JPH0227624B2 - - Google Patents
Info
- Publication number
- JPH0227624B2 JPH0227624B2 JP58110066A JP11006683A JPH0227624B2 JP H0227624 B2 JPH0227624 B2 JP H0227624B2 JP 58110066 A JP58110066 A JP 58110066A JP 11006683 A JP11006683 A JP 11006683A JP H0227624 B2 JPH0227624 B2 JP H0227624B2
- Authority
- JP
- Japan
- Prior art keywords
- reflected waves
- angle
- speed
- calculate
- ultrasonic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
- G01P5/241—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave by using reflection of acoustical waves, i.e. Doppler-effect
- G01P5/244—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave by using reflection of acoustical waves, i.e. Doppler-effect involving pulsed waves
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/18—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
-
- 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
- G01S15/66—Sonar tracking systems
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
本発明は超音波を利用して流速流向及び船速を
測定する装置において、とくに船速をより一層精
度の良い測定結果を得るための改良された測定方
法に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that uses ultrasonic waves to measure current velocity, direction, and ship speed, and in particular relates to an improved measurement method for obtaining even more accurate ship speed measurement results. be.
超音波を用いて流速と流向（以下単に流速とい
う）及び船速を測定する場合、第１図に示すよう
に水面１に対して垂直の方向から角度Θだけ指向
ビームを傾け、船２に装備した送受波器（図示を
省略）から海底３に向つて超音波を送出し、海底
及び任意に設定した深度層からの反射波を受信
し、その反射波の中に含まれる船速ならびに流速
に基づいて生ずるドツプラー効果による周波数の
偏差すなわちドツプラー成分を検出して、偏差値
から数値計算を行つて流速と船速を演算すること
は周知の通りであり、測定装置は多く実用されて
いる。 When measuring flow velocity, flow direction (hereinafter simply referred to as flow velocity) and ship speed using ultrasonic waves, the directional beam is tilted by an angle Θ from the direction perpendicular to the water surface 1, as shown in Figure 1, and is installed on the ship 2. A transducer (not shown) sends out ultrasonic waves toward the ocean floor 3, receives reflected waves from the ocean floor and a arbitrarily set depth layer, and calculates the ship speed and current velocity contained in the reflected waves. It is well known that the frequency deviation due to the Doppler effect, that is, the Doppler component, which is generated based on the above information, is detected and numerical calculations are performed from the deviation value to calculate the current speed and ship speed, and many measuring devices are in practical use.
ところでこの種の測定装置においてとくに船の
対地速度を検出するに当つて反射波はどのような
経路を通つて帰来するかをみると、送受波器は指
向角を持つているので、指向角に含まれる範囲全
体にわたり、距離の近い所から順次遠い所に及
び、それぞれ違つた経路を通つて帰来する。 By the way, in this type of measuring device, especially when detecting the ground speed of a ship, looking at what route the reflected waves take to return, the transducer has a directional angle, so the directional angle Over the entire included range, the distances range from near to far away, each returning via a different route.
すなわち第１図において、送受波器指向性の半
減半角をΔΘとすれば、最も近い距離l1から順次
に最も遠い距離l2の範囲に含まれる海底３から反
射波が帰来する。 That is, in FIG. 1, if the half angle of the directivity of the transducer is ΔΘ, reflected waves return from the seabed 3 included in the range from the closest distance l 1 to the farthest distance l 2 sequentially.
本来、求めたいドツプラー成分はビーム中心方
向である距離l0からの反響音に含まれるものであ
り、これに対してl1に対するものはドツプラー成
分が少なく、l2に対するものはドツプラー成分が
多くなるから、l0に対するもの以外は誤差とな
る。 Originally, the Doppler component that we want to find is included in the echoes from the distance l 0 , which is the direction of the beam center.On the other hand, for l 1 there are few Doppler components, and for l 2 there are many Doppler components. Therefore, anything other than for l 0 is an error.
実際問題としては、l0に対する反射波だけを得
ることは不可能であるから、l1からl2までの全て
の反射波を取出し、それらの平均を求めてほぼl0
に対する反射波に近づける必要がある。 As a practical matter, it is impossible to obtain only the reflected waves for l 0 , so we take all the reflected waves from l 1 to l 2 and calculate their average to obtain approximately l 0 .
It is necessary to get the reflected wave close to the reflected wave.
