CN104062663B - A kind of multi-beam seabed subbottom profile probing equipment - Google Patents
A kind of multi-beam seabed subbottom profile probing equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The present invention relates to a kind of multi-beam seabed subbottom profile probing equipment.The present invention includes dry end and green end, and dry end is made up of transmitter module and signal processing and display module, and green end is made up of parametric array and vector hydrophone.The present invention, based on the LFM detectable signal of FrFT Technology design band overlapping, utilizes the parametric array of small-bore as phase control emission transducer, adopts vector hydrophone as receiving transducer, is greatly reduced the aperture of basic matrix while improving system bandwidth utilization rate.Due to the fact that can the overlapping multicomponent data processing of emission band, make the quantity of transmitting multi-beam increase, system bandwidth utilization rate and detection efficient are obtained for very big raising, are more suitable for large-area sea of sweeping and detect；The reduction in basic matrix aperture makes equipment more portable, has bigger promotion and application and is worth.
Description
Technical field
The present invention relates to a kind of multi-beam seabed subbottom profile probing equipment.
Background technology
Compared with the subbottom survey of tradition simple beam seabed, utilize multi-beam equipment to carry out seabed subbottom survey, more rich substrate information can be obtained while improving measurement efficiency.Multi-beam seabed subbottom profile probing equipment adopts spacescan, walks the working method of boat detection.Tradition multi-beam seabed subbottom survey equipment generally adopts to the nonoverlapping LFM component of signal of different directions emission band, then the multi-components echo-signal simultaneously received is carried out frequency domain filtering, thus the aliasing eliminated on different directions between echo-signal, to distinguish the arrival direction of each component signal, reach to detect the purpose of a plurality of survey line simultaneously.But, this frequency division code Design makes can not exist between each component of signal spectrum overlapping, so that being only capable of in limited band system band designing little several LFM component of signals, limiting the quantity of system detection survey line, constraining the raising of multi-beam seabed subbottom survey technology detection efficient.
Additionally, in the transducer array that multi-beam subbottom survey equipment uses, tradition multi-beam subbottom profile probing equipment generally adopts low frequency large aperture basic matrix, volume is big, Heavy Weight, it is unfavorable for the popularization and application of equipment, this is owing to seabed subbottom survey signal frequency is low, component of signal according to the method reception all directions of airspace filter, launch, receiving beam angle must be sufficiently narrow, thus will cause that receiving basic matrix aperture increases, equipment volume and cost is made to increase, particularly disadvantageous in using in little test platform.In Calimero project, the multi-beam subbottom survey system SBP120 of new generation of application have employed 32 × 3 yuan of transmitting basic matrixs and 1 × 64 yuan of reception basic matrix, and length both is greater than 7m, is only limitted to be arranged on big surveying vessel and uses.And the particular advantages of parametric sonar is available with small size transducers and obtains low frequency, broadband, low sidelobe or the sharp-pointed wave beam without secondary lobe, thus being possible not only to the requirement reaching the shallow stratum measurement in multi-beam seabed to launching low frequency signal, and ensure that the resolution of detection.Simultaneously, owing to vector hydrophone is operated in low frequency state, and there is the directivity unrelated with frequency of cos θ form, this means that the size of sensor is no longer by the restriction of wave length of sound, compared with receiving basic matrix with traditional low-frequency, basic matrix aperture is substantially reduced, and compared with tradition basic matrix, vector hydrophone can provide more information, have the frequency range (being generally hundreds of hertz to tens KHz) being appropriate to shallow acoustic surveying.Therefore, adopting vector hydrophone is a desirable selection as the shallow reception basic matrix cuing open system of multi-beam parameter.The present invention adopts parametric array and vector hydrophone as sending out, receiving transducer, solves the problems that traditional low-frequency basic matrix aperture is brought greatly.
Fraction Fourier conversion is a kind of important fractional order conversion, is the Fourier transform of a kind of broad sense, until its importance just receives the concern of scholars in recent years.In essence, the signal information in time domain and frequency domain has been merged in signal expression on fractional order Fourier domain (being commonly referred to u territory), therefore FrFT is considered as a kind of Time-Frequency Analysis Method, has close relationship with the time frequency analyzing tool such as wavelet transformation, WVD.Fourier transform is with trigonometric function for Complete Orthogonal base, when single frequency sinusoidal signal will become an impulse function through Fourier transform on certain single-frequency base.And fraction Fourier conversion is with LFM signal for complete orthogonal basis, change anglec of rotation α, can be obtained by the base of different frequency modulation rate, when the frequency change rate of LFM signal matches with the frequency change rate of a certain fraction Fourier conversion base, the fraction Fourier conversion of signal will form an impulse function on this conversion base, referring to Fig. 2.This point illustrates that LFM signal has good time-frequency locality on u territory.
