CN113866776A - Digital fishing sonar sea-sweeping receiving method and system - Google Patents
Digital fishing sonar sea-sweeping receiving method and system Download PDFInfo
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- CN113866776A CN113866776A CN202111128426.1A CN202111128426A CN113866776A CN 113866776 A CN113866776 A CN 113866776A CN 202111128426 A CN202111128426 A CN 202111128426A CN 113866776 A CN113866776 A CN 113866776A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a digital fishing sonar sea-sweeping receiving method and system. The digital fishing sonar sea-sweeping receiving method comprises the following steps: dividing a region formed by the transducer array into Z scanning region groups overlapped with each other by taking the origin of the transducer array as a center; the Z families of mutually overlapping scan regions perform separate reception and parallel processing of the beams. The invention takes the origin of the transducer array as the center, divides the area formed by the transducer array into Z scanning area families which are mutually overlapped, can realize the independent receiving and parallel processing of underwater acoustic echo signals, can realize the concurrent beam scanning and receiving by participating in the beam forming process of different scanning area families, can improve the resolution capability of the system, improve the image detection accuracy, and realize the purposes of stronger receiving beam directivity and more uniform coverage detection area.
Description
Technical Field
The invention relates to the field of sonar sea-sweeping signal transmission, in particular to a digital fishing sonar sea-sweeping receiving method and system.
Background
In the detection process of fish school in the fishing operation in the ocean fishery, in order to achieve the aim of sweeping the sea more efficiently, a cylindrical or circular transducer array is adopted to carry out 360-degree scanning by taking a fishing boat as the center. When traditional digital sonar for fishing scans to fishing sonar cylinder type or ring type transducer array are the center, will survey the region and evenly divide into a plurality of independent scanning area, and every cylinder type or ring type transducer array independently scans all the arrays that the region corresponds for independent subarray, receives the multi-beam forming of the even interval angle of coverage area through independent subarray, realizes carrying out the multi-beam scanning to every independent scanning area. When the number of independent subarrays is small, such as 2-3, each independent scanning area needs to scan an area within a larger opening angle range, such as 2 or 3, and each independent scanning area needs to cover areas within ranges of 180 degrees and 120 degrees respectively, due to the beam forming characteristics, when the scanning angle is increased, the beam forming effect is poor, the main lobe of a beam is widened, side lobes are increased, the directional gain is reduced, the uniform distribution of detection signals in the whole area is influenced, and the detection imaging precision is reduced. When the independent subarrays are divided more, for example, 4 and more, the area covered by each independent scanning area becomes smaller, so that the uniformity of the beam is improved, but another problem is brought, namely, because the independent subarrays are divided more, the number of the arrays of a single independent subarray is reduced, the directional gain of beam forming is reduced, the detection distance of the system is reduced, and meanwhile, the reduction of the arrays participating in beam forming also increases the beam opening angle and reduces the resolution capability of the system.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a digital sonar sea-sweeping receiving method and system for fishing.
In order to achieve the purpose, the invention provides the following scheme:
a digital sonar sea-sweeping receiving method for fishing comprises the following steps:
dividing a region formed by the transducer array into Z scanning region groups overlapped with each other by taking the origin of the transducer array as a center; the origin of the transducer array is the central point of the transducer array forming area;
the Z families of mutually overlapping scan regions perform separate reception and parallel processing of the beams.
Preferably, the Z mutually overlapping scan region families include: a first family of scan regions, a second family of scan regions, and a third family of scan regions;
the first scanning area family, the second scanning area family and the third scanning area family divide an array in the horizontal direction of the transducer array into Q independent scanning areas; each independent scanning area comprises an independent subarray; the independent sub-arrays are formed by 1/Q arrays in the transducer array.
Preferably, Q independent scanning zones of the first scanning zone family, the second scanning zone family and the third scanning zone family are all multi-beam scanned along their central normal direction;
q independent scanning areas of the first scanning area family, the second scanning area family and the third scanning area family are all subjected to multi-beam receiving along the central normal direction of the independent subarrays.
Preferably, the scanning range of each individual scanning area in the first family of scanning areas is [ -q, + q ].
Preferably, Q is 360 °/2Q M, M being a positive integer.
Preferably, q is equal to or less than 30 °.
