舰船声相关测速技术研究
摘要
声相关测速技术可以测得舰船相对于海底的绝对速度。以此原理制造的声相关计程仪是适合于装备在船舶、自主水下运载器以及潜艇上的一种导航仪器，它能够实时给出载体的运动信息，并能够获得精确的累积航程。在相同的工作深度要求下与多普勒计程仪比较，声相关计程仪可以利用较小的换能器和以较小的功率发射信号。
本论文的主要研究内容包括：
1．综述了舰船声相关测速技术的国内外的发展情况。
2．从射线声学模型角度阐述了声相关测速的基本原理及测速方法。围绕声呐方程，论证了相关计程仪设计时应考虑的一些问题，如频率的选取，作用距离的估计等。
3．基于声相关的海底回波模型，对时间和空间相关测速进行了仿真研究。对声相关测速试验所得到的数据，作者进行了分析，得到的结果与仿真结果基本一致。
4．介绍了利用最大似然和最小二乘法估计未知参数的方法。基于一个相关函数模型进行了一维最小二乘方法的仿真，得到了较好的仿真效果。
Acoustic correlation velocity measurement technology is used to make measurements of velocity relative to the seabed. Acoustic correlation log is a navigation instrument, which is suitable to be equipped on ships, AUV and submarines. It can provide the carrier's moving information and get accurate cumulative sail in real time. Compared to doppler velocity log for the same depth of water, it enables the use of smaller transducer and smaller transmitting power.
The major contents in this dissertation are following.
1. The developing progresses in the field of ship velocity measurement abroad and domestically are summarized.
2. Based on the radial acoustics, general principles of acoustic correlation velocity measurement technology is introduced. Some problems, such as the choice of frequency, estimation of the distance and so on, are discussed according to sonar equation, which should be considered in designing an acoustic correlation log.
3. The seabed echo theoretical model for acoustic correlation velocity measurement is founded and some simulation is taken on the temporal correlation and spatial correlation according to this model. The author analyses data acquired from experiment in tank. The result is basically consistent with the simulation.
4. The methods using the maximum likelihood and the least square to estimate the unknown parameters are briefly introduced. The theoretical model of the temporal-spatial correlation is deduced in one dimension. The simulation gives a nice result.
本论文的主要研究内容包括：
1．综述了舰船声相关测速技术的国内外的发展情况。
2．从射线声学模型角度阐述了声相关测速的基本原理及测速方法。围绕声呐方程，论证了相关计程仪设计时应考虑的一些问题，如频率的选取，作用距离的估计等。
3．基于声相关的海底回波模型，对时间和空间相关测速进行了仿真研究。对声相关测速试验所得到的数据，作者进行了分析，得到的结果与仿真结果基本一致。
4．介绍了利用最大似然和最小二乘法估计未知参数的方法。基于一个相关函数模型进行了一维最小二乘方法的仿真，得到了较好的仿真效果。
Acoustic correlation velocity measurement technology is used to make measurements of velocity relative to the seabed. Acoustic correlation log is a navigation instrument, which is suitable to be equipped on ships, AUV and submarines. It can provide the carrier's moving information and get accurate cumulative sail in real time. Compared to doppler velocity log for the same depth of water, it enables the use of smaller transducer and smaller transmitting power.
The major contents in this dissertation are following.
1. The developing progresses in the field of ship velocity measurement abroad and domestically are summarized.
2. Based on the radial acoustics, general principles of acoustic correlation velocity measurement technology is introduced. Some problems, such as the choice of frequency, estimation of the distance and so on, are discussed according to sonar equation, which should be considered in designing an acoustic correlation log.
3. The seabed echo theoretical model for acoustic correlation velocity measurement is founded and some simulation is taken on the temporal correlation and spatial correlation according to this model. The author analyses data acquired from experiment in tank. The result is basically consistent with the simulation.
4. The methods using the maximum likelihood and the least square to estimate the unknown parameters are briefly introduced. The theoretical model of the temporal-spatial correlation is deduced in one dimension. The simulation gives a nice result.