It addition, FrFT is again a linear transformation:
Fp[a x (t)+b y (t)]=a Xp(u)+b·Yp(u)(1)
Wherein, x (t) and y (t) represents two amplitude normalization time domain signal components, the amplitude of a and b expression amount respectively component of signal, Fp[] represents p rank Fourier Transform of Fractional Order, and p is conversion exponent number, Xp(u) and YpU () represents the u territory signal of corresponding two time domain signal components respectively.Therefore, the fraction Fourier conversion of the multicomponent data processing that multiple component of signal superpositions are formed is equivalent to the superposition after each component signal carries out fraction Fourier conversion respectively.Utilize namely can multi-component LFM signalt be filtered on u territory at above-mentioned 2: when each LFM component of signal energy accumulating occurs on suitable u territory, just with narrow band filter, each LFM component of signal can be leached from multicomponent data processing, namely realize the extraction to multi-component LFM signalt and separate.Here it is the filtering of LFM signal u territory and signal extraction and the mechanism separated, the present invention is based on this mechanismic design and realizes.
Summary of the invention
The invention aims to for tradition multi-beam seabed subbottom profile probing device systems bandwidth availability ratio low, basic matrix is bulky, is unfavorable for the problems such as popularization and application, it is proposed that a kind of multi-beam seabed subbottom profile probing equipment.
The object of the present invention is achieved like this:
The present invention includes dry end and green end, and dry end is made up of transmitter module 12 and signal processing and display module 13, and green end is made up of parametric array 3 and vector hydrophone 4, it is characterised in that:
Transmitter module 12, for generating multicomponent linear frequency-modulated signals the Driving Parameters battle array 3 of coding, is made up of multicomponent data processing source 1 and multichannel transmitter 2；
Multicomponent data processing source 1, for receiving synchronizing signal and control instruction, and according to control instruction, provide the LFM component of signal that the N number of frequency band generated overlaps to multichannel transmitter 2, component of signal number N is arranged by control instruction, sends optimal transformation exponent number p to signal processing and display module 13 simultaneouslyopt, the component of signal distributing position u in fractional order Fourier domain u territory0, detection threshold η；
Multichannel transmitter 2, utilizes N number of linear frequency modulation coding signal Driving Parameters battle array 3 phase control emission that multicomponent data processing source 1 provides；
Parametric array 3, the N number of component of signal phase control emission produced by multichannel transmitter 2 is to N number of different pre-detection direction；
Vector hydrophone 4, receives the multi-components echo-signal on N bar survey line simultaneously, and the multicomponent data processing received is sent to signal processing and display module 13；
Signal processing and display module 13, it is achieved the extraction of multi-components echo-signal with separate, process and obtain the trace of each bar survey line, and show N number of shallow seismic profile figure that detection obtains；
Optimum FrFT changer 5, according to the optimal transformation exponent number p that multicomponent data processing source 1 providesoptThe multi-components echo-signal received is done optimum FrFT conversion, transformation results delivery value is sent to threshold detector 6；
Threshold detector 6, the signal that optimum FrFT changer 5 is sent carries out Threshold detection, chose the shallow stratum echo-signal of thresholding η, and sends the signal crossing thresholding to u territory band-pass filter group 7；
U territory band-pass filter group 7, according to the i-th component of signal distributing position u in u territory that multicomponent data processing source 1 providesi0, utilize i-th band filter that multi-components echo-signal carries out u territory bandpass filtering, leach i-th component of signal in u territory, it is achieved the extraction in u territory of all N number of component of signals with separate, and each component of signal extracted is sent to FrFT inverse converter 8；
FrFT inverse converter 8, for each component of signal work-p that u territory band-pass filter group 7 is leachedoptThe FrFT inverse transformation on rank, obtains the echo-signal of each bar survey line, and sends to copy correlator group 9；
Copy correlator group 9, for the sequences of echo signals of each bar survey line is made copy relevant treatment, obtains the trace of shallow seismic profile on each bar survey line, and to display 10, the transmission of N bar trace is shown N number of shallow seismic profile figure；
Display 10, display multi-beam seabed subbottom profile probing equipment detects the shallow seismic profile figure on the N bar survey line obtained and control information and on-site parameters information.