本発明はこの対処策として如何なる方法をとれ
ばよいかという点に関するもので、以下その根拠
について述べ、実施例に触れる。 The present invention relates to what method should be taken as a countermeasure for this problem, and the basis thereof will be described below and examples will be described.
送受波器面から海底までの距離をｄ、ビームの
傾きをΘ、指向性の半減半角をΔΘとした場合、
中心ビーム上での海底までの距離をl0、最大幅の
ビーム方向（すなわちΘに対し±ΔΘの方向）の
海底までの距離l1及びl2とすると、
l1＝ｄ／cos（Θ−ΔΘ） ……(1)
l2＝ｄ／cos（Θ＋ΔΘ） ……(2)
(1)と(2)から
l2＝l1cos（Θ−ΔΘ）／cos（Θ＋ΔΘ） ……(3)
l2とl1の関係はl2＞l1であるから、送受波器から送
られた超音波がl1の経路において海底に到達して
から、l2の経路において海底に到達する迄には、
l2−l1の距離を音が伝播するに要する時間Δt2だけ
遅れる。 If the distance from the transducer surface to the seabed is d, the beam inclination is Θ, and the half-angle of directivity is ΔΘ, then
If the distance to the seabed on the central beam is l 0 and the distances l 1 and l 2 to the seabed in the direction of the widest beam (i.e. in the direction of ±ΔΘ with respect to Θ), then l 1 = d/cos(Θ− ΔΘ) ……(1) l 2 = d/cos(Θ+ΔΘ) ……(2) From (1) and (2), l 2 = l 1 cos(Θ−ΔΘ)/cos(Θ+ΔΘ) ……(3) Since the relationship between l 2 and l 1 is l 2 > l 1 , the ultrasonic wave sent from the transducer reaches the ocean floor on the path l 1 until it reaches the ocean floor on the path l 2 . teeth,
There is a delay of Δt 2 , the time required for the sound to propagate over a distance of l 2 −l 1 .
l2とl1の差Δl2は、(3)式を用いて求めると次に示
す(4)式となる。 The difference Δl 2 between l 2 and l 1 is calculated using equation (3) and becomes equation (4) shown below.
Δl2＝l2−l1
＝l1（cos（Θ−ΔΘ）／cos（Θ＋ΔΘ）−１）…
…(4)
そこでΔl2を時間Δt2に変換すると
Δt2＝Δl2／Ｃ
＝C1／Ｃ（cosΘ−ΔΘ／cosΘ＋ΔΘ−１）……(5
)
但しここで音速をＣとする。 Δl 2 =l 2 −l 1 =l 1 (cos(Θ−ΔΘ)/cos(Θ+ΔΘ)−1)…
…(4) Then, converting Δl 2 to time Δt 2 , Δt 2 = Δl 2 /C = C 1 /C (cosΘ−ΔΘ/cosΘ+ΔΘ−1)……(5
) However, here the speed of sound is assumed to be C.
(5)式から明らかな通り、一番最初に反射波が帰
来する点までの距離l1が判れば、音速ＣとΘ及び
ΔΘは既知であるからΔt2を求めることができる。 As is clear from equation (5), if the distance l 1 to the point where the reflected wave returns first is known, Δt 2 can be found since the sound speed C, Θ, and ΔΘ are known.
次に経路l1からl2に対する反射波を有効にサン
プリングする時間をΔtとすると、送信パルス幅t0
は前述のΔt2を考慮してt0≧Δt2＋Δtなる関係を持
つように決めればよい。 Next, if the time to effectively sample the reflected wave from path l 1 to l 2 is Δt, then the transmission pulse width t 0
may be determined to have the relationship t 0 ≧Δt 2 +Δt in consideration of the above-mentioned Δt 2 .
すなわち第２図に示すように、送信パルス幅t0
についてl1からl2に及ぶ範囲の反射波は段階的に
捕捉されるから、図中のハツチングをした部分
Δt時間をサンプリングする時間に定めれば、無
駄がなく必要とするデータを最も有効適切に集め
ることができる。 That is, as shown in FIG. 2, the transmission pulse width t 0
Since the reflected waves in the range from l 1 to l 2 are captured step by step, if the hatched part Δt in the figure is set as the sampling time, the necessary data can be collected in the most efficient and appropriate manner without wasting any waste. can be collected in.
以上をふまえて本発明を実施する場合の手段を
第３図を参照して説明する。 Based on the above, means for carrying out the present invention will be explained with reference to FIG.
