CN-116338662-B - Time point estimation method and system for nearest distance of underwater moving object

CN116338662BCN 116338662 BCN116338662 BCN 116338662BCN-116338662-B

Abstract

The invention discloses a time point estimation method of the nearest distance of an underwater moving object, which relates to the field of the underwater moving object, and is characterized in that a detection sonar is arranged in a preset range of the object to be protected, the noise intensity A of the underwater moving object is detected and collected through the detection sonar, a conversion relation among the noise intensity A, the noise intensity P and the linear distance L is set, and the sampling time point t is taken as an independent variable through a linear distance acquisition formula and the conversion relation, so that the underwater moving object is sampled by the detection sonar Setting a fitting function and a mean square error calculation formula of a data sequence (x i ,y i ) and the fitting function, solving the mean square error calculation formula through the data sequence (x i ,y i ) to obtain coefficients of the fitting function, and further obtaining a time point t corresponding to a symmetry axis of the solved fitting function as a time point closest to the intercept of the underwater moving object by detecting sonar, wherein the hit rate of the underwater moving object is improved.

Inventors

FANG LIANG
HE ZILI
WANG WENBIN
LIU QINGYANG

Assignees

浙江优威科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230418

Claims (8)

1. A time point estimation method of the nearest distance of an underwater moving object is characterized by estimating based on detection sonar, wherein the detection sonar is arranged in a preset range of the object to be protected and is used for detecting and collecting noise intensity of the underwater moving object Wherein, the noise intensity of the underwater moving object is collected The time point of (a) is the sampling time point The method comprises the following steps: s1, setting a linear distance acquisition formula between an underwater moving object and a detection sonar based on the position relation between the underwater moving object and the detection sonar, and setting the noise intensity of the underwater moving object when moving at the highest speed as Setting a linear distance between the underwater moving object and the detection sonar And noise intensity Intensity of noise A conversion relation between the two; s2, acquiring a sampling time point through a linear distance acquisition formula and a conversion relation As an independent variable to And in the step S2, the expression of the unitary quadratic objective equation is as follows: In the formula (I), in the formula (II), The straight line nearest distance when the underwater moving object passes through the sonar detection side is represented; Representing the speed of the underwater moving object; and S3, curve fitting a unitary quadratic target equation by adopting a quadratic fitting algorithm, wherein the method comprises the following steps: s31, based on sampling time points in unitary quadratic target equation And (3) with The relation of (2) is that the sampling time point Is that , Is that A group of data sequences are collected by detecting sonar , ) Wherein: , Total number of data sequences; S32, setting fitting function and data sequence , ) Mean square error calculation formula of fitting function through data sequence , ) Solving a mean square error calculation formula to obtain coefficients of a fitting function; s33, acquiring a symmetry axis of the solved fitting function, and acquiring a time point corresponding to the symmetry axis as a time point when the detection sonar is closest to the intercept of the underwater moving object.
2. The method for estimating a nearest distance time point of an underwater moving object according to claim 1, wherein said detecting sonar comprises a hydrophone and a data acquisition circuit, said hydrophone is used for detecting noise intensity of the underwater moving object The data acquisition circuit is used for detecting noise intensity of hydrophone Sampling is performed.
3. The method for estimating a time point of a closest approach distance of an underwater moving object according to claim 2, wherein the step S1 specifically comprises: Obtaining a right triangle formed by a hypotenuse, a first right-angle side and a second right-angle side based on the position relation between the underwater moving object and the detection sonar, wherein the hypotenuse is the linear distance between the underwater moving object and the detection sonar, and the first right-angle side is the linear nearest distance when the underwater moving object passes through the detection sonar side; let the speed of the underwater moving object be The straight line nearest distance when the underwater moving object passes through the detection sonar side is The length of the second right-angle side is The linear distance acquisition formula between the underwater moving object and the detection sonar is obtained through the relation between the sides in the right triangle, and is as follows: ; in the step S1, the expression of the conversion relation is: 。