The beneficial effects of the present invention is: the present invention is based on the LFM detectable signal of FrFT Technology design band overlapping, utilize the parametric array of small-bore as phase control emission transducer, adopt vector hydrophone as receiving transducer, while improving system bandwidth utilization rate, be greatly reduced the aperture of basic matrix.Due to the fact that can the overlapping multicomponent data processing of emission band, make the quantity of transmitting multi-beam increase, system bandwidth utilization rate and detection efficient are obtained for very big raising, are more suitable for large-area sea of sweeping and detect；The reduction in basic matrix aperture makes equipment more portable, has bigger promotion and application and is worth.
Accompanying drawing explanation
Fig. 1 is the structure configuration diagram of multi-beam seabed subbottom profile probing equipment.
The FrFT that Fig. 2 is LFM signal one transformation period (conversion exponent number from 0～4) converts 3D figure；
Fig. 3 is the FrFT of the time-frequency distributions of different two LFM Signal of frequency change rate and one of them signal frequency rate of change corresponding；
Fig. 4 is the time domain waveform and the frequency spectrum that extract isolated two component of signals in Fig. 3 situation；
Fig. 5 is time-frequency distributions and the optimal order FrFT of two LFM Signal that frequency change rate is identical；
Fig. 6 is the time domain waveform and the frequency spectrum that extract isolated two component of signals in Fig. 5 situation；
Fig. 7 is time domain waveform and the frequency spectrum of launching each component of signal in multicomponent data processing；
Fig. 8 is time domain waveform and the frequency spectrum thereof of the multicomponent data processing that vector hydrophone broad beam receives simultaneously, signal to noise ratio snr=-3dB；
Fig. 9 is the modulus value of multi-components echo-signal FrFT；
Figure 10 is the u territory Bandpass Filters response that each component of signal is corresponding；
Figure 11 is first LFM component of signal that u territory leaches；
Figure 12 is second LFM component of signal that u territory leaches；
Figure 13 is the 3rd the LFM component of signal that u territory leaches；
Figure 14 is after FrFT inverse transformation, the time domain waveform of each component of signal extracted from multicomponent data processing and frequency spectrum.
Detailed description of the invention
The present invention concretely relates to a kind of based on fraction Fourier conversion (FractionalFourierTransform, FrFT) technology, multicomponent linear frequency-modulated signals (the LinearFrequencyModulation of coding is launched by parametric array, LFM), adopt vector hydrophone broad beam to receive a kind of multi-beam seabed efficient detecting devices of shallow seismic profile of multi-components echo-signal simultaneously.
The application background of described multi-beam seabed subbottom survey equipment is the shallow seismic profile exploration of large area seabed, the LFM component of signal of equipment utilization parametric array phase control emission band overlapping is detected, signal parameter is chosen and is met LFM signal and have the characteristic of fine energy accumulating at fractional order Fourier domain, receive multiple echo-signal components of a plurality of survey line by vector hydrophone broad beam simultaneously, realize the extraction of each component of signal at fractional order Fourier domain by the filtering of u territory and separate, finally realize the efficient detection of seabed shallow seismic profile.
The operation principle of the multi-beam seabed subbottom profile probing equipment of the present invention is: detect synchronizing cycle each, after the control instruction started working is received in multicomponent data processing source 1, send the LFM component of signal of N number of band overlapping to multichannel transmitter 2 and launch the number N of component of signal and can carry out on-the-spot setting according to detection demand；The signal Driving Parameters battle array 3 that multichannel transmitter 2 provides according to multicomponent data processing source 1 launches the LFM component of signal of N number of band overlapping successively to N number of different pre-detection direction；Each launching acoustic signals the reflection of shallow stratum produces echo-signal through seabed, vector hydrophone 4 receives the echo-signal of each detection direction simultaneously, and this multi-components echo-signal is sent to signal processing and display module 13 carries out processing and shows.The optimal transformation exponent number p that optimum FrFT changer 5 transmits according to multicomponent data processing source 1optMulticomponent data processing is made optimum fraction Fourier conversion, converts the signal into u territory, carry out signal detection by threshold detector 6 in u territory；According to the parameter that multicomponent data processing source 1 provides, it is utilized respectively u territory band-pass filter group 7, FrFT inverse converter 8 and the copy correlator group 9 N number of component of signal to detecting and makes u territory bandpass filtering and-p respectivelyoptRank FrFT inverse transformation, extracts each component of signal from multicomponent data processing and separates, and inverse transformation obtains the detection trace on shallow stratum, each detection direction seabed to time domain and through copy relevant treatment；Finally trace is delivered to display (10) and forms multi-beam seabed subbottom survey profile.So far, it is achieved that the multi-beam seabed subbottom profile probing of a synchronizing cycle.Navigation along with surveying vessel, it is achieved that the section detection on shallow stratum, seabed on a plurality of survey line.
