Research On Distributed Multi-vector Hydrophone Joint Tracking And Positioning Technology

Measuring the underwater target's radiated noise and obtaining its acoustic information can provide guidance for vibration and noise reduction.The accurate measurement of the distance between the underwater target and the measurement point is the key to the target sound level calculation.The traditional underwater target positioning and tracking measurement is the installation of cooperative beacons on the target.With the development of vibration reduction and noise reduction,the new demand in the field of noise measurement can not be met now.The emergence of vector hydrophone provides a new direction for noise measurement.Since the vector hydrophone can obtain both the sound pressure information and the particle velocity information in the sound field,the joint processing of them will surely enhance the capability of underwater noise measurement.In this paper,the combined processing technology of sound pressure and vibration velocity using vector hydrophone,detailed description of the relationship between sound pressure and vibration velocity,the use of vector hydrophone to conduct the basic method of direction finding,respectively,based on the average sound intensity method and cross spectrum spectral intensity method of target direction finding,and established models based on the vector hydrophone directional time domain model and frequency domain model.On this basis,further processing by the frequency domain data fusion technology can estimate the orientation information of the target more accurately and improve the accuracy of the direction finding.According to the vector hydrophone direction finding principle,a single vector hydrophone can be used to measure the target with high accuracy.Using two vector hydrophones,the trajectory of the target can be tracked by the intersection of triangles positioning,At the same time,the Kalman filter algorithm is used to optimize the trajectory of the moving target.The post-processing of the target trajectory,the least square method for trajectory fitting,you can get the ideal trajectory fitting effect.The combination of data fusion and Kalman filter algorithm can make full use of the data information obtained by vector hydrophone so that the tracking and positioning performance of passive positioning system can be improved remarkably,quickly and precisely in a small area.In this paper,the method of passive positioning multi-platform is studied.The four vector hydrophones are used to form the measurement matrix of different geometrical types,the simulation of positioning accuracy is carried out,and study the layout accuracy of the target with different geometrical types influences.The data fusion technology is applied to the passive vector positioning system of multi-vector hydrophones,which can make full use of the azimuth information measured by multiple vector hydrophones.Through the selection and weighted synthesis of redundant data,can also greatly reduces the measurement of blind spots.Finally,ten equally spaced vector hydrophone submarines were used to study the effect of vector hydrophone deployment depth and signal-to-noise ratio on the accuracy of vector hydrophone measurements at different locations,thus achieving the goal of non-cooperative passive target measuring.Computer simulation proves the reliability and validity of the passive positioning algorithm of the vector hydrophone,which can be applied in the passive target positioning system of underwater target and complemented by the lake test.The research results can meet the requirements of the new range test,provide data support and provide guidance for experimental measurement,which is easy to realize in engineering and has high practical value.