Preferably, the Q independent scan areas in the second scan area family are rotated clockwise by a first preset angle compared to the Q independent scan areas in the first scan area family.
Preferably, the Q independent scan regions in the third scan region family are rotated clockwise by the first preset angle compared to the Q independent scan regions in the second scan region family.
Preferably, the first preset angle is 2 q.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
in the digital sonar sea-sweeping receiving method for fishing provided by the invention, the original point of the transducer array is taken as the center, the area formed by the transducer array is divided into Z scanning area families which are mutually overlapped, so that the independent receiving and parallel processing of underwater acoustic echo signals can be realized, in addition, the concurrent beam scanning and receiving can be realized by participating in the beam forming process of different scanning area families, the system resolution can be improved, the image detection accuracy can be improved, the receiving beam directivity is stronger, and the purposes of more uniform coverage of the detection area can be realized.
Corresponding to the digital fishing sonar sea-sweeping receiving method, the invention also provides a digital fishing sonar sea-sweeping receiving system, which comprises: a processor and a memory;
the processor performs data interaction with the memory;
the storage is stored with a software program for executing the provided digital fishing sonar sea-sweeping receiving method; the processor is configured to execute the software program.
The technical effect achieved by the digital fishing sonar sea-sweeping receiving system provided by the invention is the same as that achieved by the digital fishing sonar sea-sweeping receiving method provided by the invention, so that the description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a digital fishing sonar sea-sweeping receiving method provided by the present invention;
FIG. 2 is a schematic view of a beam directivity function of a conventional sonar beam for fishing at different beam inclinations according to an embodiment of the present invention; wherein, fig. 2(a) is a schematic diagram of a beam directivity function when the inclination angle of the traditional sonar beam for fishing provided by the embodiment of the invention is 0 °; FIG. 2(b) is a schematic view of a beam directivity function when the inclination angle of the conventional sonar beam for fishing provided by the embodiment of the present invention is-10 °; FIG. 2(c) is a schematic view of a beam directivity function when the inclination angle of the conventional sonar beam for fishing provided by the embodiment of the present invention is-30 °; FIG. 2(d) is a schematic view of a beam directivity function when the inclination angle of the conventional sonar beam for fishing provided by the embodiment of the present invention is-60 °;
FIG. 3 is a schematic diagram of a cylindrical transducer array provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of an equivalent annular transducer array according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first scan area group division and a scan area thereof according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a second scanning area family division and a scanning area thereof according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a third scanning area family division and a scanning area thereof according to an embodiment of the present invention;
fig. 8 is a schematic diagram of beam scanning results provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Traditional multi-beam sonar directivity sea-sweeping for fishing divides the detection area into a plurality of independent scanning areas, and each receives beam forming through independent array, accomplishes the beam reception at some series of different inclinations, as shown in figure 2, when beam scanning angle is greater than 30 °, the mainlobe becomes wide, the mainlobe intensity becomes low, the mainlobe inclination error increases, the side lobe enhancement comes the sea-sweeping detection intensity error and the angular resolution reduces.
In the conventional method, when the number of independent scanning areas is large, the scanning range of each independent scanning area can be reduced, but the number of arrays of independent subarrays corresponding to each independent scanning area is reduced, so that the beam forming directional gain, namely the signal intensity of a received beam, is influenced, and the detection range is reduced. Therefore, the uniformity of the traditional directional sweep and the signal intensity of the scanning receiving beam are in a mutual restriction relationship, and the effect of both can not be achieved.
The invention aims to provide a digital fishing sonar sea-sweeping receiving method and system, which can improve the resolution capability of the system, improve the image detection accuracy, and achieve the purposes of stronger receiving beam directivity and more uniform coverage of a detection area.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the digital sonar sea-sweeping receiving method for fishing provided by the invention comprises the following steps:
step 100: the area formed by the transducer array is divided into Z scan area groups overlapping each other with the origin of the transducer array as the center. The origin of the transducer array is the center point of the transducer array formation region.
Step 110: the Z families of mutually overlapping scan regions perform separate reception and parallel processing of the beams.
