CN111521972A - Wave glider-based depth-fixed marine acoustic information acquisition system - Google Patents
Wave glider-based depth-fixed marine acoustic information acquisition system Download PDFInfo
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- CN111521972A CN111521972A CN202010292395.2A CN202010292395A CN111521972A CN 111521972 A CN111521972 A CN 111521972A CN 202010292395 A CN202010292395 A CN 202010292395A CN 111521972 A CN111521972 A CN 111521972A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 4
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- 238000001914 filtration Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A fixed-depth marine acoustic information acquisition system based on a wave glider belongs to the field of marine environment detection equipment. The method aims to solve the problems that the existing marine acoustic information acquisition system is difficult to continuously observe for a long time, the observation range is limited, and the noise interference of detection information is large. The wave glider of the system is positioned on the water surface, and the underwater towed body is connected to the wave glider through the depth-fixed towing cable and the telescopic vibration damping mechanism; the fixed-depth towing cable is a carrier for the wave glider to communicate with the underwater acoustic towing body; an acoustic beacon is arranged on the wave glider and sends positioning acoustic pulses to an underwater three-dimensional acoustic array at regular time; the hydrophone converts acoustic signals in the sea into electric signals, the acoustic data acquisition and transmission module acquires and filters the signals, and accurate longitude and latitude information of the underwater three-dimensional acoustic array is synchronously stored in an internal memory. The method is mainly used for obtaining the acoustic information of the fixed-depth ocean.
Description
Technical Field
The invention belongs to the field of marine environment detection equipment, and particularly relates to a depth-fixed marine acoustic information acquisition system.
Background
The marine acoustic information is an important parameter of marine environment, comprises marine environment background noise, marine organism acoustic signals, ship acoustic signals and the like, can obtain various marine environment parameters through the marine acoustic information, and is also an important parameter influencing sonar performance.
The current marine acoustic information acquisition systems, such as a ship-borne acoustic observation system, a submerged buoy acoustic observation system, a shore-based matrix acoustic observation system and the like, have the defects that the ship-borne acoustic observation system has high manpower and material resource consumption and is difficult to continuously observe for a long time; the submerged buoy acoustic observation system can only observe at fixed points, and the observation range is limited; the shore-based array observation system has high cost investment and high maintenance cost, and the observation site cannot be maneuvered. In addition, the current marine acoustic information acquisition system has relatively large noise interference for acquiring acoustic information due to the influence of the detection environment, so that the accuracy of the result is required.
Disclosure of Invention
The invention aims to solve the problems that the existing marine acoustic information acquisition system is difficult to continuously observe for a long time, the observation range is limited, and the problem that the noise interference of the detected information is large.
A wave glider-based depth-fixed marine acoustic information acquisition system comprises a water surface wave glider, a depth-fixed towing cable, a telescopic vibration reduction mechanism and an underwater three-dimensional acoustic three-dimensional array;
the wave glider is provided with a satellite communication unit and a GPS which are respectively used for communication with a satellite and positioning of the wave glider;
the underwater three-dimensional acoustic array comprises an underwater towed body, wing plates, hydrophones and an acoustic data acquisition and transmission module; the hydrophone is arranged on a wing plate of the underwater towed body, and the acoustic data acquisition and transmission module is arranged on the underwater towed body;
the depth-fixed towing cable is provided with a weight block, and the weight block stabilizes the underwater acoustic towed body at a preset depth underwater; one end of the fixed-depth towing cable is also provided with a telescopic vibration reduction mechanism, and the fixed-depth towing cable is connected to the underwater towed body through the vibration reduction mechanism; the underwater towed body is connected to the wave glider through a fixed-depth towing cable and a telescopic vibration damping mechanism; the fixed-depth towing cable is a carrier for the wave glider to communicate with the underwater acoustic towing body;
the wave glider is provided with an acoustic beacon which sends positioning acoustic pulses to an underwater three-dimensional acoustic array at regular time, a data acquisition and transmission module in the underwater three-dimensional acoustic array receives acoustic pulse signals, the position of the underwater three-dimensional acoustic array relative to the wave glider is resolved, and accurate longitude and latitude information of the underwater three-dimensional acoustic array is resolved by combining longitude and latitude information obtained by a GPS (global positioning system) on the wave glider;
the hydrophone converts acoustic signals in the sea into electric signals, the acoustic data acquisition and transmission module acquires and filters the signals, accurate longitude and latitude information of the underwater three-dimensional acoustic array is synchronously stored in an internal memory, and detected azimuth and frequency parameters of the marine acoustic signals and the ship acoustic signals are uploaded to a satellite communication unit in the wave glider.
