浅海水声定位技术及应用研究
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摘要
水声定位技术在军事和海洋科学领域都有广泛的应用,它在保障国家的国防安全和国民经济建设的顺利进行中起着重要作用。基于测时的长基线水声定位系统由于定位精度高、范围广的特点是常用的定位方法之一。根据不同的工作方式可以选取不同的定位数学模型,包括球定位数学模型、双曲线定位数学模型等。无论选用哪种定位数学模型,目标与水听器之间的斜距都是通过传播时间与声速的乘积获得,通过求解非线性方程组进行目标位置估计。目前普遍采用经验声速的方法获得声速值,它适用于声速剖面变化不大、海底与海平面对声传播的作用可以忽略的深海海域或者短距离定位的情况。浅海海域由于自身的特点对声传播影响很大,浅海两点的声速值由于不同的到达结构而不同。为了提高测距和水声定位精度,本文选取浅海海域两点间的声速,研究了浅海水声定位技术及应用问题。
众所周知,浅海水声定位主要包括两个方面:一是声场建模,二是定位算法研究。声场建模是水声定位的基础,而射线理论是常用的一种模型。浅海海域由于复杂性、多途性等特点使得声线传播非常复杂,目前基于声线跨度的射线理论声场模型具有精度低并且本征声线搜索不全的缺点。本文在研究浅海声线传播的基础上应用有穷状态自动机理论对浅海声场进行建模,声线传播严格遵循Snell定律。基于有穷状态自动机的浅海声场模型克服了其他模型难以处理反转点处和反射点处声线传播误差大的缺点,具有更高的计算精度。数值仿真验证了该模型的有效性和正确性。
有效声速法根据不同的声线到达结构区分声速值,数值模拟和实验验证表明:深海有效声速法比经验声速法极大地提高了水声定位精度。本文在深海有效声速法概念的基础上发展并提出了浅海有效声速法,浅海有效声速可以根据有穷状态自动机的声场模型计算得出。为了满足水声定位实时性的要求,本文提出了浅海有效声速建表法和查表法,并通过数值模拟验证了方法的正确性。
作为本文的另一个研究内容,本文对深度已知的准三维定位数学模型、传感器网络导致冗余信息存在等不同情况下的基于有效声速法的水声定位算法进行研究,模拟仿真得出以下结论:准三维的定位数学模型受控于深度信息,在实际应用中尽量采用三维定位数学模型;冗余信息可以提高水声定位精度。通过对定位解的模糊性、无解性及水声定位精度的几何精度因子分析,得出一些有益的结论。数值模拟结果和理论相吻合,为水声定位技术的应用提供理论依据和技术支持。
浅海水声定位技术的研究旨在解决国家安全和国民经济建设问题,本文对此开展了深入的理论及数值研究。所做的工作能够对海洋探测与开发、海洋工程建设、海洋环境监测和水下潜艇定位提供理论和技术支持。
Underwater acoustic localization technique can be widely used in the military affairs and oceanic scientific areas, it plays an important role in warranting our country’s safety and making the construction all right. The long base line positioning system based on time measurement has a high positioning resolution and it can act on larger areas than other systems, so it is one of the most commonly used positioning systems. The mathematical positioning models depend on the way the system works and there are many mathematical models such as spherical model, hyperbolic model and so on. Whatever mathematical model it is, the slant range between the target and the hydrophones is obtained by multiplying the time measurement by the acoustic sound velocity. The estimation of the target is obtained by solving a set of nonlinear equations. By far, the acoustic sound velocity is usually considered as a constant value, which is determined by the experience. The constant empirical acoustic sound velocity is well suitable for the case where the acoustic sound velocity changes slightly with the water depth, or the ray reflection can be ignored in the deep water, or the localization area is small. In shallow water, the ray reflection on the surface and the bottom must be considered, thus the acoustic sound velocity changes seriously with different eigenray. Under the above analysis of the acoustic sound velocity, the shallow water acoustic localization technique based on shallow water acoustic sound velocity is studied in this dissertation to improve the precision of the range measurement and the localization.
It is well known that the shallow water acoustic localization technique mainly consists of two parts: one is the establishment and computation of the acoustic model and the other one is the positioning algorithm. The establishment of the acoustic model is the basis of the localization problem and the ray tracing theory is commonly used. The ray in shallow water is very complex because of the complexity and multi-path character in shallow water. By far, the acoustic models based on the ray span have such limitation as low computational resolution, not finding all eigen-rays and so on. This dissertation does a lot of research on the ray in the shallow water and uses the finite automaton (FA) to establish the acoustic model. The ray tracing is following the Snell’s law. The acoustic model based on the FA can overcome the disadvantage stated before and has a high computational resolution. The numerical simulation verifies the validation and correctness of the proposed acoustic model.
The effective sound velocity(ESV) varies with different eigen-rays, a common conclusion is drawn after the numerical simulation and experiment studies, that is the ESV has a higher acoustic positioning resolution than the empirical acoustic sound velocity. Based on the ESV in deep water, the ESV in shallow water is developed and brought through. The ESV in shallow water can be computed by the FA acoustic model. In order to satisfy the requirement of the real time character, the ESV in shallow water table building method and table lookup method are used and the numerical simulation studies verifies the correctness of the proposed methods.
As another part of this dissertation, the quasi-3D mathematical positioning model with known water depth, the redundant terms in the hydrophone networks, etc., are studied. The numerical simulation draws many conclusions. The quasi-3D mathematical positioning model is dominated by the known water depth and the 3D mathematical positioning model should be used first whenever possible. The redundant terms which make the nonlinear equations be over-determined cases can get a higher positioning resolution. Some useful conclusions are obtained by analyzing the ambiguity and non-solution of nonlinear algorithm, the geometric dilution of precision (GDOP). The numerical simulation results are consistent with the theory results. These results are of significance in the application of the technique.