引文
[1] [美] R．J．尤立克．水声原理．洪申．1990年2月第一版．哈尔滨船舶工程学院出版社，1990：1页
[2] 邹明达，徐继渝．船用测速声呐原理及其应用．1992年8月第一版．人民交通出版社，1992：1—2页
[3] S.K.Hole, B.Woodward and W.Forsythe.Design constraints and error analysis of the temporal correlation log.IEEE. J.Oceanic.Eng,vol 17.July 1992:pp269-279P
[4] P.N.Denbigh. A design study for a correlation log to measure speed, at sea.J. Navigation,vol35, 1982:pp160-184
[5] F.R.Dickey, Jr.,De Witt,N.Y. Speed Measuring System. U.S.Patent No 3147477, Sep.1,1964
[6] F.R.Dicky, Jr and J.A.Edward.Velocity Measurement using Correlation Sonar. Proc. IEEE Conf. Position Location and Navigation. San Diego,CA,Nov, 1978
[7] F.R.Dickey,Jr. Velocity Measuring Correlation Sonar. U.S.Patent No 4244026, Jan. 6 1981
[8] P.N.Denbigh. A design study for a correlation log to measure speed at sea. J.Navigation, vol35, 1982:pp160-184
[9] P.N.Denbigh.Ship velocity determination by Doppler and correlation techniques.Proc. Inst.Elec.Eng, vol 131, 1984: pp315-326
[10] S.K.Hole, B.Woodward,and W.Forsythe.Design constraints and error analysis of the temporal correlation log.IEEE. J.Oceanic.Eng, vol 17, July 1992: pp269-279
[11] S.K.Hole, B.Woodward,and W.Forsythe,.Estimating Backscattering Strength for a Correlation Log.IEEE.J. Oceanic.Eng, vol 19, July 1994: pp476-483[12] Y.Doisy.General motion estimation from correlation sonar. IEEE.J. Oceanic.Eng, vol 23, Apr 1998: pp127-140
[13] SMITH, B.V. and ATKINS, P. A high accuracy two-axis velocity measuring device. Proceedings of the IERE conference on electronics for ocean technology, Edinburgh, UK, 1987:77-82.
[14] G. Griffiths,S. Bradley, G. Watson and B. Dupee. Acoustic correlation sonar for vertical profiling of ocean currents to a range of 1 km. IEE Proc.-Radur, Sonar Nuvig., Vol. 143, No 3, June 1996: pp177-183
[15] G. Griffiths,S. Bradley, and G.Murdock.Factors affecting the performance of a shipboard acoustic correlation current profiler. IEEE, May 1999: pp295-299
[16] G. Griffiths, S.E. Bradley and S. Ruiz, 1997 Deep water bottom track ship's velocities from an acoustic correlation current profiler, Proc. Oceans'97, Halifax, Canada 6-9 October 1997, IEEE, Piscataway, New York, Vol. 2: 1404-1410.
[17] A L.Scoca, J G.Huber, and B S.Schwartz.Bi-Directional Temporal Correlation Sonar. U.S.Patent No 6804167, Oct. 12 2004.
[18] 郭纪捷等．声相关海流剖面(ACCP)测量的接收阵元分布形式对流速估计值的影响．水声换能器和基阵技术讨论会论文，1998
[19] P.N.Denbigh.Ship velocity determination by Doppler and correlation techniques.Proc. Inst. Elec.Eng, vol 131, 1984: pp315-326
[20] 刘伯胜，雷家煜．水声学原理．1993年12月第一版．哈尔滨工程大学出版社，1993：72页
[21] S.K.Hole,B.Woodward and W.Forsythe.Estimating Backscattering Strength for a Correlation Log.IEEE.J.Oceanic.Eng,vol 19, July 1994: pp 476-483
[22] 张殿伦，田坦，卢逢春．声相关测速技术仿真与试验研究．哈尔滨工程大学学报，Vol 24，N04．2003：415-418页
[23] 张殿伦．舰船声学测速技术研究．哈尔滨工程大学博士学位论文，2001：37页
[24] 张殿伦，田坦，卢逢春，孙大军．时空相关测速方法理论模型研究．哈尔滨工程大学学报，Vol 25，N05．2004：578-581页
[25] [美] Steven M．Kay．统计信号处理基础-估计与检测理论．罗鹏飞．2003年8月第一版．电子工业出版社，2003：129，182页[26] S.E.Bradley, F.D.Rowe.Correlation Sonar System. U.S.Patent No 5315562, May,24.1994
[27] 袁亚湘，孙文瑜．最优化理论与方法．1997年1月第一版．科学出版社，2005：1页
[28] 曹卫华，郭正．最优化技术方法及MATLAB的实现．2005年1月第一版．化学工业出版社，2005：58-61页
[29] 王德人．非线性方程组解法与最优化方法．1979年6月第一版．人民教育出版社，1983：211-214页
[30] S.E.Bradley, F.D.Rowe .Correlation Sonar System. U.S.Patent No 5315562, May,24.1994
[31] 张志涌．精通matlab6.5版．2003年3月第一版．北京航空航天大学出版社，2003
[32] 田坦，刘国枝，孙大军．声纳技术．2000年3月第一版．哈尔滨工程大学出版社，2000