In order to further improve the comprehensiveness and the accuracy of scanning, the Z scanning area families which are mutually overlapped and divided by the invention comprise: a first family of scan regions, a second family of scan regions, and a third family of scan regions;
the first scanning area group divides an array in the horizontal direction of the transducer array into Q independent scanning areas, each independent scanning area is provided with 1/Q transducer array to form an independent subarray, the scanning range is-Q to + Q, Q is 360 degrees/2Q M, M is a positive integer, and in order to achieve beam forming in a better inclination angle range, Q is generally required to be less than 30 degrees. And the Q independent scanning areas simultaneously receive the multi-beam in the normal direction of the center of each area subarray, B receiving multi-beam forming is simultaneously carried out in the area at one time, and B receiving multi-beam forming is respectively and uniformly spaced directional multi-beam scanning relative to the normal direction of the subarray of the transducer.
For example: as shown in fig. 5, the whole array is divided into 2 independent scanning areas with Q equal to 30 ° as the center, each scanning area is responsible for scanning in a space with Q equal to 30 °, that is, an open angle range of 60 °, and each independent scanning area has an array with 1/Q equal to 1/2 to form an independent subarray, and 10 beam scans are performed (indicated by arrows in fig. 5).
The second scanning area group divides the array of the transducer array in the horizontal direction into Q independent scanning areas, each independent scanning area also has 1/Q transducer array to form an independent subarray, and the Q independent scanning areas rotate clockwise by an angle of 2Q compared with the Q independent scanning areas of the first scanning area group. And the Q independent scanning areas of the second scanning area group simultaneously scan in the normal direction of the center of each independent scanning area, the scanning range is-Q to + Q, the Q independent scanning areas simultaneously receive multi-beam in the normal direction of the center of each area subarray, B receiving multi-beam forming is performed in the area at one time, and the B receiving multi-beam forming is respectively and uniformly spaced directional multi-beam scanning relative to the normal direction of the subarray of the transducer.
For example: as shown in fig. 6, the whole array is divided into 2 independent scanning regions with Q equal to 30 ° as the center, and each scanning region is responsible for Q equal to 30 °, compared with fig. 4, the independent scanning region and the sub-array are rotated by 60 °, and an open angle range region directly in front of the normal line of the sub-array is still scanned, and each independent scanning region has 1/2 array elements to form an independent sub-array, and 10 scans are performed.
The third scanning area group divides the array of the transducer array in the horizontal direction into Q independent scanning areas, each independent scanning area is provided with 1/Q transducer array to form an independent subarray, and the Q independent scanning areas rotate clockwise by an angle of 2Q compared with the Q independent scanning areas of the second scanning area group. And Q independent scanning areas of a third scanning area group simultaneously scan in the normal direction of the center of each independent scanning area, the scanning range is-Q to + Q, the Q independent scanning areas simultaneously receive multiple beams in the normal direction of the center of each area subarray, B receiving multiple beam forming is also performed in the area at one time, and the B receiving multiple beam forming is respectively and uniformly spaced directional multiple beam scanning relative to the normal direction of the subarray of the transducer.
For example: as shown in fig. 7, the whole array is divided into 2 independent scanning areas with Q equal to 30 ° as the center, and each scanning area is responsible for 10 scans, compared with fig. 5, the independent scanning area and the sub-array are rotated by 60 °, an open angle range area which is directly in front of the normal line of the sub-array is scanned by 60 °, and 1/2 array elements form an independent sub-array in each independent scanning area.
By analogy, the scanning of the Z scanning area groups is completed, if more scanning areas are needed in design, namely Q is more than 2, more independent scanning areas and subarray division can be carried out to realize the scanning of the areas needing to be scanned.
The transducer array employed in the above embodiment is preferably a cylindrical transducer array, but is not limited thereto. In the wave velocity scanning and receiving process, active or passive vertical direction wave beam forming is firstly carried out, the vertical direction scanning is realized, and then the digital fishing sonar sea-sweeping receiving method provided by the invention is used for sweeping the sea in the horizontal direction. Fig. 3 is a schematic diagram of a cylindrical transducer (32 columns by 8 rows as an example) selected in the embodiment, and fig. 4 is a schematic diagram of an equivalent circular ring transducer in the horizontal direction. Each column or each array in fig. 4 can receive underwater acoustic echo signals independently, participate in a plurality of beam forming processes of different scanning area groups simultaneously, and receive and scan according to the digital fishing sonar sea-sweeping receiving method provided above.