4. the method for estimating a nearest distance time point of an underwater moving object according to claim 3, wherein in said step S32, a fitting function is set and a data sequence is set [ ] , ) Mean square error calculation formula of fitting function through data sequence , ) Solving the mean square error calculation formula to obtain coefficients of the fitting function, specifically comprising: s321, setting fitting function as Wherein I.e. the noise intensity of the moving object under water, In order to sample the time point of the sample, 、、 Are all coefficients of the fitting function; s322, setting data sequence , ) The mean square error calculation formula with the fitting function is: In the formula (I), in the formula (II), Representing the noise intensity corresponding to the underwater moving object at the ith sampling time point, To fit the total number of data sequences of the fitting function, Is mean square error; s323, obtaining a fitted normal equation through a mean square error calculation formula, wherein the fitted normal equation is as follows: ; S324, through the collected data sequence @ , ) Solving the equation to obtain fitting function coefficients 、、 Is a calculated value of (a).
5. The method for estimating a closest approach distance of an underwater moving object according to claim 4, wherein in said step S322, a mean square error is The minimum value of (2) satisfies the conditional formula: 。
6. A time point estimation system of the nearest distance of an underwater moving object is characterized by estimating based on detection sonar, wherein the detection sonar is arranged in a preset range of the object to be protected and is used for detecting and collecting noise intensity of the underwater moving object Wherein, the noise intensity of the underwater moving object is collected The time point of (a) is the sampling time point The system comprises: the setting module is used for setting a linear distance acquisition formula between the underwater moving object and the detection sonar based on the position relation between the underwater moving object and the detection sonar, and setting the noise intensity of the underwater moving object when moving at the highest speed as Setting a linear distance between the underwater moving object and the detection sonar And noise intensity Intensity of noise A conversion relation between the two; the equation acquisition module is used for acquiring the sampling time point through a linear distance acquisition formula and a conversion relation As an independent variable to A unitary quadratic objective equation which is a dependent variable, wherein the expression of the unitary quadratic objective equation is as follows: In the formula (I), in the formula (II), The straight line nearest distance when the underwater moving object passes through the sonar detection side is represented; Representing the speed of the underwater moving object; The fitting module is used for curve fitting the unitary quadratic objective equation by adopting a quadratic term fitting algorithm, and comprises the following steps: an acquisition unit for sampling time points based on a unitary quadratic target equation And (3) with The relation of (2) is that the sampling time point Is that , Is that A group of data sequences are collected by detecting sonar , ) Wherein: , Total number of data sequences; Fitting unit for setting fitting function and data sequence , ) Mean square error calculation formula of fitting function through data sequence , ) Solving a mean square error calculation formula to obtain coefficients of a fitting function; The target time point acquisition unit is used for acquiring the symmetry axis of the solved fitting function and acquiring the time point corresponding to the symmetry axis as the time point of closest intercept between the detection sonar and the underwater moving target.
7. The system for estimating a nearest distance of an underwater moving object according to claim 6, wherein said detecting sonar comprises a hydrophone and a data acquisition circuit, said hydrophone is used for detecting noise intensity of the underwater moving object The data acquisition circuit is used for detecting noise intensity of hydrophone Sampling is performed.
8. The system for estimating a closest approach point of an underwater moving object according to claim 7, wherein said setting module is specifically configured to: Obtaining a right triangle formed by a hypotenuse, a first right-angle side and a second right-angle side based on the position relation between the underwater moving object and the detection sonar, wherein the hypotenuse is the linear distance between the underwater moving object and the detection sonar, and the first right-angle side is the linear nearest distance when the underwater moving object passes through the detection sonar side; let the speed of the underwater moving object be The straight line nearest distance when the underwater moving object passes through the detection sonar side is The length of the second right-angle side is The linear distance acquisition formula between the underwater moving object and the detection sonar is obtained through the relation between the sides in the right triangle, and is as follows: ; in the setting module, the expression of the conversion relation is: 。