Furthermore, the acoustic data acquisition and transmission module acquires and filters signals and adopts synchronous self-contained storage in combination with the process that accurate longitude and latitude information of the underwater three-dimensional acoustic array is synchronously stored in an internal memory.
Furthermore, a solar cell panel is further arranged on the wave glider and supplies power to components of the wave glider.
Furthermore, no battery is arranged in the underwater three-dimensional acoustic array, the power supply of the underwater three-dimensional acoustic array is supplied by a solar panel of a wave glider, and the fixed-depth towing cable is a carrier for the wave glider to supply power to the underwater acoustic towing body.
Furthermore, the underwater three-dimensional acoustic array balances weight and buoyancy through the weight telescopic vibration reduction mechanism, and the whole underwater three-dimensional acoustic array is configured into neutral buoyancy and is stabilized at a certain depth underwater.
Furthermore, the underwater towed body of the underwater three-dimensional acoustic array is designed by adopting a slender streamline rotary body, the hydrophone is additionally provided with a flow guide cover, and the flow guide cover is designed by adopting the flow resistance reducing design.
The invention has the following benefits:
the marine acoustic information acquisition system can automatically navigate according to a flight line, automatically acquire the marine environment acoustic information on the flight line, does not need continuous intervention of workers, can acquire the marine acoustic information under severe sea conditions, improves the efficiency of acquiring the marine acoustic information, and reduces the labor cost.
The invention adopts solar energy to supply power for the underwater three-dimensional acoustic array, and the underwater three-dimensional acoustic array has no disposable or rechargeable battery, so that the volume is reduced, the cost is reduced, and the underwater three-dimensional acoustic array can work on the sea for a long time.
The underwater fixed-depth towing cable and the telescopic vibration reduction mechanism are adopted to connect the wave glider and the underwater three-dimensional acoustic array, so that the underwater three-dimensional acoustic array is far away from the sea surface and the wave glider, the interference of the noise of the wave glider on the acquisition of acoustic information can be reduced, the influence of the fluctuation of the sea surface waves on the acquisition of acoustic information is reduced, and a set of low-noise acoustic measurement system is formed.
The underwater three-dimensional acoustic array can realize the accurate positioning of the underwater three-dimensional acoustic array by utilizing the acoustic pulse sent by the acoustic beacon and combining the longitude and latitude information acquired by the GPS of the wave glider, so that the system can be used for measuring the positioning of acoustic signals in the sea.
Description of the drawings:
FIG. 1 is a schematic diagram of the system; the system comprises a wave glider 1, a fixed-depth towing cable 2, an underwater three-dimensional acoustic stereo array 3, a solar panel 4, a satellite communication unit 5, a GPS, an acoustic beacon 6 and an expansion damping mechanism 8, wherein the wave glider is connected with the wave glider through a cable;
FIG. 2 is a schematic diagram of the components of a depthkeeping cable and an underwater three-dimensional acoustic stereo array; the system comprises 2 fixed-depth towing cables, 7 heavy blocks, 8 telescopic vibration reduction mechanisms, 9 underwater towed bodies, 10 wing plates, 11 hydrophones and 12 acoustic data acquisition and transmission modules.
Detailed Description
The first embodiment is as follows: the embodiment of the present invention is specifically described with reference to fig. 1 to 2,
the embodiment of the invention relates to a wave glider-based depth-fixed marine acoustic information acquisition system, which comprises a water surface wave glider 1, a depth-fixed towing cable 2, a telescopic vibration reduction mechanism 8 and an underwater three-dimensional acoustic three-dimensional array 3;
the wave glider is provided with a satellite communication unit and a GPS 5 which are respectively used for communication with a satellite and positioning of the wave glider;
the underwater three-dimensional acoustic stereo array 3 comprises an underwater towed body 9, a wing plate 10, a hydrophone 11 and an acoustic data acquisition and transmission module 12; the hydrophone 11 is arranged on a wing plate 10 of the underwater towed body 9, and the acoustic data acquisition and transmission module 12 is arranged on the underwater towed body 9; the hydrophone converts the acoustic signal into an electrical signal; the acoustic data acquisition and transmission module filters, acquires and stores the electric signal;
the depth-fixed towing cable is provided with a weight 7 which stabilizes the underwater acoustic towed body at a preset depth underwater; one end of the fixed-depth towing cable is also provided with a telescopic damping mechanism 8, and the fixed-depth towing cable is connected to an underwater towed body 9 through the telescopic damping mechanism 8; the wave glider is positioned on the water surface, the underwater towed body is connected to the wave glider through the fixed-depth towing cable and the telescopic vibration damping mechanism 8, and the wave glider is towed to sail together with the underwater three-dimensional acoustic array when sailing according to a preset course; in the navigation process, an underwater three-dimensional acoustic stereo array always acquires acoustic information on a route; the fixed-depth towing cable is a carrier for the wave glider to supply power and communicate with the underwater acoustic towing body;
the wave glider is provided with a solar cell panel 4 which supplies power for the wave glider and components of the underwater three-dimensional acoustic three-dimensional array;
the wave glider is further provided with an acoustic beacon 6, the acoustic beacon 6 sends positioning acoustic pulses to the underwater three-dimensional acoustic array at regular time, a data acquisition and transmission module in the underwater three-dimensional acoustic array receives acoustic pulse signals, the position of the underwater three-dimensional acoustic array relative to the wave glider is resolved, and accurate longitude and latitude information of the underwater three-dimensional acoustic array is resolved by combining longitude and latitude information acquired by a GPS on the wave glider.