４は送信部、５は送受結合回路、６は送受波
器、７は受信部であり、送信部４から送信パルス
を送受結合回路５を介して送受波器６に送り、水
中に超音波を送出すると、送受波器６に帰来する
反射波は送受結合回路５を通つて受信部７で増幅
されるように構成してあるのは、通常の魚群探知
機などの水中物体探知装置におけるものと全く同
じである。 4 is a transmitter, 5 is a transmitter/receiver coupling circuit, 6 is a transducer, and 7 is a receiver. The transmitter 4 sends a transmission pulse to the transducer 6 via the transmitter/receiver coupling circuit 5, and transmits ultrasonic waves into the water. When transmitted, the reflected wave that returns to the transducer 6 passes through the transceiver coupling circuit 5 and is amplified by the receiving section 7. This configuration is similar to that used in ordinary underwater object detection devices such as fish finders. It's exactly the same.
８は処理部であり、Δt2の演算部９、ゲート発
生部１０、ゲート回路１１、ドツプラーカウンタ
ー１２、Δt設定部１３、t0演算部１４などで構成
されている。Reference numeral 8 denotes a processing section, which includes a .DELTA.t 2 calculation section 9, a gate generation section 10, a gate circuit 11, a Doppler counter 12, a .DELTA.t setting section 13, a t 0 calculation section 14, and the like.
さて受信部７の出力がΔt2の演算部９に印加さ
れると、受信部７の出力に含まれる情報に基づい
て、前記の(5)式からΔt2が演算され、その出力は
送信パルス幅を決めるt0演算部１４に印加される
と、一方ではこのt0演算部１４にはサンプリング
時間を設定したΔt設定部１３の出力が印加され
るので、両方のデータからt0≧Δt2＋Δtの関係を
有する送信パルス幅が演算され、その出力信号で
送信部４が駆動される。 Now, when the output of the receiving section 7 is applied to the Δt 2 calculation section 9, Δt 2 is calculated from the above equation (5) based on the information included in the output of the receiving section 7, and the output is the transmission pulse When the voltage is applied to the t 0 calculation unit 14 that determines the width, on the other hand, the output of the Δt setting unit 13 that sets the sampling time is applied to the t 0 calculation unit 14, so from both data, t 0 ≧Δt 2 A transmission pulse width having a relationship of +Δt is calculated, and the transmission section 4 is driven by the output signal.
そしてゲート発生部１０は、前記t0演算部１４
からの信号を受け、前記Δt2演算部９の出力の終
端からスタートし、Δtだけ継続するゲートをつ
くる信号を発生してゲート回路１１のゲートを開
き、ゲートが開かれている時間だけ受信部７の反
射波がサンプリングされて、後段のドツプラーカ
ウンター１２に送られる。かくして該ドツプラー
カウンターの出力には反射波に含まれたドツプラ
ー成分が検出され、船速演算部（図示せず）に送
られる。 The gate generation section 10 includes the t 0 calculation section 14
, generates a signal that creates a gate that starts from the terminal end of the output of the Δt 2 calculation unit 9 and continues for Δt, opens the gate of the gate circuit 11, and operates the reception unit for the time that the gate is open. 7 reflected waves are sampled and sent to the Doppler counter 12 at the subsequent stage. In this way, the Doppler component contained in the reflected wave is detected in the output of the Doppler counter and sent to a ship speed calculation section (not shown).
以上説明の通り本発明は、とくに船の対地速度
を検出する際、指向性を有する超音波によつて得
られる広い範囲の海底から帰来すると反射波を有
効適切に無駄なく捕捉し、ドツプラー成分を取り
出すことができる。 As explained above, the present invention effectively and appropriately captures the reflected waves returned from the seabed over a wide range obtained by directional ultrasonic waves, and eliminates Doppler components, especially when detecting the ground speed of a ship. It can be taken out.
なお、実際には船のローリングやピツチングの
ため送受波器から送出するビームの傾きΘの値が
変るが、一般には船の前後、左右など２ビーム方
式を採用しているのでとくに問題はない。 In reality, the value of the inclination Θ of the beam sent out from the transducer changes due to the rolling and pitching of the ship, but this does not pose any particular problem since generally a two-beam system is used, one for the front and rear of the ship, and one for the left and right sides.
