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AUV 等无人装备研制过程中如何选择合适的多波束测深系统以满足特定作业场景需求是工程技术人员关心的问题之一。从多波束测深声呐系统与 AUV 等无人系统的匹配角度出发，采用混响背景下的主动声呐方程建立了不同工作频率多波束作用距离计算评估方法，对 100 kHz~500 kHz 的多波束测深声呐作用距离进行了计算对比。在此基础上，采用线性调频、FFT 波束形成、脉冲压缩、样条插值扩充目标角度、Rife 算法优化角度估计技术，建立了多波束测深声呐的成像仿真方法，并通过直线地形、台阶地形对多波束测深声呐的成像特点和测深分辨率进行了分析。主要结论：1）建立了一种多波束作用距离评估的方法，可用于指导无人装备用多波束测深声呐频率参数的选型；2）建立的多波束测深声呐仿真办法可以帮助工程技术人员更直观地理解多波束测深声呐的成像特点；3）通过仿真分析了 CW 信号与线性调频信号下的距离分辨率，可用于指导波束测深作业时的高度、信号参数设置。 相似文献
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在多波束回声声纳系统中，高分辨处理算法例如MUSIC、ESPRIT，被广泛应用于海底地形的测绘。在应用高分辨算法时，一条均匀线阵是必要条件。然而，由于系统覆盖范围/分辨率的需求以及安装空间的限制，在多波束系统中经常会采用特殊形状的接收阵列，这使得高分辨算法无法直接应用。同时回波信号的短时平稳特性使得难以估计出协方差矩阵，这也增加了高分辨算法在多波束系统中的应用难度。本文首先介绍一种基于多角度子阵波束形成的ESPRIT算法，该算法能降低高分辨算法对信噪比、样本点数和计算能力的要求。仿真表明此算法能提供更好的分辨力。接着提出一种将基于多角度子阵波束形成的ESPRIT算法与虚拟阵列变换相结合的高分辨底检测算法，并针对高分辨底检测算法在U型阵上的应用进行了探讨。计算机仿真和试验数据处理结果验证了文章所提高分辨底检测算法的有效性。 相似文献
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波束形成最重要的目的是定向，线列阵的波束形成技术在水声领域中作为接收和检测信号的基本方法已被广泛运用。由于方位估计需要大孔径基阵，而在水中兵器中，为解决小平台目标俯仰角估计问题， 提出一种基于线列阵的 Notch 窄带波束形成方法。主要介绍了基于线列阵的 Notch 窄带波束形成的结构、概念和实现方法，以及基于实测数据条件下的目标俯仰角估计仿真。 相似文献
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Kongsberg EM多波束声呐的波束指向性与出厂标定存在偏差,导致后向散射强度呈现与扇区耦合的辐射畸变,针对这个问题提出了一种基于波束指向性模型的多扇区指向性残余改正方法。该方法首先在分析波束收发过程的基础上,构建EM声呐多扇区指向性辐射模型;然后选取特定测线,采用经验性声学模型估计后向散射强度-角度曲线,分离各扇区指向性残余信号;最后对回波强度进行指向性残余改正,得到与采集扇区无关的后向散射强度。实例计算结果表明：该方法能有效降低多扇区指向性残余对后向散射强度测量的干扰,提高EM系列多波束声呐在海底底质分析中的使用价值。 相似文献
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Han-Yang Chen I-Tai Lu 《Oceanic Engineering, IEEE Journal of》1994,19(2):166-174
In this paper, we present a nonconventional matched-mode procedure for localizing a broadband source in the time-frequency domain. This hybrid coherent and incoherent approach exploits both the temporal and spatial characteristics of the multimode arrival structure at a receiving sensor array. In the previous work, a time-domain technique was developed to deal with narrowband signals coherently. It consists of the following three steps. The first step employs a receiving sensor array to separate the modes by the conventional modal filtering approach. The second step is to estimate the energy and relative arrival times of the various modes which arrive at the receiver. The last step uses the differences of modal travel times to estimate the source range, and uses the ratios of modal energies to estimate the source depth. Here, we employ bandpass filters to divide the received broadband signal into several subfrequency bands, and apply the first and second steps of the previously developed coherent narrowband technique to the subfrequency bands in the time domain. The results obtained from subfrequency bands are then combined incoherently in the frequency domain to produce an estimate of the source position. Numerical simulation of an experiment with explosive sources at the shallow water site of the Yellow Sea is presented 相似文献
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本文对TOA萃取剂萃取钍适宜的操作条件及萃取溶剂进行了试验,提出了TOA/苯萃取234Th的最佳条件: 在 1cm3含 234Th的 6mol/dm3 HNO3 溶液中,用体积比为 0. 5的TOA/苯溶液 2cm3 萃取,然后用 2cm3 1. 0mol/dm3 H2SO4反萃取,最高萃取率达 94%.对TOA/苯、TBP/煤油和TTA/苯这 3种萃取体系的萃取效率及其影响因素、萃取机理、成本等做了比较,认为 3种体系各有利弊,但均可有效地应用于相关的海洋学研究中. 相似文献
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基于换位原理的对手建模模型 总被引：1，自引：0，他引：1
对抗性多机器人系统是 1个典型的多智能体系统 (MAS)。在 MAS中 ,建立对手模型 ,并进行意图和规划识别是对抗活动的基本前提。BDI是描述思维的有效手段 ,可用来建立通用的对手思维状态模型。本文在 BDI模型的基础上结合换位原理 ,提出了 1种对抗性多机器人系统中的对手建模模型 ,并将此方法应用到足球机器人系统 ,获得了较好的效果。 相似文献
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介绍了脉冲星导航的基本原理,给出了相对论框架下的 TOA 方程及转换方程。 对 TOA 转换方程进行了数值分析,并对 TOA 转换方程进行了简化。 分析了简化前 TOA 方程与简化后的各个 TOA 方程之间的差异,以及简化后各个方程之间的差异。 相似文献