N number of component of signal that the multi-beam seabed subbottom profile probing equipment of present embodiment is launched is it suffices that following criterion:
Launch component of signal and there is in u territory good energy accumulating characteristic, namely adopt LFM signal；
The frequency change rate of each component of signal is consistent；
Launch the co-ordination that the parameter of each component of signal can independently realize between signal transmitting and signal processing according to established agreement.
The signal of launching of the multiple components meeting at above-mentioned 3 ensure that the extraction realizing multicomponent data processing in u territory separates.Wherein, first main from the angle improving system bandwidth utilization rate, only there is good energy accumulating characteristic in u territory, guarantee designs more component of signal on limited frequency band, and realizes multiple component of signals effectively extracting and separating after the bandpass filtering of u territory that broad beam receives simultaneously；Second point is to prevent u territory from distorted signals occur when filtering, because if the frequency change rate of each component of signal is different, u territory band filter is when filtering a certain component of signal, the composition of other component of signal can be leached, cause the distortion extracting signal, referring to Fig. 3 and Fig. 4, can extract during different frequency rate of change and separated signal components will appear from distortion.Additionally, frequency change rate is designed to unanimously can simplify processing procedure, only a certain optimal transformation exponent number is made a FrFT to convert, without each component being done respectively FrFT conversion, and can going out each component of signal by extracting and developing well, as shown in Figure 5 and Figure 6, not only signal does not have distortion, and only once FrFT can make all component of signals energy accumulating occur in u territory, and then carry out the subsequent treatment such as u territory bandpass filtering；It is thirdly to make equipment coordination work, detection survey line number N (or component of signal number, or phased direction number), phased direction and order can be assigned according to measuring needs and adjust synchronizing cycle.
The information that described multicomponent data processing source 1 generates N number of component of signal and needs control instruction to send includes:
1. the height cut-off frequency f of each LFM component of signaliHAnd fiL, i=1,2 ... N, it is determined that each frequency range launching component of signal；
2. the pulse width T of each LFM component of signali.Determine the pulse width of each transmitting component of signal；
3. multichannel transmitter 2 phase control emission signal angle and order.Control multichannel transmitter 2 to start the time of the different primitive of Driving Parameters battle array 3, and with the order of predefined to the different component of signal of different angles phase control emission.
Multi-components echo-signal r (t) that described vector hydrophone 4 broad beam receives simultaneously is represented by:
S in formulan(n=1,2 ... N) LFM component of signal for launching (on each bar survey line) on each detection direction, Mn(n=1,2 ... N) represents the echo number (on same survey line) on the n-th direction, and a represents the amplitude of each echo-signal, and τ represents the time delay of echo-signal, and N (t) represents noise.
Described multicomponent data processing source 1 includes to the information of the known signal that signal processing and display module 13 transmit:
1. the exponent number p of optimum FrFT conversion and inverse transformationoptWith-popt.Exponent number poptFor arranging optimum FrFT changer 5 so that it is realize the optimum fraction Fourier conversion to multi-components echo-signal, make each component of signal received, in u territory, good energy accumulating all occur simultaneously；-poptFor arranging FrFT inverse converter 8, by each component of signal inverse transformation of extraction to time domain, obtain extracting the forms of time and space of signal；
2. each LFM component of signal is at the distributing position u of fractional order Fourier domaini0(i=1,2 ... N).For arranging the frequency filtering that LFM component of signal is carried out each band filter of u territory filtering by u territory band-pass filter group 7, the u of unlike signal component0Different.The u territory frequency u of i-th component of signali0It is represented by:
Wherein fi0Being the mid frequency of i-th component of signal, T is the time span processing signal, kiIt is the frequency change rate of i-th component of signal, fsBeing signal sampling frequency, Δ x=sqrt (N) is u territory signal dimensional normalization length, N=T fsCount for sample of signal；Constant const=(N-1)/2+1 (N is odd number), const=N/2+1 (N is even number), Δ N represent that component of signal mid frequency to be extracted deviates the u territory frequency u that pending signal temporal center causes0Side-play amount (counting).
