阅读说明：本技术 一种基于深水水下滑翔机的四通道水听器阵列及运行方法 (Four-channel hydrophone array based on deep-water underwater glider and operation method ) 是由 江磊 王光旭 刘超男 于 2020-05-26 设计创作，主要内容包括：本发明属于深海海洋仪器技术领域,具体涉及一种基于深水水下滑翔机的四通道水听器阵列,该四通道水听器阵列(10)固定在深水水下滑翔机(1)上,该四通道水听器阵列(10)包括：封装结构(11)、四个深水传感器(4)和信号处理与控制子系统；四个深水传感器(4)等间距封装在封装结构(11)内,封装结构(11)的中部向外延伸出水密接头(3)；水密接头(3)通过电缆与设置在深水水下滑翔机(1)的机翼下方的滑翔机电子舱(12)密封连接,且四通道水听器阵列(10)与设置在滑翔机电子舱(12)内的信号处理与控制子系统连接。(The invention belongs to the technical field of deep sea marine instruments, and particularly relates to a four-channel hydrophone array based on a deep water underwater glider, wherein the four-channel hydrophone array (10) is fixed on the deep water underwater glider (1), and the four-channel hydrophone array (10) comprises: the device comprises a packaging structure (11), four deep water sensors (4) and a signal processing and control subsystem; the four deep water sensors (4) are packaged in the packaging structure (11) at equal intervals, and the middle part of the packaging structure (11) extends outwards to form a watertight joint (3); the watertight connector (3) is hermetically connected with a glider electronic cabin (12) arranged below the wings of the deep water glider (1) through cables, and the four-channel hydrophone array (10) is connected with a signal processing and control subsystem arranged in the glider electronic cabin (12).)

1. A four-channel hydrophone array based on a deep-water underwater glider, characterized in that the four-channel hydrophone array (10) is fixed to the deep-water underwater glider (1), the four-channel hydrophone array (10) comprising: the device comprises a packaging structure (11), four deep water sensors (4) and a signal processing and control subsystem;

the four deep water sensors (4) are packaged in the packaging structure (11) at equal intervals, and the middle part of the packaging structure (11) extends outwards to form a watertight joint (3); the watertight connector (3) is hermetically connected with a glider electronic cabin (12) arranged below the wings of the deep water glider (1) through cables, and the four-channel hydrophone array (10) is connected with a signal processing and control subsystem arranged in the glider electronic cabin (12).

2. The deepwater underwater glider-based four-channel hydrophone array of claim 1, wherein the signal processing and control subsystem comprises: the system comprises a signal acquisition module, a signal processing module, a control and state monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power supply module;

the signal acquisition module, the signal processing module, the control and state monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power supply module are all arranged in the glider electronic cabin (12); the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces arranged on the peripheral interface module are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the control and state monitoring module through a serial communication interface arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;

the four-channel hydrophone array (10) is used for simultaneously acquiring four acoustic signals of a deep sea target, performing sound-electricity conversion on the acoustic signals acquired each time to obtain converted electric signals, and amplifying the converted electric signals to obtain amplified electric signals so as to obtain four amplified electric signals;

the signal acquisition module is used for acquiring the four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;

the peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;

the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, the energy and the frequency spectrum of each digital signal;

the system is also used for storing the four digital signals, the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal;

the deep sea target position information and the energy and frequency spectrum of each digital signal are integrally bound into a frame according to the instruction of the upper computer and then are sent to the upper computer;

the signal processing module is used for carrying out signal processing on each obtained digital signal to obtain position information of the deep sea target and energy and frequency spectrum of each digital signal;

the control and state monitoring module is in network connection with the upper computer through the Ethernet communication module, and is used for monitoring the running state of each module according to a control instruction sent by the upper computer and exchanging data with the peripheral interface module;

the Ethernet communication module utilizes a TCP/IP communication protocol to carry out mutual communication between the peripheral interface module and the upper computer, the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or a digital signal acquired by the signal acquisition module to the upper computer according to the instruction;

the storage module is used for storing the energy and the frequency spectrum of each digital signal or digital signal acquired by the signal acquisition module;

the power supply module is used for converting voltage accessed by the deep water underwater glider into input voltage required by the four-channel hydrophone array (10).

3. The deep water underwater glider-based four-channel hydrophone array according to claim 2, wherein the deep water sensor (4) comprises a first pressure-resistant material (5), a first active material (6), a front plate (7), a second active material (8) and a second pressure-resistant material (9) which are sequentially arranged in series;

the front board (7) is a front amplifying circuit board, and the front board (7) is positioned between the first active material (6) and the second active material (8);

the first pressure-resistant material (5), the first active material (6), the second active material (8) and the second pressure-resistant material (9) are all of hollow cylindrical structures and are all thin-wall piezoelectric ceramic round tubes.