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Bearings-only target motion analysis is a nonlinear state estimation problem in which the noise corrupted angle of arrival measurements of an emitted signal are used to obtain estimates of the source's range, bearing, course, and speed. The estimation process is complicated by unusual observability properties that render the quality of the estimate highly dependent on both the measurement noise levels and the source-observer geometry. Solutions that use recursive Kalman filtering approach or batch-style algorithms have been reported. The nonlinear batch style estimators for this process require iterative solution methods and under certain scenarios can be sensitive to initial conditions. Pseudolinear solutions that alleviate some of the difficulties with the iterative batch algorithms have been proposed. Although early versions of the pseudolinear filter suffered from biased estimates, subsequent improvements appear to have reduced the bias problem. This paper discusses a new pseudolinear solution based on the observable parameters from individual data segments defined by periods of constant observer velocity (termed “legs”). This solution is a true closed-form solution to the bearings-only target motion analysis problem. Although theoretically interesting, the technique does suffer under conditions of poor observability. A practical pseudolinear estimate, that does not suffer from the same observability problems, is developed and related to the first solution. Algorithm performance results, obtained from computer simulation, are presented. For the scenarios examined, the technique provides good state estimates under conditions of high observability. As observability conditions deteriorate, the solution does develop biases. However, it may still be useful for initializing an iterative nonlinear batch-style estimation algorithm 相似文献
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A performance prediction procedure is developed and applied to the evaluation of a passive tracking technique intended primarily for the localization of targets in the near field or vicinity of the sensors. The analysis is sufficiently general to be applied to underwater and air acoustics, passive radar, and electromagnetic direction finding systems. Since near field applications are of primary concern, localization parameter identifiability with a single pair of omni-directional sensors is established with the aid of the Fisher Information Matrix (FIM). The Fisher Information Matrix is also used to determine upper bounds on localization performance, and the corresponding uncertainty ellipses associated with target position are evaluated for various tracking scenarios and types of measurements. Emphasis is placed on the use of measurements such as time difference of arrival and frequency difference of arrival obtained with two sensors, and frequency estimates obtained with a single sensor. It is shown that under certain conditions the time difference of arrival measurements yield full localization information, even though the conditioning can be marginal. Additional measurements, such as frequency, are shown to improve localization performance significantly. Bearing measurements obtained with a closely spaced cluster of a few sensors are also considered. 相似文献
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In the analysis of crosshole tomography data, the first step is to estimate the arrival time and amplitude of the multi-path arrivals which comprise the received signal. Normally algorithms such as matched filter are used to determine the arrival times. However, when the bandwidth of the signal is small, this method cannot resolve closely spaced arrivals. We, therefore, investigate the performance of a simulated annealing algorithm in estimating the amplitude scaling factors and delay times of the separate arrivals in a signal composed of closely spaced arrivals with added noise. The algorithm is applied to field data collected during a crosshole tomography experiment conducted in sea ice 相似文献
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R. A. Stephen 《Marine Geophysical Researches》1982,5(3):315-326
