KR102329472B1 - Apparatus and method for compensating distance calculation error of Passive Ranging Sonar - Google Patents

Abstract

The present invention relates to a manual measuring station or distance calculating apparatus and method, and more particularly, to a manual measuring station or distance calculating apparatus and method used for distance calculation by estimating a central sub-array position error based on a genetic algorithm. The present invention provides a manual ranging station or distance calculation error correction method for estimating a position error based on a genetic algorithm, comprising: a first step of obtaining position information of a target by inversely calculating position information of a designed central sub-array receiver and GPS distance information; A second step of determining the genotype by changing the position information of the central subsequence to a binary number; Step 3 of arbitrarily determining the initial gene in the form of a checkerboard centering on the location information of the central sub-array; a fourth step of converting the generated gene into location information, and recalculating the time delay and distance between the converted location information and the location information of the target obtained in step 1; a fifth step of inputting the measured PRS distance information and selecting a suitable gene having a minimum comparison deviation with the distance information calculated in step 4; and calculating a position error between the position information corresponding to the suitable gene and the position information of the initial central subsequence receiver.

Description

Apparatus and method for compensating distance calculation error of Passive Ranging Sonar

The present invention relates to a manual measuring station or distance calculation error correction apparatus and method, and more particularly, to a manual measuring station or distance calculation error correction apparatus and method for estimating a central sub-array position error based on a genetic algorithm and correcting the distance calculation error it's about

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

A sonar (SONAR) is a device that detects and identifies objects and targets existing in the water using sonar wave propagation. Sonar uses underwater sound to perform signal detection, hearing, communication, navigation, etc. to locate an object in the water. The most common device for which sonar is used is a submarine. Submarine sonar is used to detect enemies and measure the distance and bearing of underwater targets considering the characteristics of the underwater navigation.

Submarine sonar, in consideration of detection characteristics and operational characteristics, Passive Sonar, Intercept Sonar, Passive Ranging Sonar (PRS), Flank Array Sonar, and Senior Line It can be classified into Towed Array Sonar, Active Sonar, and Mine Avoidance Sonar. These sonars can be used to derive the horizontal bearing and distance from the submarine to the target. The bearing of the target is detected through a passive sonar, a waterproof sonar, a ship side array sonar, a towed sonar, etc. can be identified through

In particular, a passive ranging sonar (PRS) estimates the orientation and distance of a target by measuring a time difference between which a target signal arrives at a sensor. The passive range sonar is usually composed of three sub-arrays on both the port and starboard sides of the hull, and in a submarine, sonar is actually used to estimate the location of an attack target, so the maximum detection capability must be secured.

On the other hand, the conventional passive sonar calculates the azimuth and distance based on the triangulation method assuming that the three sub-arrays are located on the same straight line and installed at equal intervals.

However, such a conventional method of calculating the bearing and distance of a passive measuring station requires accurate sub-array location information and calculates the distance on the assumption that three sub-arrays are configured at equal intervals on the same straight line. Inaccurate or non-collinear sub-arrangements cause problems with distance accuracy performance.

Accordingly, an object of the present invention is to provide a manual station or distance calculation error correction apparatus and method for estimating a central sub-array position error based on a genetic algorithm and using this for distance calculation.

A manual station or distance calculation position correcting apparatus according to an embodiment of the present invention inversely calculates the distance information of a target obtained through more accurate GPS information to estimate and correct a sub-array position error, and the measured PRS distance information and It is characterized in that it is a correction technique of the inverse calculation technique for estimating sub-array position information by comparison.

In order to solve the above technical problem, the passive measuring station or distance calculating position correcting device according to an embodiment of the present invention is a passive measuring station or distance calculating device including three sub-array receivers, the function sub-array reception signal and a first time delay calculation unit for inputting the central sub-array reception signal and measuring a first time delay based on the cross-correlation of the two reception signals; a second time delay calculator for inputting the stern sub-array reception signal and the center sub-array reception signal, and measuring a second time delay based on the cross-correlation of the two reception signals; a subsequence position error estimator for estimating a central subsequence position error based on a genetic algorithm; and a time delay compensation value calculating and compensating unit for calculating a compensation value for the estimated central subsequence position error and compensating for first and second time delays; The subsequence position error estimating unit includes: a genotype determining unit that converts the central subsequence position information into binary numbers to determine the genotype; an initial gene determination unit for arbitrarily determining an initial gene in the form of a checkerboard around the central sub-array location information; a suitability determining unit that recalculates the distance between the targets by using the location information of the generated genes, and determines a gene having the smallest deviation between the calculated distance and the PRS measurement distance as an optimal gene; It characterized in that it comprises a position error value calculation unit for calculating a position error between the position information of the optimal gene and the initial central sub-sequence position.