4. The deep underwater glider-based four-channel hydrophone array of claim 2, wherein the signal acquisition module comprises: the device comprises a collecting unit, an AD converter and a gain control and filter circuit;

the acquisition unit is used for acquiring four amplified electric signals;

the gain control and filter circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;

and the AD converter is used for performing analog-to-digital conversion on each processed electric signal, realizing the quantization of the signal and obtaining a digital signal.

5. The deep underwater glider-based four-channel hydrophone array of claim 2, wherein the peripheral interface module comprises: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;

the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;

the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;

the storage unit is used for storing each digital signal, and the energy and the frequency spectrum of each digital signal;

and the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then sending the needle to the upper computer.

6. The deep underwater glider-based four-channel hydrophone array of claim 2, wherein the signal processing module comprises an energy acquisition unit and a spectrum acquisition unit;

the frequency spectrum acquisition unit is used for performing digital filtering on each digital signal, performing dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and acquiring the frequency spectrum of the digital signals by using a time-frequency transform processing algorithm;

the energy acquisition unit is used for digitally filtering each digital signal, and superposing the filtered digital signals to acquire the energy of each digital signal;

and the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the acquired four digital signals.

7. The deep water underwater glider-based four-channel hydrophone array according to claim 6, wherein the position information of the deep sea target is obtained according to the obtained four digital signals, specifically:

respectively intercepting a section of digital signals with proper length, namely S1, S2, S3 and S4, of the four digital signals, and performing position estimation operation on the S1, the S2, the S3 and the S4 by adopting a conventional beam forming method to obtain the possible target position of the deep sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

8. A method for operating a four-channel hydrophone array based on a deep-water underwater glider is characterized by comprising the following steps:

the control and state monitoring module sends out an instruction according to a set working task, the power supply module converts the voltage accessed by the deep water glider into an input voltage required by the four-channel hydrophone array (10), and the four-channel hydrophone array (10) starts to operate;

the four deep water sensors (4) simultaneously acquire acoustic signals of a deep sea target to obtain four acoustic signals, each acoustic signal is subjected to sound-electricity conversion to obtain converted electric signals, and each converted electric signal is amplified to obtain amplified electric signals;

the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and performs analog-to-digital conversion on the processed electric signal to obtain a digital signal so as to obtain four digital signals;

the peripheral interface module receives the four digital signals and sends the four digital signals to the signal processing module;

the signal processing module is used for processing each digital signal to obtain the position information of the deep sea target and the energy and the frequency spectrum of each digital signal as processed data;

the storage module stores the digital signals and the processed data acquired by the signal acquisition module and sends the digital signals and the processed data to the peripheral interface module;

the peripheral interface module receives the instruction sent by the upper computer through the Ethernet communication module and uploads the digital signal or the processed data acquired by the signal acquisition module to the upper computer according to the instruction sent by the upper computer.

9. The method of claim 8, wherein the signal processing module performs signal processing on each digital signal to obtain position information of the deep-sea target; in particular, the amount of the solvent to be used,

in the signal processing module, digital signals with a proper length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to carry out position estimation operation on the S1, the S2, the S3 and the S4 so as to obtain the possible target position of the deep sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

Technical Field

The invention belongs to the technical field of deep sea marine instruments, and particularly relates to a four-channel hydrophone array based on a deep water underwater glider and an operation method.

Background

At present, the acquisition of acoustic signals of ocean background fields and ocean mid-sea fields under deep sea conditions and the development of characteristic researches such as related acoustic propagation, communication, detection and the like are important contents for the development of ocean acoustic researches. With the continuous development of the deep sea underwater vehicle technology, the ocean acoustic research work has already possessed the basic conditions of gradually moving from "shallow" to "deep" and from "static" to "moving", so the development can be applicable to deep sea, and the demand of meeting the intelligent acoustic receiving device based on underwater glider platform energy supply and information transmission is very urgent.

In recent years, research works such as hydrodynamic processes, ocean currents, atmospheric circulation and the like are developed internationally by using an underwater glider, and the research works become hot spots, and a plurality of domestic research institutions and students actively participate in the research works. However, the acoustic research work carried out by using the underwater glider platform is still almost blank in the relevant research aspects at home and abroad at present, and the reason for the blank is mainly the lack of an acoustic sensor suitable for the deep-water underwater glider platform. The research on the marine acoustic characteristics has high requirements on the environment, and generally requires that an acoustic sensing device (namely, a hydrophone) is placed in an environment with a low noise background, so that the placement of the hydrophone can not change the free field particle motion rule in a certain frequency range, the problem of field distortion can be avoided, and only the response characteristics of the hydrophone are required to correct the recorded result. However, such an environment usually exists only in deep sea, which requires that the hydrophone has a wide operating frequency band and collects signals of different frequency bands, so that the study on the relationship between the acoustic characteristics and the coupling characteristics can be realized. At present, the existing underwater acoustic recording devices at home and abroad still belong to single simple equipment based on data acquisition or data transmission, cannot realize the functions of intelligent control, data conversion transmission, equipment connection monitoring and the like, and cannot be installed on a deep underwater glider.