This paper reviews a simple technique for interpreting the velocity structure of upper oceanic crust from travel-time data of sonobuoy and ocean bottom receiver refraction experiments. The technique does not involve sophisticated digital processing or synthetic seismogram analysis. Interpretations can be carried out with a pencil, paper and slide rule.Travel-time inversion procedures based on the -p transformation require the assumption of the shallowmost velocity. In some cases, however, such as oceanic crustal studies, the shallowmost velocity is one tf the critical parameters for which one wishes to invert. An inversion method for the shallowmost velocity is discussed which assumes a constant velocity gradient. The time, range and ray parameter of a point on the travel-time curve are sufficient to obtain the velocity at the top of the gradient zone and the gradient. The method can be used to interpolate the velocity-depth function into regions from which no seismic energy is returned as a first arrival. Once an estimate of the upper crustal velocity is obtained the traditional -p procedures can be applied.The model considered consists of a homogeneous layer over a layer in which velocity increases linearly with depth. For such a geometry there are three classes of behaviour of the travel-time curve based on the number of cusps: zero, one or two. The number of cusps depends on the uppermost velocity in the crust, the velocity gradient of the upper crust and the depth of the sources and receivers. It has not been previously recognized that two cusps in the travel time curve may be observed for this simple model. Since estimating the ray parameter from first arrival times is less ambiguous when there are no cusps, understanding the relations involved with the three classes aids in the design of experiments. It is reasonable to apply the model to shallow sea floor structure because of the high quality of marine refraction data which has recently been obtained. 相似文献
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Passive sonar systems that localize broadband sources of acoustic energy estimate the difference in arrival times (or time delays) of an acoustic wavefront at spatially separated hydrophones, The output amplitudes from a given pair of hydrophones are cross-correlated, and an estimate of the time delay is given by the time lag that maximizes the cross correlation function. Often the time-delay estimates are corrupted by the presence of noise. By replacing each of the omnidirectional hydrophones with an array of hydrophones, and then cross-correlating the beamformed outputs of the arrays, the author shows that the effect of noise on the time-delay estimation process is reduced greatly. Both conventional and adaptive beamforming methods are implemented in the frequency domain and the advantages of array beamforming (prior to cross-correlation) are highlighted using both simulated and real noise-field data. Further improvement in the performance of the broadband cross-correlation processor occurs when various prefiltering algorithms are invoked 相似文献
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Le Bas T.P. Somers M.L. Campbell J.M. Beale R. 《Oceanic Engineering, IEEE Journal of》1996,21(4):545-553
For many years, GLORIA has been producing sonar images of the deep ocean floor. In the mid-1980's, the SeaMARC II system came to prominence producing depth values as well as sonar images. The basic method compares the phases of the signals returning from the seafloor to two rows of transducers. The phase differences are converted into angles of arrival and together with the arrival times converted into range and depth values. This capability has now been added to the GLORIA system. The fact that GLORIA uses a 2s FM pulse means the backscattered reverberation can come from a strip of seafloor up to 1.5 km wide. To accommodate this, overlapping complex FFT's are used to produce a time-frequency matrix for the returning signals. In this matrix, a constant range feature appears as a diagonal. Phases are then calculated using a least-mean-squares estimate along diagonals. The main source of error and bias is due to surface reflection, and this is taken into account. The GLORIA swath bathymetry system was tested on two cruises and it was possible to produce depth contours with a good level of confidence. The total swath width was over eight water depths and would have been greater with a more favorable velocity profile. Comparison with other bathymetry data (such as multibeam systems) showed excellent correlation, having a standard deviation of only 4% of total water depth 相似文献