsonar can only achieve the2D measurement of underwater moving target. After considering therelative technical needs and implementation conditions, a scheme adopting two2D imagingsonars for measuring the3D motion trajectory of underwater moving target is proposed in thisdissertation. In order to fulfill the special demands of device installation, the whole systemdesign is optimized, which have been validated in the trial effectively.
In the first chapter, it introduces the research background and meanings firstly. Then itsummarizes the state of the art, the performance parameters and imaging results of the mainproducts about oversea and domestic side-scanning sonar, forward-looking sonar, acoustic lenssonar and synthetic aperture sonar. Herein, it concludes the key technology of underwater targetmotion measurement system studied in this dissertation. In the end, it gives the specificstructures of the following research work.
The second chapter focuses on the real-time imaging technology for the high-speedmoving target under the strong reverberation background. Firstly, it introduces the principlesand performance about the conventional beam-forming (i.e. time-delay sum beam-forming).Because the conventional beam-forming can’t meet the requirements of real-time imaging, theFFT beam-forming is studied for real-time and easy implementation. Aiming at the system requirement working in the near field, it extends the traditional FFT beam-forming based on thecenter beam of multi-points focused at different distances and gives a FFT beam-formingalgorithm on the basis of multi-beams focused at different distances in the condition of broadbeam (the studied measurement system with scanning fan of90degrees), meeting therequirements of the imaging quality of near-field and real-time imaging. Secondly, due to theinfluence of the strong reverberation, the received echoes are not simply Doppler shift butDoppler spread, which causes the FFT beam-forming ineffective. In this dissertation, abroadband beam-forming method is proposed by making use of the characteristics of targetechoes. And this method solves the imaging problem of high-speed moving target in thecondition of strong reverberation.
The third chapter presents the method to calculate the3D motion trajectory of underwatermoving target through two2D high resolution imaging sonars. According to the imagingcharacteristics of2D imaging sonar, it proposes a method of calculating3D trajectory via2Dintersection. And then it analyzes the error sources of the measurement system, establishes thesolution model of the measurement system and derives integrated measurement errors ofdifferent error sources. The theoretical and numerical simulation all has validated the proposedalgorithm.
In the last chapter, the software and hardware structures of receiving and transmittingsonars are optimized, considering the installation and working requirements of themeasurement system. And the specific scheme is introduced and implemented. The tank trialindicates:
(1) the imaging performance of the two2D imaging sonars meets the system index (i.e.range and azimuth resolution);
(2) the proposed method to calculate the3D trajectory position based on the two2Dimaging sonars satisfies the demand of measurement precision;
(3) the proposed imaging algorithm of high-speed moving target can suppress thereverberation effectively and improve the imaging quality for high-speed moving targets.
引文
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