Preferably, the subsequence position error estimating unit is characterized in that it generates a child gene based on the evolution process by crossing and mutation of the initial gene, and repeatedly performs the suitability determination for the generated gene.

Preferably, it further comprises a distance calculator for calculating the distance between the targets using the compensated first and second time delay values and the input sound velocity information.

Preferably, it is characterized in that the sub-array location information estimation information is modularized and configured.

Preferably, the time delay compensation value calculating and compensating unit is characterized by using the input sound velocity information when calculating the compensation value for the estimated central sub-array position error.

In order to solve the technical problem as described above, a passive measuring station or distance calculation error compensation method according to an embodiment of the present invention is a method for calculating a distance of a passive measuring station including three sub-array receivers, receiving a function sub-sequence a first step of inputting a signal and a central sub-array reception signal, and measuring a first time delay based on the cross-correlation of the two reception signals; a second step of inputting the stern sub-array reception signal and the center sub-array reception signal, and measuring a second time delay based on the cross-correlation of the two reception signals; Step 3 of estimating a central subsequence position error based on a genetic algorithm; and calculating a time delay compensation value for the estimated central subsequence position error, and compensating for the first and second time delays using the compensation value. transforming to determine the genotype; Arbitrarily determining the initial gene in the form of a checkerboard around the central sub-array location information; It characterized in that it comprises a suitability determination step of recalculating the distance between the target using the generated gene location information and GPS distance information, and determining the gene in which the deviation between the recalculated distance and the PRS measurement distance is 0% .

Preferably, in the suitability determination step, when it is not appropriate for the suitability determination, the method further comprises the step of selecting a gene having a minimum distance error rate, determining the position information of the optimal gene, and compensating for a time delay.

Preferably, step 3 is characterized by generating offspring genes based on the evolution process by mating and mutation of initial genes, and repeatedly performing suitability determination for the generated genes.

Preferably, the method further comprises a fifth step of calculating the distance between the targets using the compensated first and second time delay values and the measured sound velocity information.

A manual ranging station or distance calculation error correction method according to another embodiment of the present invention is a manual ranging station or distance calculation error correction method for estimating a position error based on a genetic algorithm, location information and GPS location information of a designed sub-array receiver Step 1 of obtaining location information of a target by inverse calculation; A second step of determining the genotype by changing the position information of the central subsequence to a binary number; Step 3 of arbitrarily determining the initial gene in the form of a checkerboard centering on the location information of the central sub-array; a fourth step of converting the generated gene into location information, and recalculating a time delay and distance between the converted sub-sequence location information and the location information of the target obtained in step 1; a fifth step of inputting the measured PRS distance information and selecting a suitable gene having a minimum comparison deviation with the distance information calculated in step 4; and calculating a position error between the position information corresponding to the suitable gene and the position information of the initial central subsequence receiver.

Preferably, the method further comprises the step of generating a child gene based on the evolution process by crossing and mutation of the initial gene, and repeatedly performing recalculation of distance information from the target using the position information of the generated child gene characterized in that

Preferably, a time delay compensation value for the position error is calculated using the calculated central subsequence position error and the measured sound velocity information, and using this compensation value, the second difference between the function subsequence received signal and the central subsequence received signal is used. Compensating for one time delay, and compensating for a second time delay between the stern subsequence received signal and the center subsequence received signal using this compensation value.

Preferably, the method further comprises the step of calculating the distance between the targets using the compensated first and second time delay values and the input sound velocity information.

In the manual measuring station or distance calculation error correction apparatus and method according to an embodiment of the present invention, after the manual measuring sonar including three sub-arrays is installed, it is to estimate the position error of the physical receiving sub-sequence that occurs within the error range. possible. To this end, the present invention applies a genetic algorithm according to genotype determination, initial genetic determination and suitability determination, and it is possible to estimate the position error using a relatively simple search method. Therefore, according to the present invention, it is possible to obtain accurate distance information based on accurate subsequence position information by estimating the received subsequence position error and compensating for the subsequence position error using this.