However, the conventional underwater acoustic equipment is usually large or high in size, weight, power consumption and the like, and the existing hydrophone is mainly based on a hydrophone which is arranged on a fixed large platform (an underwater carrier with the diameter larger than 1m and the length larger than 10m, such as a ship, an underwater platform and the like) and is based on a shallow sea and a single node, and cannot meet the actual requirement of acoustic observation based on a movable small platform (with the diameter of 50-60cm and the length of 2-3m) of a deep water underwater glider at the present stage.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides a four-channel hydrophone array based on a deep-water underwater glider and an operation method thereof, and solves the problems that the conventional deep-water underwater glider platform is small in size and cannot be provided with deep-sea multi-channel hydrophones. By means of the method of mutually fusing and designing the deepwater acoustic sensing device and the intelligent control acquisition system, the deepwater acoustic hydrophone which is suitable for the deepwater underwater glider and has the advantages of miniaturization, low power consumption and autonomous working capacity is provided.

The invention provides a four-channel hydrophone array based on a deepwater underwater glider, which is fixed on the deepwater underwater glider and comprises: the system comprises a packaging structure, four deep water sensors and a signal processing and control subsystem;

the four deep water sensors are packaged in the packaging structure at equal intervals, and the middle part of the packaging structure extends outwards to form a watertight joint; the watertight connector is hermetically connected with a glider electronic cabin arranged below wings of the glider under the deep water, and the four-channel hydrophone array is connected with a signal processing and control subsystem arranged in the glider electronic cabin.

As an improvement of the above technical solution, the signal processing and control subsystem includes: the system comprises a signal acquisition module, a signal processing module, a control and state monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power supply module;

the signal acquisition module, the signal processing module, the control and state monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power supply module are all arranged in the glider electronic cabin; the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces arranged on the peripheral interface module are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the control and state monitoring module through a serial communication interface arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;

the four-channel hydrophone array is used for simultaneously acquiring four times of acoustic signals for the deep sea target, performing sound-electricity conversion on the acoustic signals acquired each time to obtain converted electric signals, and amplifying the converted electric signals to obtain amplified electric signals so as to obtain four amplified electric signals;

the signal acquisition module is used for acquiring the four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;

the peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;

the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, the energy and the frequency spectrum of each digital signal;

the system is also used for storing the four digital signals, the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal;

the deep sea target position information and the energy and frequency spectrum of each digital signal are integrally bound into a frame according to the instruction of the upper computer and then are sent to the upper computer;

the signal processing module is used for carrying out signal processing on each obtained digital signal to obtain position information of the deep sea target and energy and frequency spectrum of each digital signal;

the control and state monitoring module is in network connection with the upper computer through the Ethernet communication module, and is used for monitoring the running state of each module according to a control instruction sent by the upper computer and exchanging data with the peripheral interface module;

the Ethernet communication module utilizes a TCP/IP communication protocol to carry out mutual communication between the peripheral interface module and the upper computer, the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or a digital signal acquired by the signal acquisition module to the upper computer according to the instruction;

the storage module is used for storing the energy and the frequency spectrum of each digital signal or digital signal acquired by the signal acquisition module;

and the power supply module is used for converting the voltage accessed by the deep water underwater glider into the input voltage required by the four-channel hydrophone array.

As one improvement of the technical scheme, the deep water sensor comprises a first pressure-resistant material, a first active material, a front panel, a second active material and a second pressure-resistant material which are sequentially connected in series;

the front amplification board is a front amplification circuit board and is positioned between the first active material and the second active material;

the first pressure-resistant material, the first active material, the second active material and the second pressure-resistant material are all of hollow cylindrical structures and are all thin-wall piezoelectric ceramic round tubes.

As an improvement of the above technical solution, the signal acquisition module includes: the device comprises a collecting unit, an AD converter and a gain control and filter circuit;

the acquisition unit is used for acquiring four amplified electric signals;

the gain control and filter circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;

and the AD converter is used for performing analog-to-digital conversion on each processed electric signal, realizing the quantization of the signal and obtaining a digital signal.

As an improvement of the above technical solution, the peripheral interface module includes: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;

the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;

the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;

the storage unit is used for storing each digital signal, and the energy and the frequency spectrum of each digital signal;

and the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then sending the needle to the upper computer.

As one improvement of the above technical solution, the signal processing module includes an energy obtaining unit and a spectrum obtaining unit;

the frequency spectrum acquisition unit is used for performing digital filtering on each digital signal, performing dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and acquiring the frequency spectrum of the digital signals by using a time-frequency transform processing algorithm;

the energy acquisition unit is used for digitally filtering each digital signal, and superposing the filtered digital signals to acquire the energy of each digital signal;

and the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the acquired four digital signals.