The hydrophone converts acoustic signals in the sea into electric signals, the acoustic data acquisition and transmission module acquires and filters the signals, accurate longitude and latitude information of the underwater three-dimensional acoustic array is synchronously stored in an internal memory, and detected parameters of the marine acoustic signals (including marine organism acoustic signals) and the orientation, frequency and the like of the ship acoustic signals are uploaded to a satellite communication unit in the wave glider.
The obtained marine acoustic information is combined with accurate longitude and latitude information of the underwater three-dimensional acoustic array and stored in a synchronous self-contained mode, and important marine acoustic signals can be transmitted back to a shore-based data center in real time through a satellite communication unit.
The underwater three-dimensional acoustic array has no battery, so the volume of the array is reduced, the underwater three-dimensional acoustic array is powered by a solar panel of a wave glider, and the underwater three-dimensional acoustic array can work for a long time by powering a fixed-depth towing cable.
The underwater towed body is an installation platform of the acoustic data acquisition and transmission module, and the underwater three-dimensional acoustic array achieves near-neutral buoyancy by adjusting weight and buoyancy, namely the underwater three-dimensional acoustic array is integrally configured to be neutral buoyancy and is stabilized at a certain depth underwater. The telescopic vibration reduction mechanism achieves near-neutral buoyancy by adjusting the number of the floats and the sinking blocks, and reduces the weight load of the wave glider. The underwater towed body of the underwater three-dimensional acoustic array adopts a slender streamline revolving body design, a hydrophone is additionally provided with a flow guide cover to reduce the flow resistance, the flow resistance of the underwater three-dimensional acoustic array is smaller than the towing force of a wave glider, and the wave glider tows the underwater towed underwater three-dimensional acoustic array to move according to a preset route. The wave glider drags an underwater three-dimensional acoustic array through a fixed-depth dragging cable to obtain three-dimensional information of an ocean sound field with a specified depth according to a preset route, and the obtained ocean acoustic information on the route can be stored in the underwater three-dimensional acoustic array in a self-contained mode or main parameters can be extracted and returned by the wave glider in real time.
The invention provides a wave glider-based depth-fixed marine acoustic information acquisition system, which can acquire marine acoustic information in a large range and at a fixed depth in the sea according to a preset air route, can acquire three-dimensional sound field information in a marine sound field, can work on the sea for a long time and acquire marine environment information, can accurately determine the position of an underwater acoustic towed body, and can store the acquired marine acoustic information original data in a self-contained manner, and important parameters are returned through a satellite. The use and the work flow of the system are as follows:
the depth-fixed marine acoustic information acquisition system based on the wave glider is deployed in a designated sea area by a scientific investigation ship, and self-checking is carried out on the system by an existing deck unit before deployment. After normal self-checking, the system is placed in a sea area with the sea depth larger than the working depth of the underwater three-dimensional acoustic array, the wave glider floats on the sea surface, and the underwater three-dimensional acoustic array sinks to a specified depth under the dragging of the gravity of the depth-fixing cable. The existing shore-based control center sets a navigation route for the system, the system navigates according to the designated route, and the wave glider navigates to drive the underwater three-dimensional acoustic three-dimensional array to navigate. A hydrophone of the underwater three-dimensional acoustic array acquires marine acoustic information, and the marine acoustic information on the acquired air route is stored in an internal memory. And key acoustic information acquired during navigation is transmitted back to the shore-based control center through satellite communication.