When without skew, Δ N=0, otherwise:
In formula, Δ τ represents the delay volume (during deflection right side, Δ τ is just, is otherwise negative) of deviation.
3. detection threshold η.For arranging the detection threshold of threshold detector 6, can be changed in real time by control instruction；
4. copy component of signal si(t).Time-domain signal FrFT inverse converter 8 exported for each copy correlator in copy correlator group 9 makes copy relevant treatment.
Multi-components echo-signal r (t) of each bar survey line that vector hydrophone 4 broad beam is received by described optimum FrFT changer 5 simultaneously makes poptRank optimum FrFT converts
Signal after optimum FrFT conversion is carried out the method for detection judgement by described threshold detector 6:
First the data delivery value optimum FrFT changer 5 sent, obtainsSecondly, the parameter η that modulus value sends with multicomponent data processing source (1) is made comparisons, ifThen cross the signal of thresholding part and be effective echo-signal, and be passed to u territory band-pass filter group 7 and make Filtering Processing.
The each component of signal S leached of described u territory band-pass filter group 7i(u) be:
In formulaFor the optimal order FrFT of multicomponent data processing r (t),It is with ui0Centered by the u territory band filter transmission function of frequency, for being filtered i-th component of signal processing.
The described FrFT inverse converter 8 component of signal to respectively extracting carries out-poptRank FrFT inverse transformation, transforms to time domain, time-domain signal S by u territory signali(t) be:
The trace signal of each bar survey line of described copy correlator group 9 output can be shown on display 10 successively according to the order making copy relevant treatment.
The signal extraction of the multi-beam seabed subbottom profile probing equipment of employing present embodiment and separation process are referring to Fig. 7 to Figure 14, with frequency range respectively 2～4kHz, 3～5kHz and 4～6kHz, pulsewidth is three component of signals of 10ms and as launching component of signal, multicomponent data processing extraction territory separating treatment process is illustrated.Fig. 7 is time domain waveform and the frequency spectrum of three LFM signals that parametric array 3 is launched to three different directions respectively；Fig. 8 is time domain waveform and the frequency spectrum (signal to noise ratio is-3dB) that vector hydrophone 4 broad beam receives multicomponent data processing simultaneously, owing to three component of signals exist the band overlapping of 1/2 each other, cannot distinguish three component of signals from frequency domain；Fig. 9 is multicomponent data processing 3 component of signals crossing thresholding η of output after optimum fraction Fourier conversion device 5, and three component of signals occur in that good energy accumulating in u territory, thus effective Signal separator can be carried out in u territory；Figure 10 is the u territory band filter transmission function of corresponding a certain component of signal in u territory band-pass filter group 7The extraction of component of signal can be realized according to formula (5) and separate；Figure 11 to Figure 13 is three the u territory component of signals utilizing u territory band-pass filter group 7 to extract after each component of signal is carried out the filtering of u territory, it is achieved that the separation to three component of signals；Figure 14 is time domain waveform and the frequency spectrum that each component of signal that u territory bandpass filtering extracts exports signal after FrFT inverse converter 8.After the Filtering Processing of u territory, not only extract and isolated each component of signal, and signal energy is basically unchanged.Extract each component of signal separated and send the trace signal of then exportable each survey line after copy correlator group 9, send display 10 to show shallow seismic profile.Calculate with this example, according to frequency division method, it is at best able to design the component of signal of 2 2kHz bandwidth in the frequency band of 2～6kHz, and adopts this method, then can design the component of signal of 3 even more 2kHz bandwidth, greatly enhance the utilization rate of system bandwidth.