The shallow water acoustic localization technique is of great importance in the country’s safety and construction affairs. Some theoretic and numerical studies have been taken and the results are helpful to discuss the oceanic detection and exploration, the ocean engineering construction, the ocean environment detection and underwater submersible vehicles localization.
众所周知,浅海水声定位主要包括两个方面:一是声场建模,二是定位算法研究。声场建模是水声定位的基础,而射线理论是常用的一种模型。浅海海域由于复杂性、多途性等特点使得声线传播非常复杂,目前基于声线跨度的射线理论声场模型具有精度低并且本征声线搜索不全的缺点。本文在研究浅海声线传播的基础上应用有穷状态自动机理论对浅海声场进行建模,声线传播严格遵循Snell定律。基于有穷状态自动机的浅海声场模型克服了其他模型难以处理反转点处和反射点处声线传播误差大的缺点,具有更高的计算精度。数值仿真验证了该模型的有效性和正确性。
有效声速法根据不同的声线到达结构区分声速值,数值模拟和实验验证表明:深海有效声速法比经验声速法极大地提高了水声定位精度。本文在深海有效声速法概念的基础上发展并提出了浅海有效声速法,浅海有效声速可以根据有穷状态自动机的声场模型计算得出。为了满足水声定位实时性的要求,本文提出了浅海有效声速建表法和查表法,并通过数值模拟验证了方法的正确性。
作为本文的另一个研究内容,本文对深度已知的准三维定位数学模型、传感器网络导致冗余信息存在等不同情况下的基于有效声速法的水声定位算法进行研究,模拟仿真得出以下结论:准三维的定位数学模型受控于深度信息,在实际应用中尽量采用三维定位数学模型;冗余信息可以提高水声定位精度。通过对定位解的模糊性、无解性及水声定位精度的几何精度因子分析,得出一些有益的结论。数值模拟结果和理论相吻合,为水声定位技术的应用提供理论依据和技术支持。
浅海水声定位技术的研究旨在解决国家安全和国民经济建设问题,本文对此开展了深入的理论及数值研究。所做的工作能够对海洋探测与开发、海洋工程建设、海洋环境监测和水下潜艇定位提供理论和技术支持。
Underwater acoustic localization technique can be widely used in the military affairs and oceanic scientific areas, it plays an important role in warranting our country’s safety and making the construction all right. The long base line positioning system based on time measurement has a high positioning resolution and it can act on larger areas than other systems, so it is one of the most commonly used positioning systems. The mathematical positioning models depend on the way the system works and there are many mathematical models such as spherical model, hyperbolic model and so on. Whatever mathematical model it is, the slant range between the target and the hydrophones is obtained by multiplying the time measurement by the acoustic sound velocity. The estimation of the target is obtained by solving a set of nonlinear equations. By far, the acoustic sound velocity is usually considered as a constant value, which is determined by the experience. The constant empirical acoustic sound velocity is well suitable for the case where the acoustic sound velocity changes slightly with the water depth, or the ray reflection can be ignored in the deep water, or the localization area is small. In shallow water, the ray reflection on the surface and the bottom must be considered, thus the acoustic sound velocity changes seriously with different eigenray. Under the above analysis of the acoustic sound velocity, the shallow water acoustic localization technique based on shallow water acoustic sound velocity is studied in this dissertation to improve the precision of the range measurement and the localization.
It is well known that the shallow water acoustic localization technique mainly consists of two parts: one is the establishment and computation of the acoustic model and the other one is the positioning algorithm. The establishment of the acoustic model is the basis of the localization problem and the ray tracing theory is commonly used. The ray in shallow water is very complex because of the complexity and multi-path character in shallow water. By far, the acoustic models based on the ray span have such limitation as low computational resolution, not finding all eigen-rays and so on. This dissertation does a lot of research on the ray in the shallow water and uses the finite automaton (FA) to establish the acoustic model. The ray tracing is following the Snell’s law. The acoustic model based on the FA can overcome the disadvantage stated before and has a high computational resolution. The numerical simulation verifies the validation and correctness of the proposed acoustic model.
The effective sound velocity(ESV) varies with different eigen-rays, a common conclusion is drawn after the numerical simulation and experiment studies, that is the ESV has a higher acoustic positioning resolution than the empirical acoustic sound velocity. Based on the ESV in deep water, the ESV in shallow water is developed and brought through. The ESV in shallow water can be computed by the FA acoustic model. In order to satisfy the requirement of the real time character, the ESV in shallow water table building method and table lookup method are used and the numerical simulation studies verifies the correctness of the proposed methods.
As another part of this dissertation, the quasi-3D mathematical positioning model with known water depth, the redundant terms in the hydrophone networks, etc., are studied. The numerical simulation draws many conclusions. The quasi-3D mathematical positioning model is dominated by the known water depth and the 3D mathematical positioning model should be used first whenever possible. The redundant terms which make the nonlinear equations be over-determined cases can get a higher positioning resolution. Some useful conclusions are obtained by analyzing the ambiguity and non-solution of nonlinear algorithm, the geometric dilution of precision (GDOP). The numerical simulation results are consistent with the theory results. These results are of significance in the application of the technique.
The shallow water acoustic localization technique is of great importance in the country’s safety and construction affairs. Some theoretic and numerical studies have been taken and the results are helpful to discuss the oceanic detection and exploration, the ocean engineering construction, the ocean environment detection and underwater submersible vehicles localization.
引文
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