The underwater three-dimensional acoustic array works continuously, and marine acoustic information on the whole air route can be acquired. During the process of obtaining the ocean acoustic information, the power supply of the underwater acoustic towed body is supplied by the combination of the solar cell panel and the storage battery of the wave glider, and the underwater acoustic towed body can work on the sea for a long time. The acoustic beacon of the water surface wave glider emits acoustic pulses, the underwater three-dimensional acoustic three-dimensional array receives the acoustic pulses, the position of the underwater three-dimensional acoustic three-dimensional array relative to the water surface wave glider is calculated, meanwhile, GPS position information of the wave glider is obtained, and the real position of the underwater acoustic towed body can be calculated. After the marine acoustic information is acquired, the system is recovered by a scientific research ship, and the staff downloads the acquired marine acoustic information.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (6)
1. A wave glider-based depth-fixed marine acoustic information acquisition system is characterized by comprising a water surface wave glider, a depth-fixed towing cable, a telescopic vibration reduction mechanism and an underwater three-dimensional acoustic stereo array;
the wave glider is provided with a satellite communication unit and a GPS which are respectively used for communication with a satellite and positioning of the wave glider;
the underwater three-dimensional acoustic array comprises an underwater towed body, wing plates, hydrophones and an acoustic data acquisition and transmission module; the hydrophone is arranged on a wing plate of the underwater towed body, and the acoustic data acquisition and transmission module is arranged on the underwater towed body;
the depth-fixed towing cable is provided with a weight block, one end of the depth-fixed towing cable is also provided with a telescopic vibration reduction mechanism, and the depth-fixed towing cable is connected to the underwater towed body through a vibration reduction mechanism; the underwater towed body is connected to the wave glider through a fixed-depth towing cable and a telescopic vibration damping mechanism; the fixed-depth towing cable is a carrier for the wave glider to communicate with the underwater acoustic towing body;
the wave glider is provided with an acoustic beacon which sends positioning acoustic pulses to an underwater three-dimensional acoustic array at regular time, a data acquisition and transmission module in the underwater three-dimensional acoustic array receives acoustic pulse signals, the position of the underwater three-dimensional acoustic array relative to the wave glider is resolved, and accurate longitude and latitude information of the underwater three-dimensional acoustic array is resolved by combining longitude and latitude information obtained by a GPS (global positioning system) on the wave glider;
the hydrophone converts acoustic signals in the sea into electric signals, the acoustic data acquisition and transmission module acquires and filters the signals, accurate longitude and latitude information of the underwater three-dimensional acoustic array is synchronously stored in an internal memory, and detected azimuth and frequency parameters of the marine acoustic signals and the ship acoustic signals are uploaded to a satellite communication unit in the wave glider.
2. The wave glider-based depthkeeping ocean acoustic information acquisition system according to claim 1, wherein the acoustic data acquisition and transmission module performs signal acquisition and filtering, and synchronous self-contained storage is adopted in combination with the process that accurate longitude and latitude information of the underwater three-dimensional acoustic stereo array is synchronously stored in an internal memory.
3. The wave glider-based depthkeeping ocean acoustic information acquisition system according to claim 1 or 2, wherein a solar panel is further disposed on the wave glider, and the solar panel supplies power to components of the wave glider.
4. The wave glider-based depth-keeping ocean acoustic information acquisition system according to claim 3, wherein no battery is arranged in the underwater three-dimensional acoustic array, the power supply of the underwater three-dimensional acoustic array is supplied by a solar panel of the wave glider, and the depth-keeping towing cable is a carrier for the wave glider to supply power to the underwater acoustic towing body.
5. The wave glider-based depth-keeping ocean acoustic information acquisition system according to claim 4, wherein the underwater three-dimensional acoustic array is stabilized at a certain depth underwater by balancing weight and buoyancy through a weight telescopic vibration damping mechanism, and configuring the whole body as neutral buoyancy.
6. The wave glider-based depth-keeping marine acoustic information acquisition system according to claim 5, wherein an underwater towed body of the underwater three-dimensional acoustic array is designed as a slender streamline revolving body, a flow guide cover is additionally arranged on a hydrophone, and the flow guide cover is designed as a flow resistance reducing body.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113932911A (en) * | 2021-07-24 | 2022-01-14 | 青岛海舟科技有限公司 | Underwater acoustic environment observation system based on wave glider |
| CN114655360A (en) * | 2022-05-25 | 2022-06-24 | 青岛海舟科技有限公司 | Underwater acoustic towing system of wave glider |
| CN116929540A (en) * | 2023-09-18 | 2023-10-24 | 中国海洋大学 | Marine environment noise observation system based on wave glider |
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