第１図は測定要領の説明図。第２図は海底から
の反射の関係図。第３図は実施例の系統図。
４……送信部、５……送受結合回路、６……送
受波器、７……受信部、８……処理部、９……
Δt2の演算部、１０……ゲート発生部、１１……
ゲート回路、１２……ドツプラーカウンター、１
３……Δt設定部、１４……t0演算部。
FIG. 1 is an explanatory diagram of the measurement procedure. Figure 2 is a diagram showing the relationship between reflections from the ocean floor. FIG. 3 is a system diagram of the embodiment. 4... Transmission unit, 5... Transmission/reception coupling circuit, 6... Transducer/receiver, 7... Receiving unit, 8 ... Processing unit, 9...
Δt 2 calculation section, 10... gate generation section, 11...
Gate circuit, 12... Doppler counter, 1
3...Δt setting section, 14... t0 calculation section.
Claims (1)
ビームの中心方向を傾け、かつ半減半角がΔΘな
る指向特性を有する超音波を送出し、海底及び設
定した深度層からの反射波を受信し、反射波に含
まれるドツプラー成分を検出して船速、流速など
を算出するようにした測定装置において、とくに
船速の測定に当り、角度（Θ−ΔΘ）における海
底までの距離がl1、角度（Θ＋ΔΘ）における海
底までの距離がl2であるとき、両者の距離を超音
波が伝播するに要する時間の差Δt2を、音速をＣ
として Δt2＝l1／Ｃ（cosΘ−ΔΘ／cosΘ＋ΔΘ−１） から算出し、かつ反射波を処理する時間Δtを設
定して、前記Δt2とΔtの値を基にし、送出する超
音波のパルス幅t0を t0≧Δt2＋Δt に設定すると共に、Δt時間だけゲートを開いて
反射波をサンプリングして処理するようにしたこ
とを特徴とする超音波流向流速計におけるとくに
船速を測定する方法。[Claims] 1. The beam center direction is tilted by an appropriately set angle Θ with respect to the vertical direction, and an ultrasonic wave having a directional characteristic with a half-angle of ΔΘ is transmitted, and ultrasonic waves are transmitted from the seabed and a set depth layer. A measuring device that receives reflected waves and detects the Doppler component contained in the reflected waves to calculate ship speed, current speed, etc., especially when measuring ship speed, calculates the angle (Θ - ΔΘ) to the sea bed. When the distance to the seabed is l 1 and the angle (Θ + ΔΘ) is l 2 , the difference in time required for the ultrasonic wave to propagate both distances is Δt 2 , and the speed of sound is C.
Calculate from Δt 2 = l 1 /C (cosΘ−ΔΘ/cosΘ+ΔΘ−1), set the time Δt for processing the reflected waves, and calculate the ultrasonic wave to be transmitted based on the values of Δt 2 and Δt. Especially for measuring ship speed with an ultrasonic current meter characterized in that the pulse width t 0 is set to t 0 ≧Δt 2 +Δt and the gate is opened for Δt time to sample and process the reflected waves. how to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11006683A JPS603556A (en) | 1983-06-21 | 1983-06-21 | Method for measuring ship speed especially, in ultrasonic current direction and current speed meter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11006683A JPS603556A (en) | 1983-06-21 | 1983-06-21 | Method for measuring ship speed especially, in ultrasonic current direction and current speed meter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS603556A JPS603556A (en) | 1985-01-09 |
| JPH0227624B2 true JPH0227624B2 (en) | 1990-06-19 |
Family
ID=14526192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11006683A Granted JPS603556A (en) | 1983-06-21 | 1983-06-21 | Method for measuring ship speed especially, in ultrasonic current direction and current speed meter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS603556A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0478731U (en) * | 1990-11-22 | 1992-07-09 |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105628960B (en) * | 2014-10-29 | 2019-01-08 | 北京强度环境研究所 | A kind of underwater test ship speed simulation system velocity measuring device |
| CN113552383B (en) * | 2021-07-29 | 2024-10-15 | 深圳市宏电技术股份有限公司 | Bidirectional Doppler velocimeter and bidirectional Doppler velocimeter method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59230165A (en) * | 1983-06-13 | 1984-12-24 | Marine Instr Co Ltd | Measuring method of current speed and current direction by ultrasonic current and direction meter |
-
1983
- 1983-06-21 JP JP11006683A patent/JPS603556A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0478731U (en) * | 1990-11-22 | 1992-07-09 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS603556A (en) | 1985-01-09 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |