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针对常用的卵石运动观测技术在时效性与时空同步性等方面存在的不足,结合当前追踪技术,提出一种实时定位的卵石运动观测方法。基于声波在水中传播的独特优势,采用水声信号对水下目标进行实时追踪。由安装有声波发射器的卵石以及近水面布置的多个声波接收器构成卵石运动实时追踪系统,根据冗余观测数据的最小二乘解推求卵石位置,以实现卵石运动实时追踪。经过初期现场测试,验证了追踪模型以及算法的有效性。
Aiming at the shortcomings of commonly used pebble observation techniques in timeliness and space-time synchronization, combined with the current tracking techniques, a real-time pebble observation method is proposed. Based on the unique advantage of acoustic waves propagating in water, underwater acoustic signals are used to track underwater targets in real time. A pebble movement real-time tracking system is composed of a pebble with a sound wave transmitter and a plurality of sound wave receivers arranged near the water surface. The pebble position is deduced according to the least squares solution of the redundant observation data so as to realize real-time pebble tracking. After the initial field test, the effectiveness of the tracking model and the algorithm is verified.