As one improvement of the above technical solution, the obtaining of the position information of the deep-sea target according to the obtained four digital signals specifically includes:

respectively intercepting a section of digital signals with proper length, namely S1, S2, S3 and S4, of the four digital signals, and performing position estimation operation on the S1, the S2, the S3 and the S4 by adopting a conventional beam forming method to obtain the possible target position of the deep sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

The invention also provides an operation method of the four-channel hydrophone array based on the deepwater underwater glider, which comprises the following steps:

the control and state monitoring module sends out an instruction according to a set working task, the power supply module converts the voltage accessed by the deep water underwater glider into an input voltage required by the four-channel hydrophone array, and the four-channel hydrophone array starts to operate;

the four deep water sensors simultaneously acquire acoustic signals of a deep water target to obtain four acoustic signals, each acoustic signal is subjected to sound-electricity conversion to obtain converted electric signals, and each converted electric signal is amplified to obtain amplified electric signals;

the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and performs analog-to-digital conversion on the processed electric signal to obtain a digital signal so as to obtain four digital signals;

the peripheral interface module receives the four digital signals and sends the four digital signals to the signal processing module;

the signal processing module is used for processing each digital signal to obtain the position information of the deep sea target and the energy and the frequency spectrum of each digital signal as processed data;

the storage module stores the digital signals and the processed data acquired by the signal acquisition module and sends the digital signals and the processed data to the peripheral interface module;

the peripheral interface module receives the instruction sent by the upper computer through the Ethernet communication module and uploads the digital signal or the processed data acquired by the signal acquisition module to the upper computer according to the instruction sent by the upper computer.

As one improvement of the above technical solution, the signal processing module performs signal processing on each digital signal to obtain position information of the deep-sea target; in particular, the amount of the solvent to be used,

in the signal processing module, digital signals with a proper length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to carry out position estimation operation on the S1, the S2, the S3 and the S4 so as to obtain the possible target position of the deep sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

Compared with the prior art, the invention has the beneficial effects that:

1. the integration level is high: the system has the advantages that acoustic signals are collected, recorded, processed and forwarded, the system can automatically run according to set tasks, dynamic spectrum analysis, energy detection and automatic line spectrum tracking are realized through a signal processing module, low power consumption and small volume can be realized, the system can be integrated in a deepwater underwater glider, and the real-time acquisition of the acoustic signals and background field information can be realized within a large-scale range of 100 plus 3000 kilometers matched with the working scale of the deepwater underwater glider;

2. the signal quality is high: the four deep water sensors operate synchronously, can position, detect and track the position of a deep sea target, realize the near-end digital recording of acoustic signals, and overcome the problems of signal attenuation, interference, voltage drop and the like during internal transmission of the deep water underwater glider. Meanwhile, the four-channel hydrophone array is arranged on the underwater glider, so that the flow noise caused by the movement of the deepwater underwater glider is effectively avoided.

3. High reliability: the hydrophone is designed with high integration level, so that the overall structural strength is improved, and the hydrophone is more suitable for deep sea high static pressure environment; meanwhile, the whole four-channel hydrophone array and the deepwater underwater glider are of an integrated structure, the common-mode design is realized, the fluid structure of the deepwater underwater glider is not changed, the deepwater underwater glider and other observation equipment carried on the deepwater underwater glider are mutually independent, the fault isolation can be effectively realized, the deepwater underwater glider is not damaged due to a certain fault, and the safety and reliability are greatly improved;

4. large breadth and depth: the method can synchronously acquire the ocean acoustic signals and the ocean background field information distributed at different depths in a large sea area in a short time, and can position the deep-sea targets at different depths in real time.

Drawings

FIG. 1 is a schematic structural view of a deep water underwater glider-based four-channel hydrophone array of the present invention mounted on the deep water underwater glider;

FIG. 2 is a schematic diagram of a detailed structure of a four-channel hydrophone array signal processing and control subsystem based on a deep-water glider according to the present invention;

FIG. 3 is a schematic structural diagram of a deep water glider-based four-channel hydrophone array according to the present invention;

FIG. 4 is a schematic diagram of the detailed structure of a deep water sensor based on a four-channel hydrophone array of a deep water glider according to the invention;

fig. 5 is a method flow diagram of an embodiment of a method of operating a four-channel hydrophone array based on a deep water glider of the present invention.

Reference numerals:

1. deepwater underwater glider 2 and watertight connector

3. Watertight joint 4, deep water sensor

5. Pressure release cover 6, first piezoelectric material

7. Preamplifier 8, second piezoelectric material

9. Base 10, four-channel hydrophone array

11. Packaging structure 12 and glider electronic cabin

Detailed Description

The invention will now be further described with reference to the accompanying drawings.