In addition, the present invention calculates the arrival time difference between the function sub-sequence receiver and the stern sub-sequence receiver based on the central sub-sequence receiver. Therefore, the present invention estimates only the relative central subsequence position error based on the genetic algorithm and compensates it for the subsequence position information, so that its usage can be made simple and convenient.

In addition, the present invention can be implemented by modularizing the central subsequence position error estimator for estimating the subsequence position error through a genetic algorithm. Therefore, it is a modular and easy-to-apply configuration that can be used interchangeably and applied to distance calculations and other time delay configurations, so that the range of use can be diversified.

1 is an exemplary diagram illustrating a general distance calculation error correction method of a passive measuring sonar composed of three sub-arrays;
2 is an overall configuration diagram of a distance calculation error correction device of a passive measuring sonar according to an embodiment of the present invention;
3a is a detailed configuration diagram of a central sub-array position error estimator applied to a distance calculation error correction apparatus of a passive measuring sonar according to an embodiment of the present invention;
3b is a detailed configuration diagram of a suitability determining unit according to an embodiment of the present invention;
4 is an exemplary diagram for explaining a method of correcting a distance calculation error in a passive measuring sonar according to a sub-array position error of the present invention;
5 is an exemplary view showing the generation of a correction table based on a genetic algorithm applied to the method for correcting the distance calculation error of the passive measuring sonar according to an embodiment of the present invention;
6A and 6B are diagrams comparing a distance error rate before compensation for a sub-array position error and a distance error rate after compensation according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "part" and "group", "module" and "part", "unit" and "part", "device" and "system", "terminal" and "node" for components used in the description below. and "digital walkie-talkie" are given or mixed in consideration of the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, the spaces "central sub-array" and "central sub-array", "time delay calculation unit" and "time delay calculation unit" used in the description are used only in consideration of the ease of writing the specification and are used interchangeably, meaning that they are distinct from each other or not having a role.

In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It is apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

The passive measuring sonar composed of three sub-array receivers calculates the bearing and distance by applying the triangulation method and the difference in arrival time of the radiated sound source based on the set receiving sub-array interval. Therefore, the general passive sonar assumes that three sub-array receivers are located at equal intervals on the same straight line, and calculates the bearing and distance by applying the triangulation method.

1 is an exemplary view for explaining a general distance calculation method of a passive measuring sonar composed of three sub-arrays.

1 is assuming that three sub-array receivers are positioned at equal intervals (d) on the same straight line, a sub-array receiver (FWD) located on the function side, a central sub-array receiver (MID), and a sub-array receiver located on the stern side ( It shows the relationship of the triangulation method according to the distance calculation between targets using AFT).

The distance calculation of the passive sonar according to the triangulation method is calculated by applying the time delay (τ) and the speed of sound (c) between each subsequence, and the subsequence interval (d), which is the subsequence position information, to the relational expression. The time delay (τ) is calculated based on the beam data cross-correlation between the function subsequence and the tail subsequence with respect to the central subsequence. Here, the time delay is generated based on the physical sub-arrangement position (ie, arranged at equal intervals on the same straight line) as shown in FIG. 1 . The speed of sound (c) is a value measured through a separate device, and the sub-array spacing (d) is a fixed value designed when three sub-array receivers are mounted on a submarine.

In this way, the passive ranging sonar calculates the distance between the targets depending on the sub-array location information. Therefore, if the sub-array position information is inaccurate, an error is generated in the calculated distance value. Therefore, the present invention estimates the error of the central sub-array location information and compensates for it.

2 is an overall configuration diagram of a distance calculation error correction apparatus of a passive measuring sonar according to an embodiment of the present invention.

The passive ranging sonar according to an embodiment of the present invention includes three sub-array receivers. The sub-array receiver (FWD), the central sub-array receiver (MID), and the sub-array receiver (AFT) located on the stern side are installed on the port and starboard sides of the submarine, respectively. The present invention provides a function sub-array reception signal input unit 10 for inputting a signal received from a function sub-array receiver (FWD), and a central sub-array reception signal input unit 20 for inputting a signal received from a central sub-array receiver (MID). , and a stern sub-array reception signal input unit 30 for inputting a signal received from the stern sub-array receiver (AFT).