[33] 数学手册．1979年5月第一版．人民教育出版社
[2] 邹明达，徐继渝．船用测速声呐原理及其应用．1992年8月第一版．人民交通出版社，1992：1—2页
[3] S.K.Hole, B.Woodward and W.Forsythe.Design constraints and error analysis of the temporal correlation log.IEEE. J.Oceanic.Eng,vol 17.July 1992:pp269-279P
[4] P.N.Denbigh. A design study for a correlation log to measure speed, at sea.J. Navigation,vol35, 1982:pp160-184
[5] F.R.Dickey, Jr.,De Witt,N.Y. Speed Measuring System. U.S.Patent No 3147477, Sep.1,1964
[6] F.R.Dicky, Jr and J.A.Edward.Velocity Measurement using Correlation Sonar. Proc. IEEE Conf. Position Location and Navigation. San Diego,CA,Nov, 1978
[7] F.R.Dickey,Jr. Velocity Measuring Correlation Sonar. U.S.Patent No 4244026, Jan. 6 1981
[8] P.N.Denbigh. A design study for a correlation log to measure speed at sea. J.Navigation, vol35, 1982:pp160-184
[9] P.N.Denbigh.Ship velocity determination by Doppler and correlation techniques.Proc. Inst.Elec.Eng, vol 131, 1984: pp315-326
[10] S.K.Hole, B.Woodward,and W.Forsythe.Design constraints and error analysis of the temporal correlation log.IEEE. J.Oceanic.Eng, vol 17, July 1992: pp269-279
[11] S.K.Hole, B.Woodward,and W.Forsythe,.Estimating Backscattering Strength for a Correlation Log.IEEE.J. Oceanic.Eng, vol 19, July 1994: pp476-483[12] Y.Doisy.General motion estimation from correlation sonar. IEEE.J. Oceanic.Eng, vol 23, Apr 1998: pp127-140
[13] SMITH, B.V. and ATKINS, P. A high accuracy two-axis velocity measuring device. Proceedings of the IERE conference on electronics for ocean technology, Edinburgh, UK, 1987:77-82.
[14] G. Griffiths,S. Bradley, G. Watson and B. Dupee. Acoustic correlation sonar for vertical profiling of ocean currents to a range of 1 km. IEE Proc.-Radur, Sonar Nuvig., Vol. 143, No 3, June 1996: pp177-183
[15] G. Griffiths,S. Bradley, and G.Murdock.Factors affecting the performance of a shipboard acoustic correlation current profiler. IEEE, May 1999: pp295-299
[16] G. Griffiths, S.E. Bradley and S. Ruiz, 1997 Deep water bottom track ship's velocities from an acoustic correlation current profiler, Proc. Oceans'97, Halifax, Canada 6-9 October 1997, IEEE, Piscataway, New York, Vol. 2: 1404-1410.
[17] A L.Scoca, J G.Huber, and B S.Schwartz.Bi-Directional Temporal Correlation Sonar. U.S.Patent No 6804167, Oct. 12 2004.
[18] 郭纪捷等．声相关海流剖面(ACCP)测量的接收阵元分布形式对流速估计值的影响．水声换能器和基阵技术讨论会论文，1998
[19] P.N.Denbigh.Ship velocity determination by Doppler and correlation techniques.Proc. Inst. Elec.Eng, vol 131, 1984: pp315-326
[20] 刘伯胜，雷家煜．水声学原理．1993年12月第一版．哈尔滨工程大学出版社，1993：72页
[21] S.K.Hole,B.Woodward and W.Forsythe.Estimating Backscattering Strength for a Correlation Log.IEEE.J.Oceanic.Eng,vol 19, July 1994: pp 476-483
[22] 张殿伦，田坦，卢逢春．声相关测速技术仿真与试验研究．哈尔滨工程大学学报，Vol 24，N04．2003：415-418页
[23] 张殿伦．舰船声学测速技术研究．哈尔滨工程大学博士学位论文，2001：37页
[24] 张殿伦，田坦，卢逢春，孙大军．时空相关测速方法理论模型研究．哈尔滨工程大学学报，Vol 25，N05．2004：578-581页
[25] [美] Steven M．Kay．统计信号处理基础-估计与检测理论．罗鹏飞．2003年8月第一版．电子工业出版社，2003：129，182页[26] S.E.Bradley, F.D.Rowe.Correlation Sonar System. U.S.Patent No 5315562, May,24.1994
[27] 袁亚湘，孙文瑜．最优化理论与方法．1997年1月第一版．科学出版社，2005：1页
[28] 曹卫华，郭正．最优化技术方法及MATLAB的实现．2005年1月第一版．化学工业出版社，2005：58-61页
[29] 王德人．非线性方程组解法与最优化方法．1979年6月第一版．人民教育出版社，1983：211-214页
[30] S.E.Bradley, F.D.Rowe .Correlation Sonar System. U.S.Patent No 5315562, May,24.1994
[31] 张志涌．精通matlab6.5版．2003年3月第一版．北京航空航天大学出版社，2003
[32] 田坦，刘国枝，孙大军．声纳技术．2000年3月第一版．哈尔滨工程大学出版社，2000
[33] 数学手册．1979年5月第一版．人民教育出版社