Design And Implementation Of Positioning Solution Software For Underwater High-speed Target 3D Track Measurement System

To vigorously develop underwater weapons,the performance of underwater target track measurement system needs to be improved first.In order to adapt to the characteristics of high speed,maneuverability and intelligence of current underwater weapon,the underwater target track measurement system gradually develops towards high frame rate and high precision.In this paper,the location algorithm of underwater high speed target track measurement system under active and passive working mode was studied.According to the working mode of the synchronous acoustic beacon mounted on the target in active mode,the horizontal position of the target was obtained by calculating the propagation delay or delay difference of the acoustic signal.The circular intersection model and hyperbolic intersection model were established respectively according to the acoustic parameters.Aiming at the problem of distance ambiguity in engineering implementation,four methods were studied,including the method of raising hands,the method of reference position marking,the anti-fuzzy method of azimuth information fusion and the anti-fuzzy method of combined pulse.The simulation results showed that the four anti-fuzzy methods can suppress the influence of distance ambiguity to a certain extent,and can be combined in engineering according to different test conditions.Aiming at the depth measurement problem of the target,the depth measurement pulse containing depth information was sent by the synchronous acoustic beacon,and the depth position of the target was obtained by the double pulse sounding method.Aiming at the delay expansion or compression caused by Doppler effect when the target is moving at high speed,the doppler modified delay algorithm was used to suppress the delay,which can effectively improve the depth measurement accuracy.Since the measurement accuracy of the arrival delay of the radiated noise in passive mode is low,the azimuth-only intersection algorithm was used to get the horizontal position of the target.The location accuracy of the azimuth intersection algorithm is limited,so the information of redundant array elements was fused to improve the horizontal location accuracy.When the array elements are redundant,the blind area of the azimuth intersection algorithm can be eliminated by the fusion method,and the location accuracy is effectively improved.In order to solve the problem of misalignment of acoustic signals received by all primitives in engineering implementation,the spatio-temporal correlation algorithm was used to align the azimuth information of all primitives and calculate the target position.The results of track measurement with or without spatio-temporal correlation algorithm were compared and analyzed.The results show that the spatio-temporal correlation algorithm can effectively restore the target track and improve the location accuracy.The vertical double-hydrophone method and the multi-path interface method were used to target depth measurements.The simulation results show that the multi-path interface method has higher depth measurement accuracy than the vertical double-hydrophone method under the same simulation conditions,but sometimes there is no multipath reflection on the sea surface in engineering implementation,so the vertical double-hydrophone method has better robustness.In the software design process,in order to facilitate the functional debugging and overall testing of each module,modular design was adopted to reduce the coupling factor.The crossplatform application framework Qt was used for programming.After software designing,the electrical simulator and signal acquisition and processing subsystem were combined with the track measurement software to verify the effectiveness of the positioning algorithm and software functions.The software has been tested through lake experiment,and all functions have reached the expectation.The software has good stability and high positioning accuracy.