The distance calculation of the passive measuring sonar of the present invention is based on the signal input from the central sub-array reception signal input unit 20, the function sub-array reception signal input unit 10 and the stern sub-array reception signal input unit 30. The time delay (τ) is calculated using the correlation. To this end, the present invention provides a first time delay calculation unit 50 for calculating a time delay between a central sub-sequence received signal and a function sub-sequence received signal, and a first time delay calculation unit for calculating a time delay between the central sub-sequence received signal and the stern sub-sequence received signal. 2 time delay calculation unit 70 is included.

In addition, the present invention further includes a configuration for estimating the error of the central sub-sequence position information and compensating for the sub-sequence position error by using this. _{To this end, the present invention calculates a compensation value (τ comp} ) for a position error estimator 40 for estimating a central subsequence position error, and a time delay error caused by the estimated central subsequence position error, and performs compensation processing. and a time delay compensation value calculation and compensation unit 60 .

That is, the time delay compensation value calculating and compensating unit 60 calculates the time delay compensation value τ _comp for the calculated central sub-sequence position error with the central sub-array reception signal calculated by the first time delay calculation unit 50 and Compensate for _{the time delay value (τ' mf} ) between the reception signals of the function sub-array. In addition, the time delay compensation value calculation and compensation unit 60 calculates the time delay compensation value τ _comp as the calculated central subsequence position error with the central sub-array received signal calculated by the second time delay calculation unit 70 and the function unit The time delay value (τ' _ma ) between the array received signals is also compensated.

Thereafter, the compensated time delay value (τ _mf ) (τ _ma ) and the sound velocity measurement value (c) between the compensated sub-arrays are used to calculate the orientation and distance between the targets in the distance calculating unit 90 . And, reference numeral 80 is a configuration of a sound velocity information input unit for inputting a value obtained by measuring sound velocity information between targets using a separate device.

The distance calculation method of the passive measuring sonar according to an embodiment of the present invention having the above configuration is made as follows.

The passive sonar of the present invention is composed of three sub-array receivers, and is installed on the port and starboard sides of the submarine, respectively. When designing, the three sub-array receivers are designed at equal intervals on the same straight line, and are installed accordingly. However, as shown in FIG. 1, it is difficult to always detect the received signals of the three sub-array receivers at equal intervals on the same straight line. That is, a receiving sub-sequence position error is generated according to the external shape of the submarine and various other conditions, and due to this problem, it is necessary to compensate for the physical receiving sub-sequence position error that occurs after being installed in the submarine.

4 shows a relationship diagram and a compensation equation for a time delay error generated when the position of the central sub-array receiver is incorrect.

The distance calculation (R) of the passive measuring sonar according to the triangulation method is performed by applying the time delay (τ _mf ,τ _ma ) between each sub-array, the speed of sound (c), and the sub-array spacing (d), which is the sub-array location information, to the relational expression. is calculated The time delay (τ _mf ,τ _ma ) is calculated based on the beam data cross-correlation between the function subsequence and the tail subsequence with respect to the central subsequence.

Therefore, in the present invention, in order to estimate the relationship between the relative central subsequence position error and time delay, the error is estimated by considering the position of the central subsequence receiver (MID) as a two-dimensional plane that is the x-y axis. The central sub-array receiver (MID) of the present invention is in a state in which the function sub-array receiver (FWD) and the stern sub-array receiver (AFT) are located out of the same straight line.

The result of mathematically compensating for the time delay based on the trigonometric function for the position error value of the central sub-sequence is the same as that of calculating the time delay with the function/stem since the central sub-sequence is located at the reference point (0,0). _{Therefore, a time delay value (τ comp} ) according to the central sub-array position deviating from the reference point is detected, and this value is compared with the relative time delay value (τ' _mf ) of the first time delay calculating unit 50 and the second time delay calculation. If the time delay value τ′ _ma of the unit 70 is compensated, an accurate distance calculated value R can be obtained.

That is, in the present invention, not all of the position errors for the three sub-arrays of the passive rangefinder are measured. As shown in FIG. 4, a time delay compensation value {Equation (3)} according to the relative position error of the central sub-array receiver (MID) is calculated, and using this, the relative function sub-array reception signal and the stern sub-array are used. It is configured to compensate for the time delay between the received signals (Equation (4), Equation (5)).

Equation (3)

τ _comp = (xsinθ + ycosθ)/c

Equation (4)

τ _mf = τ' _{mf -} τ _comp

Equation (5)

τ _ma = τ' _{ma -} τ _comp

3A is a detailed configuration diagram of a central sub-array position error estimator applied to a distance calculation error correcting apparatus of a passive measuring sonar according to an embodiment of the present invention.

