Method for passively positioning point sound source based on spatial tenelement array
Method for passively positioning point sound source based on spatial tenelement array
 CN 103,529,428 A
 Filed: 10/17/2013
 Published: 01/22/2014
 Est. Priority Date: 10/17/2013
 Status: Active Application
First Claim
1. the passive acoustic fix ranging method of the point sound source based on the ten yuan of battle arrays in space, is characterized in that, comprising:
 Step 1, set up XYZ rectangular coordinate system, ten yuan, space battle array is pressed to adhoc location in described XYZ rectangular coordinate system to be laid, ten yuan, wherein said space battle array comprises center basic matrix and peripheral basic matrix, described center basic matrix comprises the 1st node, the 2nd node, the 3rd node, the 4th node and the 5th node, and described peripheral basic matrix comprises the 0th node, the 6th node, the 7th node, the 8th node and the 9th node;
Described the 0th node is positioned at the true origin of described XYZ rectangular coordinate system, and described the 7th node, the 3rd node, the 5th node, the 9th node are positioned at Xaxis, and described the 8th node, the 4th node, the 2nd node, the 6th node are positioned at Yaxis, and described the 1st node is positioned at Z axis;
Wherein, other 9 nodes except the 1st node are in same level, and described the 1st height of node is higher than this surface level, and establishing it is highly H;
Described the 2nd node, the 3rd node, the 4th node, the 5th node are identical with the distance of the 0th node, and this distance is made as R _{1}, and claim this R _{1}aperture for described center basic matrix;
Described the 6th node, the 7th node, the 8th node, the 9th node are identical with the distance of the 0th node, and this distance is made as R _{2}, and claim this R _{2}aperture for described peripheral basic matrix;
Step 2, point sound source P (x, y, z) send sound wave, this sound wave triggers each node of the ten yuan of battle arrays in described space, each node is constantly transferred to detection and control terminal by wired or wireless mode by its corresponding triggering, and described triggering is sound wave that described point sound source the sends moment while being delivered to node constantly;
Wherein, P (x, y, z) is the coordinate of described point sound source in described XYZ rectangular coordinate system, and the true origin of described XYZ rectangular coordinate system of take is initial point, sets up spherical coordinate system, and wherein pitching angle theta is the folded angle of directed line segment OP and Z axis forward, position angle for directed line segment OP is at the projection of coordinate plane XOY and the folded angle between Xaxis forward, the distance between OP is polar radius L;
Step 3, described detection and control terminal calculates the 2nd node, the 3rd node, the 4th node and the 5th node with respect to poor τ
time of arrival of the 1st node constantly according to the triggering of each node of described center basic matrix _{21}, τ
_{31}, τ
_{41}, τ
_{51}, τ
wherein _{ij}=t _{i}t _{j}, i=2,3,4,5;
J=1, t _{i}and t _{j}be respectively the triggering of i node and j node constantly;
Described detection and control terminal calculates the 6th node, the 7th node, the 8th node and the 9th node with respect to poor τ
time of arrival of the 0th node constantly according to the triggering of each node of described peripheral basic matrix _{60}, τ
_{70}, τ
_{80}, τ
_{90}, τ
wherein _{ij}=t _{i}t _{j}, i=6,7,8,9;
J=0, t _{i}and t _{j}be respectively the triggering of i node and j node constantly;
Step 4, poor τ
time of arrival calculating according to each node of described center basic matrix _{21}, τ
_{31}, τ
_{41}, τ
_{51}, the aperture R of height difference H and center basic matrix _{1}, utilize formula with calculate pitching angle theta and the position angle of described point sound source P (x, y, z) ;
Poor τ
time of arrival calculating according to each node of described peripheral basic matrix _{60}, τ
_{70}, τ
_{80}, τ
_{90}, peripheral basic matrix aperture R _{2}with effective sound velocity v, utilize formula calculate the sound path information L of described point sound source P (x, y, z) distance the 0th node;
Step 5, according to described pitching angle theta and position angle l utilizes formula with sound path information z=Lcos (θ
) calculates the coordinate P (x, y, z) of described point sound source in described XYZ rectangular coordinate system.
Chinese PRB Reexamination
Abstract
The invention provides a method for passively positioning a point sound source based on a spatial tenelement array and belongs to the technical field of sensing and test. The method for passively positioning the point sound source comprises the following steps: calculating a corresponding arrival time difference through all the nodes of a central base array of the spatial tenelement array, and then utilizing the arrival time difference to calculate the pitch angle and the azimuth angle of the point sound source; calculating a corresponding arrival time difference through all the nodes of a peripheral base array of the spatial tenelement array, and then utilizing the arrival time difference to calculate the sonic path distance information of the point sound source; finally calculating the coordinates of the point sound source according to the obtained pitch angle, the azimuth angle and the sonic path distance information. The method for passively positioning the point sound source prevents the condition that the sound source cannot be positioned or a positioning error suddenly changes due to a special sound source position and has the advantages of high precision and strong practicability.