The invention provides a four-channel hydrophone array based on a deep-water underwater glider and an operation method thereof, wherein the four-channel hydrophone is mainly used in a deep-sea environment, can realize autonomous operation work, collects acoustic signals, records the collected acoustic signals in an internal storage device, can transmit original data or processing results to an upper computer (a glider processing terminal) in real time after completing data conversion or processing, and realizes positioning, exploration and tracking of deep-sea targets.

As shown in fig. 1 and 3, the four-channel hydrophone array 10 is fixed to the deep water glider 1, and the four-channel hydrophone array 10 includes: the system comprises a packaging structure 11, four deep water sensors 4 and a signal processing and control subsystem;

the four deep water sensors 4 are packaged in the packaging structure 11 at equal intervals, and the middle part of the packaging structure 11 extends outwards to form a watertight joint 3; the watertight connector 3 is hermetically connected with a glider electronic cabin 12 arranged below the wings of the deep water underwater glider 1 through cables, and the four-channel hydrophone array 10 is connected with a signal processing and control subsystem arranged in the glider electronic cabin 12.

Specifically, the two ends of the package structure are cylindrical structures with arc structures, and the joint of the package structure and the deep water underwater glider 1 also adopts an arc structure, so that the four-channel hydrophone array 10 and the deep water underwater glider 1 are completely attached, packaged and fixed, and a resonance cavity is effectively prevented from being generated between the four-channel hydrophone array 10 and the deep water underwater glider 1 on the premise that the hydrodynamic characteristics of the deep water underwater glider 1 are not changed.

As shown in fig. 2, the signal processing and control subsystem includes: the system comprises a signal acquisition module, a signal processing module, a control and state monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power supply module;

the system comprises a signal acquisition module, a signal processing module, a control and state monitoring module, an Ethernet communication module, a peripheral interface module, a storage module and a power supply module;

the signal acquisition module, the signal processing module, the control and state monitoring module, the Ethernet communication module, the peripheral interface module, the storage module and the power supply module are all arranged in the glider electronic cabin 12; the signal acquisition module is connected with the watertight connector, a plurality of high-speed data interfaces arranged on the peripheral interface module are respectively connected with the signal acquisition module, the Ethernet communication module, the signal processing module and the storage module, and the peripheral interface module is connected with the control and state monitoring module through a serial communication interface arranged on the peripheral interface module; the control and state monitoring module is connected with the power supply module; the signal processing module is connected with the storage module;

the four-channel hydrophone array 10 is used for simultaneously acquiring four times of acoustic signals of a deep sea target, performing sound-electricity conversion on the acoustic signals acquired each time to obtain converted electric signals, and performing amplification processing on the converted electric signals to obtain amplified electric signals so as to obtain four amplified electric signals;

as shown in fig. 4, the deep water sensor 4 includes a first pressure-resistant material 5, a first active material 6, a front plate 7, a second active material 8, and a second pressure-resistant material 9, which are sequentially arranged in this order;

wherein the front plane 7 is located between the first active material 6 and the second active material 8.

Wherein the first voltage resistant material 5, the first active material 6, the second active material 8 and the second voltage resistant material 9 are all hollow cylindrical structures;

the first and second pressure-resistant materials 5 and 9 are preferably thin-walled piezoelectric ceramic round tubes; the inner cavity of the thin-wall piezoelectric ceramic round tube is lined with air, polyurethane rubber is packaged outside the inner cavity, the receiving surface of the thin-wall piezoelectric ceramic round tube is mainly the outer surface and the end parts at the two ends of the outer surface, and the thin-wall piezoelectric ceramic round tube has the characteristics of simple structure, reliable performance and high sensitivity. The thin-wall piezoelectric ceramic round tube is preferably a PZT-4 piezoelectric ceramic round tube, the inner diameter of the round tube is 10mm, and the outer diameter of the round tube is 12 mm; two piezoelectric ceramic circular tubes are connected in series, so that the sensitivity of receiving voltage is improved.

The first active material 6 and the second active material 8 are preferably thin-walled piezoelectric ceramic round tubes; the inner cavity of the thin-wall piezoelectric ceramic round tube is lined with air, polyurethane rubber is packaged outside the inner cavity, the receiving surface of the thin-wall piezoelectric ceramic round tube is mainly the outer surface and the end parts at the two ends of the outer surface, and the thin-wall piezoelectric ceramic round tube has the characteristics of simple structure, reliable performance and high sensitivity. The thin-wall piezoelectric ceramic round tube is preferably a PZT-4 piezoelectric ceramic round tube, the inner diameter of the round tube is 10mm, and the outer diameter of the round tube is 12 mm; two piezoelectric ceramic circular tubes are connected in series, so that the sensitivity of receiving voltage is improved.

The preamplifier board 7 is preferably a preamplifier circuit board, and is configured to amplify the electrical signal subjected to the acoustic-electric conversion to obtain an amplified electrical signal.