The present invention applies a genetic algorithm in which genotype determination, initial gene determination, and suitability determination are comprehensively performed in estimating the central subsequence position error.

First, the central sub-array location information input unit 101 inputs location information of the central sub-sequence receiver (MID). The input position information of the central sub-sequence receiver at this time is an initial position value (fixed value) designed when the central sub-sequence receiver is mounted on a submarine. The binary number converter 103 converts the input position information of the central sub-array receiver into a binary number. The genotype determining unit 104 determines a binary value for the converted position information of the central subsequence receiver as a genotype.

The initial gene determining unit 105 determines the initial gene with respect to the peripheral coordinates of the checkerboard shape using the position information of the central sub-array receiver as the reference coordinates. The initial genetic determiner 105 arbitrarily designates a gene candidate group in a checkerboard form so that the gene candidate group is not clustered at a specific location in consideration of the interaction of the population, which is a characteristic of the genetic algorithm. This configuration is to prevent the risk of gene candidates being concentrated in a specific location and falling into regional optimization.

The suitability determination is made with respect to the gene determined in this way, and the suitability determining unit 106 is configured to determine whether the selected gene is suitable and at the same time determine an excellent gene. To this end, the suitability determining unit 106 recalculates the distance to the target using the location information of the selected gene, and determines the superior gene in the order of the smallest error through the comparison of the calculated distance value and the PRS measurement distance value. do.

Accordingly, the suitability determining unit 106 determines the suitability of the selected gene, the measured PRS distance information input through the PRS distance information input unit 107, and the distance error rate for the distance recalculated by the determined gene position information. Determination of suitability based on

3B illustrates a detailed configuration of a suitability determining unit according to an embodiment of the present invention.

The target location information inversion unit 202 receives the distance information of the target measured by GPS from the GPS distance information input unit 108 and inversely calculates it to obtain the target location information from the reference point of the own ship.

The central subsequence position information conversion unit 201 sets the position information of the gene selected by the initial gene determination unit 105 as the central subsequence position information. Then, the process of recalculating the subsequent distance information using the position information of the selected gene in the initial gene determination unit 105 is performed, and then the gene generated in the selection and breeding unit 110 until the optimal gene position information is obtained. The process of setting the location information of the central sub-array location information and recalculating the distance information is repeatedly performed.

The inter-subsequence time delay calculation unit 203 calculates the time delay using the set central subsequence position information and the target position information. Then, the distance calculator 204 recalculates the distance information using the previously calculated values.

On the other hand, the distance error rate calculator 205 calculates the distance information recalculated using the genetic location information derived by the genetic algorithm, and the distance information value measured from the PRS distance information input unit 107 through the PRS (manual location sensor). Input and compare the two values to calculate the distance error rate. Then, the suitability determining unit 206 ends the genetic algorithm because the suitability is satisfied when the calculated distance error rate becomes 0%.

In this process, poor genes are culled, and the routine of generating offspring genes is repeatedly performed through processes such as gene crossing and mutation.

For this purpose, a crossover and mutagenesis unit 109 and a culling and propagation unit 110 are configured. Then, the distance calculation to the target is repeatedly performed using the location information of the generated gene, and after calculating the distance error rate (accuracy) between the PRS distance information and the calculated distance, suitability is determined. An optimization search technique for estimating a central subsequence position error based on the evolution process is introduced in the iterative routines of the suitability determination unit 106, the mating and mutagenesis generation unit 109, and the selection and breeding unit 110.

And, if suitability is not determined despite the generation of up to a specific number of households, the suitability determining unit 106 recalculates the distance to the target using the position information of the gene determined to be an excellent gene, and the calculated distance value is PRS Compared with the measured distance value, the genetic information having the minimum deviation is determined as the optimal genetic information. The optimal gene position information determined through the above process is compared with the initial information, the position information of the central subsequence receiver (MID), and is used to calculate the central subsequence position error.

That is, the position error value calculating unit 111 compares the position information for the optimal gene with the initial central sub-sequence position information in the suitability determining unit 106 , and calculates a position error between the two position information.

