Doppler Velocity Log (DVL) is one of the important devices which can provide positioning and navigation information for surface or underwater vehicle. The traditional DVL usually uses Janus configuration method to launch four beams along the front, rear, left, and right directions of the vehicle to the seabed, and uses Doppler frequency shift to calculate the speed of the carrier. For traditional phased array DVL, the distance between array elements is usually half of the wavelength, and the angle between two beams in the same direction is 60 degrees. Based on the traditional phased array DVL, an eight-beam phased array DVL was proposed, which forms four beams in two mutually perpendicular directions, so is namely double Janus configuration mode. According to the simulation, it was determined that the distance between the array elements is 0.35 of wavelength, and the angles corresponding to the four beams in the same direction are and respectively. In this way, in two mutually perpendicular directions, the four beams with a smaller angle with the horizontal plane can provide a larger horizontal component, which is more conducive to the calculation of Doppler shift; the four beams with larger angles to the horizontal plane have larger vertical components, so that the received echo signals have larger signal strength, and the advantages of the two types of beams are complementary. At the same time, an eight-beam transducer was made and tested in a pool. The angles of the directional beams are and , which are in good agreement with the simulation results. The corresponding transmitting voltage response is 170.2dB and 170.6dB respectively.
Key words
phased array /
Doppler Velocity Log /
eight beam /
dual Janus configuration
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
References
[1] 王博,刘泾洋,刘沛佳. SINS/DVL 组合导航技术综述[J].导航定位学报, 2020, 8(3): 1-6.
WANG Bo,LIU Jingyang, LIU Peijia. A review of SINS/DVL integrated navigation technology[J]. Journal of Navigation and Positioning, 2020, 8(3): 1-6.
[2]Naomi Kato, Mahdi Choyekh, Ryan Dewantara, et al. An autonomous underwater robot for tracking and monitoring of subsea plumes after oil spill and gas leaks from seafloor[J].Journal of Loss Prevention in the Process Industries,2017,50:386-396
[3]郭银景,孔芳,张曼琳,等.自主水下航行器的组合导航系统综述[J]. 导航定位与授时. 2020(05).
GuoYinJing,KongFang,ZhangManLin,et al. Review of Integrated Navigation System for AUV[J].Navigation Posioning & Timing.2020(05).
[4]XiaoKai Mu, Bo He, Shuyi Wu, et al. A practical INS/GPS/DVL/PS integrated navigation algorithm and its application on Autonomous Underwater Vehicle[J].Applied Ocean Research,2016,106:102441.
[5]林伊凡,陈梦英,景永刚,等.宽带声学多普勒计程仪性能试验分析[J].声学技术,2019,38(03):348-353..
LinYiFan,ChenMengYing,JingYongGang,et al.Performance Test and Analysis of Broadband Acoustic Doppler Velocity Log[J].Technical Acoustics.2019,38(03):348-353.
[6]田坦.水下定位与导航技术[M].北京 :国防工业出版社,2007.
TianTan.Underwater Positoning and Navigation Technology[M].BeiJing:National Defense Industry Press,2007.
[7]HEGRENÆS Ø, RAMSTAD A, PEDERSEN T, et a1. Validation of a new generation DVL for underwater vehicle navigation[C]. //The Institute of Electrical and Electronic Engineers(IEEE). Proceedings of 2016 IEEE/OES Autonomous Underwater Vehicles (AUV). Tokyo, Japan: IEEE, 2016: 342-348.
[8]Snyder, J. Doppler Velocity Log (DVL) navigation for observation-class ROVs[C] // Oceans 2010 MTS/IEEE Seattle. Seattle: IEEE ,2010.
[9] 钟佰志.相控阵多普勒计程仪测试技术研究[D].哈尔滨工程大学:水声工程学院,2015.
ZhongZhiBai. Study on the Phased-Array Doppler Velocity Log Testing Techniques[D].Harbin Engineering University:Underwater Acoustic Engineering,2015.
[10] 卢逢春,张殿伦,田坦.相控阵多普勒计程仪的相控波束接收方案[J].应用声学,2002,(04):6-9.
LuFengChun,ZhangDianLun,TianTan.Phased Beam Receiving Scheme for Phased Doppler Log[J].Applied Acousitics,2002,(04):6-9.
[11]TAUDIEN Jerker, WEBB Steven L. Acoustics dual-frequency phased array with common beam angles [P].US:WO 2020/131190 A2.25.06.2020
[12] 罗玉兰.多普勒计程仪的相控阵[D].上海:中国科学院声学研究所东海研究站,2002.
LuoYuLan. Phased Array of Doppler Velocity Log[D].Shanghai: Shanghai Acoustics Laboratory, Chinese Academy of Sciences,2002.
[13]栾桂东,张金铎,王仁乾. 压电换能器和换能器阵[M].北京:北京大学出版社,2005.07
LuanGuiDong, ZhangJingDuo, WangRenQian, Piezoelectric Transducer and Transducer Array[M].Beijing:Peking University Press,2005.07.
[14] 王述思,刘宇,许伟杰. 改进的相控阵多普勒计程仪波束形成技术[J].声学技术,2020,39(01):40-44.
WANG Shu Si, LIU Yu, XU Wei Jie. Improved beamforming technology for phased array Doppler log[J]. Technical Acoustics,2020,39(01):40-44
[15] 孙瑛琦,曾德平,张春杨,等.一种分析非均匀厚度1-3型压电复合材料换能器性能的方法[J].振动与冲击,2019,38(08):75-79.
SUN Ying Qi, ZENG De Ping, ZHANG Chun Yang, et al. A method on analyzing the performance of a 1-3 piezoelectric composites with non-uniform thickness[J]. JOURNAL OF VIBRATION AND SHOCK. 2019,38(08):75-79.
{{custom_fnGroup.title_en}}
Footnotes
{{custom_fn.content}}