Four equally spaced deep water sensors 4 are encapsulated in an encapsulation structure 11 by polyurethane rubber.

The signal acquisition module is used for acquiring the four amplified electric signals, filtering and secondarily amplifying the amplified electric signals of each channel to obtain processed electric signals, and performing analog-to-digital conversion on the processed electric signals to obtain digital signals so as to obtain four digital signals;

specifically, the signal acquisition module includes: the device comprises a collecting unit, an AD converter and a gain control and filter circuit;

the acquisition unit is used for acquiring four amplified electric signals;

the gain control and filter circuit is used for filtering and secondarily amplifying each acquired amplified electric signal to obtain a processed electric signal;

and the AD converter is used for performing analog-to-digital conversion on each processed electric signal, realizing the quantization of the signal and obtaining a digital signal. In this embodiment, the model of the AD converter is ADs1247, which is used to complete "analog-to-digital" conversion and quantize data.

The peripheral interface module is used for receiving the four digital signals and sending the digital signals to the signal processing module;

the system is also used for forwarding or distributing the four received digital signals according to the instruction of the control and state monitoring module, and storing and uploading the position information of the deep sea target, the energy and the frequency spectrum of each digital signal;

the system is also used for storing the four digital signals, the position information of the deep sea target, and the energy and the frequency spectrum of each digital signal;

the deep sea target position information and the energy and frequency spectrum of each digital signal are integrally bound into a frame according to the instruction of the upper computer and then are sent to the upper computer;

specifically, the peripheral interface module includes: the device comprises a receiving unit, a data exchange unit, a storage unit and a data transmission unit;

the receiving unit is used for receiving the four digital signals and sending the four digital signals to the signal processing module;

the data exchange unit is used for forwarding or distributing the four digital signals according to the instruction of the control and state monitoring module, and storing and uploading the energy and the frequency spectrum of each digital signal;

the storage unit is used for storing each digital signal, and the energy and the frequency spectrum of each digital signal;

and the data transmission unit is used for binding the energy and the frequency spectrum of each digital signal into a needle according to the instruction of the upper computer and then sending the needle to the upper computer.

The peripheral interface module is a Field-Programmable Gate Array (FPGA) with low power consumption, and the specific model of the FPGA is MAXIIEPM570z, and the FPGA provides a plurality of high-speed data interfaces and serial interfaces.

The peripheral interface module is responsible for completing the receiving, distribution, storage and transmission of the electric signals after AD conversion and the digital signals after the processing of the signal processing module, and coordinates the safe and reliable operation of each module to avoid the conflict of data streams. In this embodiment, the model number of the FPGA is 10M50SAE144, 4 high-speed data exchange interfaces can be accessed, and the FPGA has a high data throughput capability, thereby improving redundancy of data backup;

the signal processing module is used for carrying out signal processing on each obtained digital signal to obtain position information of the deep sea target and energy and frequency spectrum of each digital signal;

the signal processing module comprises an energy acquisition unit and a frequency spectrum acquisition unit;

the frequency spectrum acquisition unit is used for performing digital filtering on each digital signal, performing dynamic frequency spectrum analysis and line spectrum tracking on the filtered digital signals, and acquiring the frequency spectrum of the digital signals by using a time-frequency transform processing algorithm;

the energy acquisition unit is used for digitally filtering each digital signal, and superposing the filtered digital signals to acquire the energy of each digital signal;

the deep sea target acquisition unit is used for acquiring the position information of the deep sea target according to the four acquired digital signals;

specifically, a section of digital signals with proper length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to carry out azimuth estimation operation on the S1, the S2, the S3 and the S4, so as to obtain the possible target azimuth of the deep-sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

In other specific embodiments, an MVDR beam forming method may also be adopted to perform the position estimation operation on S1, S2, S3, and S4, so as to obtain the possible target position of the deep sea target.

The signal processing module also comprises a USB interface, a UART serial interface and an 8-bit high-speed data interface;

the USB interface is used for sending the obtained energy and frequency spectrum of each digital signal to the storage module for storage;

the UART serial interface is used for communication between the signal processing module and the control and state monitoring module;

and the 8-bit high-speed data interface is used for communication and data transmission between the signal processing module and the peripheral interface module.

In other embodiments, the signal processing module further comprises a UART serial extension interface for extending the spare. The UART serial interface and the UART serial expansion interface are both UART serial interfaces.

The Signal processing module can adopt a low-power Digital Signal Processor (DSP), and the specific model of the Signal processing module is BF 707; the DSP processes the digital signal generated by the AD converter, and obtains the energy and the frequency spectrum of the digital signal and a frequency spectrum change function drawn according to a frequency spectrum change rule by adopting a digital filtering and time-frequency conversion processing algorithm.