Since the underwater acoustic echo signals received by the array may participate in beamforming of multiple beams, or may participate in beamforming across multiple scan region families simultaneously, all scan region families are concurrent, all beams are also concurrent, 3 scan region families in the example are generated concurrently, and corresponding 6 independent scan regions and subarrays and 60 scan beams are also concurrent. The final beam sweep results are shown in fig. 8.
Corresponding to the digital fishing sonar sea-sweeping receiving method, the invention also provides a digital fishing sonar sea-sweeping receiving system, which comprises: a processor and a memory;
the processor performs data interaction with the memory;
the storage is stored with a software program for executing the provided digital fishing sonar sea-sweeping receiving method; the processor is configured to execute the software program.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A digital sonar sea-sweeping receiving method for fishing is characterized by comprising the following steps:
dividing a region formed by the transducer array into Z scanning region groups overlapped with each other by taking the origin of the transducer array as a center; the origin of the transducer array is the central point of the transducer array forming area;
the Z families of mutually overlapping scan regions perform separate reception and parallel processing of the beams.
2. The digital sonar-scan-sea-reception method according to claim 1, wherein the Z overlapping scan region groups include: a first family of scan regions, a second family of scan regions, and a third family of scan regions;
the first scanning area family, the second scanning area family and the third scanning area family divide an array in the horizontal direction of the transducer array into Q independent scanning areas; each independent scanning area comprises an independent subarray; the independent sub-arrays are formed by 1/Q arrays in the transducer array.
3. The digital sonar sea-sweeping receiving method according to claim 2, wherein each of Q independent scanning areas of the first, second, and third scanning area families performs multi-beam scanning in a direction of a center normal of the scanning area family;
q independent scanning areas of the first scanning area family, the second scanning area family and the third scanning area family are all subjected to multi-beam receiving along the central normal direction of the independent subarrays.
4. The digital sonar-scan-sea-reception method according to claim 2, wherein a scanning range of each individual scanning area in the first scanning area family is [ -q, + q ].
5. The digital sonar sea-sweeping receiving method according to claim 4, wherein Q is 360 °/2Q M, and M is a positive integer.
6. The digital sonar-scan-for-fishing receiving method according to claim 4, wherein q is 30 ° or less.
7. The digital fishing sonar sea-sweeping receiving method of claim 4, wherein the Q independent scan zones in the second family of scan zones are rotated clockwise by a first preset angle compared to the Q independent scan zones in the first family of scan zones.
8. The digital fishing sonar sea-sweeping receiving method of claim 7, wherein the Q independent scan zones in the third scan zone family are rotated clockwise by the first preset angle compared to the Q independent scan zones in the second scan zone family.
9. The digital sonar-scan-for-fishing receiving method according to claim 8, wherein the first preset angle is 2 q.
10. The utility model provides a digital fishing is with sonar sweep sea receiving system which characterized in that includes: a processor and a memory;
the processor performs data interaction with the memory;
a software program for executing the digital fishing sonar sea-sweeping receiving method according to any one of claims 1 to 9 is stored in the memory; the processor is configured to execute the software program.
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| CN202111128426.1A CN113866776A (en) | 2021-09-26 | 2021-09-26 | Digital fishing sonar sea-sweeping receiving method and system |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20170031022A1 (en) * | 2015-07-29 | 2017-02-02 | Olexandr Ivanov | Forward Scanning Sonar System and Method with Angled Fan Beams |
| CN109283536A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of multibeam echosounding sonar water body imaging beam formation algorithm |
| CN111505611A (en) * | 2020-06-17 | 2020-08-07 | 中国水产科学研究院渔业机械仪器研究所 | Broadband sonar receiving beam forming method for fishing based on cylindrical transducer array |
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- 2021-09-26 CN CN202111128426.1A patent/CN113866776A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170031022A1 (en) * | 2015-07-29 | 2017-02-02 | Olexandr Ivanov | Forward Scanning Sonar System and Method with Angled Fan Beams |
| CN109283536A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of multibeam echosounding sonar water body imaging beam formation algorithm |
| CN111505611A (en) * | 2020-06-17 | 2020-08-07 | 中国水产科学研究院渔业机械仪器研究所 | Broadband sonar receiving beam forming method for fishing based on cylindrical transducer array |
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Application publication date: 20211231 |