Claims (1)
1. a multi-beam seabed subbottom profile probing equipment, including dry end and green end, dry end is made up of transmitter module (12) and signal processing and display module (13), green end is made up of parametric array (3) and vector hydrophone (4), it is characterised in that:
Transmitter module (12), for generating multicomponent linear frequency-modulated signals the Driving Parameters battle array (3) of coding, is made up of multicomponent data processing source (1) and multichannel transmitter (2)；
Multicomponent data processing source (1), for receiving synchronizing signal and control instruction, and according to control instruction, the multicomponent linear frequency-modulated signals of the coding generated is provided to multichannel transmitter (2), component of signal number N is arranged by control instruction, sends optimal transformation exponent number p to signal processing and display module (13) simultaneouslyopt, the component of signal distributing position u in fractional order Fourier domain u territory0, detection threshold η；
Multichannel transmitter (2), utilizes multicomponent linear frequency-modulated signals Driving Parameters battle array (3) phase control emission of the coding that multicomponent data processing source (1) provides；
Parametric array (3), the N number of component of signal phase control emission produced by multichannel transmitter (2) is to N number of different pre-detection direction；
Vector hydrophone (4), receives the multi-components echo-signal on N bar survey line simultaneously, and the multicomponent data processing received is sent to signal processing and display module (13)；
Signal processing and display module (13), it is achieved the extraction of multi-components echo-signal with separate, process and obtain the trace of each bar survey line, and show N number of shallow seismic profile figure that detection obtains；
Optimum FrFT changer (5), according to the optimal transformation exponent number p that multicomponent data processing source (1) providesoptThe multi-components echo-signal received is done optimum FrFT conversion, transformation results delivery value is sent to threshold detector (6)；
Threshold detector (6), the signal that optimum FrFT changer (5) is sent carries out Threshold detection, chose the shallow stratum echo-signal of thresholding η, and sends the signal crossing thresholding to u territory band-pass filter group (7)；
U territory band-pass filter group (7), the i-th component of signal provided according to multicomponent data processing source (1) the distributing position u in u territoryi0Utilize i-th band filter that multi-components echo-signal carries out u territory bandpass filtering, leach i-th component of signal in u territory, it is achieved the extraction in u territory of all N number of component of signals with separate, and each component of signal extracted is sent to FrFT inverse converter (8)；
FrFT inverse converter (8), for each component of signal work-p that u territory band-pass filter group (7) is leachedoptThe FrFT inverse transformation on rank, obtains the echo-signal of each bar survey line, and sends to copy correlator group (9)；
Copy correlator group (9), for the sequences of echo signals of each bar survey line is made copy relevant treatment, obtains the trace of shallow seismic profile on each bar survey line, and to display (10), the transmission of N bar trace is shown N number of shallow seismic profile figure；
Display (10), the trace signal of each bar survey line that copy correlator group (9) exports can be shown on display (10) successively according to the order making copy relevant treatment.
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| CN104539569A (en) * | 2015-01-09 | 2015-04-22 | 哈尔滨工程大学 | Orthogonal frequency division multiplexing coding underwater acoustic communication method based on parameter array |
| CN105629216B (en) * | 2016-03-09 | 2018-03-02 | 无锡市海鹰加科海洋技术有限责任公司 | A kind of multibeam echosounder receive transducer device for detecting performance |
| CN106525005A (en) * | 2016-10-28 | 2017-03-22 | 北京海卓同创科技有限公司 | Integrated multibeam echo sounding device |
| CN111586546B (en) * | 2020-03-26 | 2021-08-17 | 中国船舶重工集团公司第七一五研究所 | Method and system for measuring resonance point transmission response of low-frequency transducer |
| CN112258132B (en) * | 2020-11-18 | 2023-06-16 | 中国联合网络通信集团有限公司 | Warehouse management method, system, computer equipment and storage medium |
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| US5052222A (en) * | 1990-11-05 | 1991-10-01 | Teledyne Exploration | Multiple-unit water depth sensor system |
| CN201043997Y (en) * | 2007-03-01 | 2008-04-02 | 中国海洋石油总公司 | Multi-beam section plane sonar signal processing device |
| CN102749622A (en) * | 2012-07-03 | 2012-10-24 | 杭州边界电子技术有限公司 | Multiwave beam-based depth-sounding joint inversion method for sound velocity profile and seafloor topography |
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| US6595315B1 (en) * | 1999-09-17 | 2003-07-22 | Furuno Electric Company, Limited | Underwater detecting apparatus, depth measuring apparatus and display apparatus |
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| CN201043997Y (en) * | 2007-03-01 | 2008-04-02 | 中国海洋石油总公司 | Multi-beam section plane sonar signal processing device |
| CN102749622A (en) * | 2012-07-03 | 2012-10-24 | 杭州边界电子技术有限公司 | Multiwave beam-based depth-sounding joint inversion method for sound velocity profile and seafloor topography |
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