The signal processing module is additionally provided with a 2GB DDR2 memory and a 32MB FLASH application program memory which are used for caching the intermediate result of the signal processing module. The communication and data transmission between the signal processing module and the peripheral interface module are completed through 1 USB2.0 interface, 2 UART serial interfaces and 1 8-bit high-speed data interface provided by BF 707. The USB2.0 interface is connected to the storage module and used for reading and writing the miniSD card. 1 serial interface in 2 serial interfaces is used for communicating with the control and state monitoring module, and another serial interface is reserved as an expansion interface; the 8-bit high-speed data interface is connected with the FPGA and can acquire AD conversion data in real time.

The control and state monitoring module is in network connection with the upper computer through the Ethernet communication module, and is used for monitoring the running state of each module according to a control instruction sent by the upper computer and exchanging data with the peripheral interface module;

the control and state monitoring module is in network connection with an upper computer through the Ethernet communication module, the single chip microcomputer used by the control and state monitoring module can be MSP430F5438 and is used for receiving a control instruction sent by the upper computer and monitoring the working state of each module, and meanwhile the control and state monitoring module can control power-on, reset and watchdog control of the power module, so that the single chip microcomputer is prevented from being abnormal, and resetting and re-working under abnormal conditions are guaranteed.

In this embodiment, the control and status monitoring module is a single chip microcomputer, and the specific model thereof is MSP430F5438, and the control, data transmission and power management of the entire hydrophone are completed according to a given work task, and the safe and reliable operation of other modules is coordinated. The control and state monitoring module is connected with the peripheral interface module through a serial communication interface, and a standard RS232 serial interface is adopted;

the Ethernet communication module utilizes a TCP/IP communication protocol to carry out mutual communication between the peripheral interface module and the upper computer, the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or a digital signal acquired by the signal acquisition module to the upper computer according to the instruction;

the Ethernet communication module utilizes a TCP/IP communication protocol to carry out mutual communication between the peripheral interface module and the upper computer, the peripheral interface module receives an instruction sent by the upper computer and uploads data processed by the signal processing module or a digital signal acquired by the signal acquisition module to the upper computer according to the instruction; the Ethernet communication module is respectively connected with the peripheral interface module and the upper computer, and the communication rate is 1000 Mbps; in this embodiment, the ethernet communication module is implemented by an 10/100/1000-megabit adaptive network switch with 5 ports on a chip, wherein 4 ports are used for connecting an upper computer, and the other 1 port is used as a backup or is used for connecting optical fiber network equipment to implement remote transmission.

The signal acquisition module, the signal processing module and the upper computer are communicated through an Ethernet TCP/IP protocol, acoustic signals (namely acoustic original data) or processing results processed by the signal processing module are transmitted to the upper computer through the peripheral interface module and the Ethernet communication module, and receive control instructions sent by the upper computer; wherein the processing result comprises the energy and the frequency spectrum of the digital signal.

The storage module is used for storing the energy and the frequency spectrum of each digital signal or digital signal acquired by the signal acquisition module.

The storage module is a storage array formed by a plurality of high-density (SDXC type or SDHC type) mini-SD cards, and seamless switching among the plurality of storage cards can be realized by controlling through a peripheral interface module. In this embodiment, the storage module uses 4 mini-SD cards with a capacity of 512 GB.

The power supply module is used for converting the voltage accessed by the deep water underwater glider into the input voltage required by the four-channel hydrophone array 10. Simultaneously, the converted input voltage and current are measured and controlled in real time; and if the converted input voltage and current exceed the corresponding normal range value of the voltage and the normal range value of the current, performing disconnection processing to protect the circuit.

The power module is additionally provided with functions of resisting surge and suppressing power harmonic interference.

FIG. 1 is a schematic diagram of a four-channel hydrophone based on a deep water glider; the four-channel hydrophone array 10 in the figure 1 is installed on a deep-water underwater glider 1, the four-channel hydrophone array 10 is hermetically connected with a watertight connector 2 arranged on a glider electronic cabin 12 through a watertight connector 3 through a cable, and meanwhile, the four-channel hydrophone array 10 is connected with all modules arranged in the glider electronic cabin 12 to realize data format conversion, storage, processing and transmission of collected data.

FIG. 2 is a schematic diagram of a four-channel hydrophone array 10 connected to various modules within a glider electronics bay 12 via a watertight interface 10; the four-channel hydrophone array 10 respectively performs sound-electricity conversion and amplification processing on four acoustic signals acquired simultaneously, sends each amplified electric signal to a signal acquisition module, and performs analog-to-digital conversion to obtain a digital signal; and according to the control instruction of the control and state monitoring module, all or part of each converted digital signal is sent to the signal processing module; the control and state monitoring module sends out an instruction; the peripheral interface module and the peripheral interface module are used for monitoring the state of other modules and receiving, storing and transmitting data; the control and state monitoring module monitors the state of the four-channel hydrophone array 10 in a timekeeping mode and records abnormal information according to the time service of the upper computer and starts alarming according to the abnormal information; the Ethernet communication module binds the data which is received by the peripheral interface module and processed by the signal processing module or the digital signal which is acquired by the signal acquisition module into a frame integrally, transmits the frame to the upper computer, receives various instructions transmitted by the upper computer and transmits the corresponding instructions to the control and state monitoring module; the storage module stores data which is transmitted by the peripheral interface module and processed by the signal processing module or digital signals acquired by the signal acquisition module; the power supply module provides the converted input voltage for the four-channel hydrophone array 10, and has overvoltage and overcurrent detection functions.