Description

Time point estimation method and system for nearest distance of underwater moving object Technical Field The invention relates to the field of underwater moving targets, in particular to a method and a system for estimating a time point of a nearest approach distance of an underwater moving target. Background With the development of technology, underwater vehicles (i.e., underwater moving objects), particularly unmanned underwater vehicles, are increasingly used, including novel underwater gliders, underwater ornithopters, biomimetic fish, and traditional UUV, ROV, torpedoes, etc. driven by propeller. Compared with the traditional naval equipment, the underwater unmanned aircraft has the characteristics of integration in inspection and attack, strong attack capability, good concealment and high hit rate, and is the greatest threat of water surface, underwater ships or equipment, so how to defend the underwater aircraft from investigation and attack is an important problem facing the current development of oceans. The existing underwater equipment mainly adopts two means of soft countermeasure and hard killing aiming at detection and attack of various underwater vehicles. Soft countermeasures generally adopt modes of launching air curtain bullets, interference equipment, acoustic decoys and the like, and the artificial targets are arranged, so that environmental noise is improved to cause interference and deception on an underwater vehicle guidance system, and the underwater vehicle guidance system cannot approach the targets. However, soft countermeasure has problems such as high use requirement and uncertain defense effect. The method of directly launching the shell on the water surface or underwater is generally adopted for hard killing, so that the method directly damages the approaching underwater vehicle, has the advantages of simple use and good striking effect, and has the problems of high detection and positioning difficulty and low precision of the underwater vehicle. According to the invention, the detection sonar with the attack means is arranged on the periphery of the target to be protected, the time point of the underwater vehicle closest to the detection sonar intercept is estimated by using a weighted least square curve fitting algorithm through detecting noise generated when the underwater vehicle moves, and the optimal damage effect on the underwater vehicle can be achieved by starting the attack means at the time point. Disclosure of Invention In order to improve the hit rate of an underwater moving object, the invention provides a time point estimation method of the nearest distance of the underwater moving object, which is estimated based on detection sonar, wherein the detection sonar is arranged in a preset range of the object to be protected and is used for detecting and acquiring the noise intensity A of the underwater moving object, the time point of acquiring the noise intensity A of the underwater moving object is a sampling time point t, and the method comprises the following steps: S1, setting a linear distance acquisition formula between an underwater moving object and a detection sonar based on a position relation between the underwater moving object and the detection sonar, setting the noise intensity of the underwater moving object when moving at the highest speed as P, and setting a linear distance L between the underwater moving object and the detection sonar, and a conversion relation between the linear distance L, the noise intensity A and the noise intensity P; S2, acquiring an independent variable which is a sampling time point t through a linear distance acquisition formula and a conversion relation, and acquiring A unitary quadratic objective equation for the dependent variable; and S3, curve fitting a unitary quadratic target equation by adopting a quadratic fitting algorithm, wherein the method comprises the following steps: S31, based on the sampling time point t and the sampling time point in the unitary quadratic target equation The relation of (c) makes the sampling time point t x i,For y i, a set of data sequences (x i,yi) were acquired by probe sonar, wherein: i=1, 2, 3..m, m is the total number of data sequences; S32, setting a fitting function, setting a mean square error calculation formula of a data sequence (x i,yi) and the fitting function, and solving the mean square error calculation formula through the data sequence (x i,yi) to obtain coefficients of the fitting function; S33, acquiring a symmetry axis of the solved fitting function, and acquiring a time point t corresponding to the symmetry axis as a time point when the detection sonar is closest to the intercept of the underwater moving object. Further, the detection sonar comprises a hydrophone and a data acquisition circuit, wherein the hydrophone is used for detecting noise intensity A of an underwater moving object, and the data acquisition circuit is used for sampling the noise intensity A de