The central sub-array position error calculated by the position error value calculating unit 111 is input to the time delay compensation value calculating and compensating unit 60 . As shown in FIG. 4 , the time delay compensation value calculation and compensation unit 60 derives _{a time delay compensation value τ comp according to the position error of the central sub-array deviating from the reference point.}

As described above, the central subsequence position error estimator 40 estimates the subsequence position error, and the time delay compensation value calculation and compensation unit 60 calculates a compensation value τ _comp for the estimated subsequence position error. do. _{The compensation value τ comp} for the sub-array position error calculated in this way _{is the time delay value τ′ mf} calculated by the first time delay calculating unit 50 and the time calculated by the second time delay calculating unit 70 . Equations (4) and (5) are applied to the delay value τ' _{ma to compensate.} In this way, a compensated time delay value (τ _mf ) and a compensated time delay value (τ _ma ) are obtained.

Thereafter, the distance calculator 90 obtains _{accurate distance information (R) between the targets using the compensated time delay value (τ mf} ), the compensated time delay value (τ _ma ), and the measured sound velocity information (c). it becomes possible

In particular, the present invention can be implemented by modularizing the central subsequence position error estimator 40 for estimating the subsequence position error through a genetic algorithm. Therefore, it is a modular and easy-to-apply configuration that can be compatible and applied to distance calculations and other time delay configurations, so that the range of use will be diversified.

5 is an exemplary diagram of optimal gene detection according to subsequence position error estimation based on a genetic algorithm applied to a distance calculation error correction method of a passive measuring sonar according to an embodiment of the present invention.

That is, as shown in FIG. 5 , a plurality of gene candidate groups can be searched through genetic algorithm-based subsequence position error estimation to derive the optimal gene indicated by a pink dot.

And Figure 6b is the distance calculation error correction method of the passive ranging sonar according to an embodiment of the present invention, based on the genetic algorithm to estimate the sub-sequence position error and compensated distance information (Compensation based on GA; red graph) and measured It shows the distance error rate of PRS distance information (PRS: blue graph). The present invention can obtain a distance accuracy of 2.2% of the distance error rate. In contrast, FIG. 6A shows distance information (GPS: red graph) and measured PRS distance information (PRS: blue graph) by GPS detection before sub-array position error compensation in the related art. In this case, it can be seen that the error range is as high as 9.8%.

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The above detailed description should not be construed as restrictive in all respects and should be considered as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

10: function sub-array reception signal input unit 20: central sub-array reception signal input unit
30: stern sub-array reception signal input unit 40: center sub-array position error estimation unit
50: first time delay calculation unit 60: sub-array position information compensation unit
70: second time delay calculation unit 80: sound velocity information input unit
90: distance calculation unit

Claims (13)

In the distance calculation error correction device of the passive measuring sonar including three sub-array receivers,
a first time delay calculator for inputting the function sub-sequence received signal and the central sub-sequence received signal, and measuring a first time delay based on the cross-correlation of the two received signals;
a second time delay calculator for inputting the stern sub-array reception signal and the center sub-array reception signal, and measuring a second time delay based on the cross-correlation of the two reception signals;
a subsequence position error estimator for estimating a central subsequence position error based on a genetic algorithm; and
Comprising a time delay compensation value calculation and compensation unit for calculating a compensation value for the estimated central sub-sequence position error, and compensating for first and second time delays,
The subsequence location information estimating unit includes: a genotype determination unit that converts the central subsequence location information into binary numbers to determine the genotype; an initial gene determination unit for arbitrarily determining an initial gene in the form of a checkerboard around the central sub-array location information; a suitability determining unit for recalculating the distance between the targets by using the generated gene location information, and determining a gene having the smallest deviation between the recalculated distance and the PRS measurement distance as an optimal gene; A manual ranging point or distance calculation error correction device including a position error value calculation unit for calculating a position error between the position information of the optimal gene and the initial central sub-sequence position.
The method according to claim 1,
The subsequence position error estimating unit generates a child gene based on the evolutionary process by mating and mutation of the initial gene, and a manual station or distance calculation error correction device that repeatedly performs suitability determination for the generated gene.
The method according to claim 1,
A manual ranging station or distance calculation error correcting device further comprising a distance calculator for calculating a distance between targets by using the compensated first and second time delay values and the input speed of sound information.
The method according to claim 1,
The sub-array location information estimating unit is a manual measuring station or distance calculation error correction device configured by modularity.
The method according to claim 1,
When calculating a compensation value for the estimated central sub-array position error, the time delay compensation value calculating and compensating unit uses the input sound velocity information to compensate for a manual ranging station or distance calculation error correction device.
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