Because the four-channel hydrophone array 10 adopts the common-mode design of mutually fusing the deep-water underwater glider 1 and the four deep-water sensors, the hydrodynamic characteristics of the glider are not damaged, and the four-channel hydrophone array has the characteristics of small volume, flexible operation implementation, lightness and convenience, and is very suitable for application occasions such as short-time, large-range and large-scale acoustic signal observation, background field monitoring and the like.

As shown in fig. 5, the present invention also provides an operation method of a four-channel hydrophone array based on a deep-water underwater glider, the method comprising:

the upper computer initializes the four-channel intelligent hydrophone of the deepwater underwater glider platform, provides working time, realizes synchronous operation of the four-channel hydrophone array 10 and the deepwater underwater glider 1, and simultaneously starts the four-channel hydrophone array 10, performs self-checking and reports a detection result; if the detection result is qualified, the four-channel hydrophone array 10 starts to work;

the upper computer presets working parameters of four deep water sensors 4 in the four-channel hydrophone array 10; if the working parameters of the four deep water sensors in the four-channel hydrophone array 10 are not set or the working parameters of the four deep water sensors in the four-channel hydrophone array 10 are set to be overtime, the four deep water sensors in the four-channel hydrophone array 10 automatically select default parameters and switch to an autonomous operation state, namely, the four deep water sensors 4 simultaneously acquire four acoustic signals, perform sound-electricity conversion on each acoustic signal to obtain converted electric signals, amplify each converted electric signal to obtain amplified electric signals, and directly store each amplified electric signal in a storage module; the operating parameters of the four-channel hydrophone array 10 include: the working mode, the adoption rate, the working time, the gain and the signal processing mode of the four-channel hydrophone array 10;

the default parameters include: the default working mode, the adoption rate, the working time, the gain and the signal processing mode of the four-channel hydrophone array 10;

the control and state monitoring module sends out an instruction according to a set working task, the power supply module converts the voltage accessed by the deep water glider into an input voltage required by the four-channel hydrophone array 10, the four-channel hydrophone array 10 starts to operate, the four deep water sensors 4 simultaneously acquire acoustic signals of deep sea targets to obtain four acoustic signals, each acoustic signal is subjected to sound-electricity conversion to obtain converted electric signals, and each converted electric signal is amplified to obtain amplified electric signals; the work task is a result obtained by analyzing set work parameters;

the signal acquisition module acquires each amplified electric signal, filters and secondarily amplifies each amplified electric signal to obtain a processed electric signal, and performs analog-to-digital conversion on the processed electric signal to obtain a digital signal so as to obtain four digital signals;

the peripheral interface module receives the four digital signals and sends the four digital signals to the signal processing module;

the signal processing module is used for processing each digital signal to obtain the position information of the deep sea target and the energy and frequency spectrum of each digital signal;

specifically, in the signal processing module, a section of digital signals with appropriate length of four digital signals, namely S1, S2, S3 and S4, are respectively intercepted, and a conventional beam forming method is adopted to perform azimuth estimation operation on S1, S2, S3 and S4, so as to obtain a possible target azimuth of the deep-sea target;

and repeating the process to obtain a plurality of possible target positions, further obtaining a determined target position from the plurality of possible target positions by a time correlation and space intersection method, and using the determined target position as the position information of the deep sea target.

The storage module stores the digital signals acquired by the signal acquisition module, the position information of the deep sea target obtained after the processing of the signal processing module, and the energy and frequency spectrum of each digital signal, and sends the digital signals to the peripheral interface module;

the peripheral interface module receives an instruction sent by the upper computer through the Ethernet communication module and uploads the digital signal acquired by the signal acquisition module or the data processed by the signal processing module to the upper computer according to the instruction sent by the upper computer; wherein, the data processed by the signal processing module comprises: position information of the deep sea target, and energy and frequency spectrum of each digital signal;

after the work is finished, after the underwater glider is recovered, the data processed by the signal processing module uploaded by the four-channel hydrophone array 10 is read into the main control computer through the special card reader for storage.

The method further comprises the following steps: the control and state monitoring module is connected with an upper computer through an Ethernet communication module, the upper computer sends an instruction for operating the four-channel hydrophone array 10 to the control and state monitoring module, the four-channel hydrophone array 10 is operated according to the instruction sent by the upper computer, and the operation state of each module in the four-channel hydrophone array 10 is monitored.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.