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2 Claims

1. the passive acoustic fix ranging method of the point sound source based on the ten yuan of battle arrays in space, is characterized in that, comprising:

Step 1, set up XYZ rectangular coordinate system, ten yuan, space battle array is pressed to adhoc location in described XYZ rectangular coordinate system to be laid, ten yuan, wherein said space battle array comprises center basic matrix and peripheral basic matrix, described center basic matrix comprises the 1st node, the 2nd node, the 3rd node, the 4th node and the 5th node, and described peripheral basic matrix comprises the 0th node, the 6th node, the 7th node, the 8th node and the 9th node;
Described the 0th node is positioned at the true origin of described XYZ rectangular coordinate system, and described the 7th node, the 3rd node, the 5th node, the 9th node are positioned at Xaxis, and described the 8th node, the 4th node, the 2nd node, the 6th node are positioned at Yaxis, and described the 1st node is positioned at Z axis;Wherein, other 9 nodes except the 1st node are in same level, and described the 1st height of node is higher than this surface level, and establishing it is highly H; Described the 2nd node, the 3rd node, the 4th node, the 5th node are identical with the distance of the 0th node, and this distance is made as R _{1}, and claim this R _{1}aperture for described center basic matrix;
Described the 6th node, the 7th node, the 8th node, the 9th node are identical with the distance of the 0th node, and this distance is made as R _{2}, and claim this R _{2}aperture for described peripheral basic matrix;
Step 2, point sound source P (x, y, z) send sound wave, this sound wave triggers each node of the ten yuan of battle arrays in described space, each node is constantly transferred to detection and control terminal by wired or wireless mode by its corresponding triggering, and described triggering is sound wave that described point sound source the sends moment while being delivered to node constantly; Wherein, P (x, y, z) is the coordinate of described point sound source in described XYZ rectangular coordinate system, and the true origin of described XYZ rectangular coordinate system of take is initial point, sets up spherical coordinate system, and wherein pitching angle theta is the folded angle of directed line segment OP and Z axis forward, position angle for directed line segment OP is at the projection of coordinate plane XOY and the folded angle between Xaxis forward, the distance between OP is polar radius L;
Step 3, described detection and control terminal calculates the 2nd node, the 3rd node, the 4th node and the 5th node with respect to poor τ
time of arrival of the 1st node constantly according to the triggering of each node of described center basic matrix _{21}, τ
_{31}, τ
_{41}, τ
_{51}, τ
wherein _{ij}=t _{i}t _{j}, i=2,3,4,5;
J=1, t _{i}and t _{j}be respectively the triggering of i node and j node constantly;
Described detection and control terminal calculates the 6th node, the 7th node, the 8th node and the 9th node with respect to poor τ
time of arrival of the 0th node constantly according to the triggering of each node of described peripheral basic matrix _{60}, τ
_{70}, τ
_{80}, τ
_{90}, τ
wherein _{ij}=t _{i}t _{j}, i=6,7,8,9;
J=0, t _{i}and t _{j}be respectively the triggering of i node and j node constantly;
Step 4, poor τ
time of arrival calculating according to each node of described center basic matrix _{21}, τ
_{31}, τ
_{41}, τ
_{51}, the aperture R of height difference H and center basic matrix _{1}, utilize formula with calculate pitching angle theta and the position angle of described point sound source P (x, y, z) ;
Poor τ
time of arrival calculating according to each node of described peripheral basic matrix _{60}, τ
_{70}, τ
_{80}, τ
_{90}, peripheral basic matrix aperture R _{2}with effective sound velocity v, utilize formula calculate the sound path information L of described point sound source P (x, y, z) distance the 0th node;
Step 5, according to described pitching angle theta and position angle l utilizes formula with sound path information z=Lcos (θ
) calculates the coordinate P (x, y, z) of described point sound source in described XYZ rectangular coordinate system.


2. the passive acoustic fix ranging method of the point sound source based on the ten yuan of battle arrays in space as claimed in claim 1, is characterized in that, the position of the node in the battle array of ten yuan, described space is by precision positioning measuring apparatus, and accuracy requirement is less than 2cm.
Specification(s)