复杂水文微弱多目标激光探测仿真与实验

宗思光; 杨劭鹏; 张鑫; 彭丹; 段子科; 陈报

doi:10.37188/CO.2023-0141

复杂水文微弱多目标激光探测仿真与实验

doi: 10.37188/CO.2023-0141

宗思光^1,,
杨劭鹏¹,
张鑫^2, ,,
彭丹¹,
段子科¹,
陈报¹

1.
海军工程大学电子工程学院, 湖北武汉 430034
2.
海军航空大学青岛校区, 山东青岛 266041

基金项目: 国防科研基金（No. 2019-JCJQ-JJ-056）

详细信息

作者简介:
宗思光（1979—），男，河南开封人，博士，2009年于海军工程大学获得工学博士学位，海军工程大学电子工程学院副教授，主要从事下激光探测、激光通信、激光致声等方面的研究。E-mail：41119749@qq.com

张　鑫（1998—），男，山东临沂人，硕士，2023年于海军工程大学获得工学硕士学位。海军航空大学助教，主要从事激光探测等方面的研究。E-mail：1714308601@qq.com

中图分类号: TN249
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出版历程
- 收稿日期: 2023-08-20
- 修回日期: 2023-09-08
- 网络出版日期: 2023-12-05

Simulation and experiment of weak multi-target laser detection in complex hydrology

1.
College of Electronic Engineering, Naval University of Engineering, Wuhan 430034, China
2.
Qingdao Branch, Naval Aeronautical University, Qingdao 266041, China

Funds: Supported by The National Defense Foundation of China (No. 2019-JCJQ-JJ-056)

More Information

Corresponding author: 1714308601@qq.com

摘要

摘要:
为了探究在近岸复杂水体中激光探测对微弱目标的探测能力，研究水质、目标特征、目标距离对水下激光探测的影响具有重要理论和应用价值。论文建立了水下微弱目标激光探测模型，采用蒙特卡洛仿真验证了不同浊度微弱多目标激光探测性能，模拟了不同距离下微弱目标的激光后向散射回波信号，对多个不同反射系数的目标后向散射回波特性进行了分析。同时设计并研制了灵巧便携式水下微弱目标激光探测系统，进行了实验室及外场湖泊环境下的多目标探测、测距测试验证。在浊度为12.87 NTU的近岸湖泊水域，该系统可在10 m范围内对3~4个直径为80~400 μm的不同低反射系数的混合小目标进行有效探测，平均测量误差为±0.11 m，与理论仿真结果一致。本文研究结果可为蓝绿激光水下多微弱目标探测链路计算、系统设计及参数优化提供参考，可以支撑近海浑浊水体下水下障碍物激光探测工程实践。
- 激光探测与测距 /
- 微弱多目标 /
- 复杂水文 /
- 蒙特卡洛
Abstract:
Investigating the impact of water quality, target characteristics, and target distance on underwater laser detection is crucial to assessing the effectiveness of laser detection for weak targets in complex coastal water bodies. We examine the theoretical and practical significance of understanding these factors in underwater laser detection. In this study, a laser detection model for detecting weak underwater targets is established. Monte Carlo simulation is used to verify the detection performance of weak multi-target laser ranging under different turbidities. The laser backscattering echo signals of weak targets at different distances are simulated, and the backscattering echo characteristics of multiple targets with various reflection coefficients are analyzed. Additionally, a smart and portable laser detection system for detecting weak underwater targets has been designed and developed. Laboratory and field lake environment tests were conducted to detect and range for multi-target. In a near-shore lake with a turbidity of 12.87 NTU, the system can effectively detect 3−4 mixed small target groups. These groups have different low reflection coefficients and diameters varying from 80 to 400 μm, all within a range of 10 meters. The average measurement error is ±0.11 m, which is consistent with the theoretical simulation results. The research results serve as a guide for computing links, designing systems, and optimizing parameters for detecting weak underwater multi-targets using blue and green lasers. Furthermore, the results assist in the engineering practice of detecting underwater obstacles in offshore turbid waters.
- laser detection and ranging /
- weak multi-target /
- complex hydrology /
- Monte Carlo

HTML全文

图 1 单目标测距

Figure 1. Single target ranging

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图 2 多目标测距

Figure 2. Multi-target ranging

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图 3 光子模拟运动程序

Figure 3. Program of photon simulation motion

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图 4 不同水质、不同距离下单个目标激光后向散射峰值图

Figure 4. Laser backscattering peak values of a single target at different distances under different water quality conditions

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图 5 不同浊度下三目标回波信号图

Figure 5. Echo signal diagrams of three targets with different turbidity values

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图 6 不同反射率目标回波信号图

Figure 6. Echo signal diagrams of target with different reflectance values

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图 7 不同浊度下四目标回波信号图

Figure 7. Echo signal diagrams of four targets with different turbidity values

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图 8 激光多目标探测系统组成图

Figure 8. Composition of laser detection system for multi-target

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图 9 试验样机

Figure 9. Experimental prototype

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图 10 系统信号处理模块组成

Figure 10. Composition of system signal processing module

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图 11 测距算法原理图

Figure 11. Principle diagram of ranging algorithm

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图 12 探测系统工作流程图

Figure 12. Working flow chart of detection system

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图 13 近岸实验场景

Figure 13. Nearshore experimental scenarios

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图 14 某湖泊多目标激光探测实验系统

Figure 14. An experimental system for multi-target laser detection in a certain lake

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图 15 三目标探测原始回波信号图

Figure 15. Original echo signal diagram for three target detection

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图 16 峰值提取信号图

Figure 16. Peak extraction signal diagram

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图 17 四目标探测原始回波信号图

Figure 17. Original echo signal diagram for four-target detection

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图 18 峰值提取信号图

Figure 18. Peak extraction signal diagram

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图 19 不同目标激光后向散射回波时间图

Figure 19. Laser backscattering echo time plots with different targets

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图 20 不同目标激光后向散射回波强度图

Figure 20. Laser backscatter echo intensity plots with different targets

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表 1 不同目标反射系数^[25]

Table 1. Reflection coefficients of different targets^[25]

目标类型	反射系数
气泡群	0.05
鱼线	0.1
渔网	0.23
多孔礁石	0.36

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表 2 不同水质下4种探测目标最远距离统计

Table 2. Statistics of the farthest distances of four detection targets under different water quality conditions (m)

水质	目标类型
水质	气泡群	鱼线	渔网	多孔礁石
东海台湾海峡	17.2	25.4	30.5	38.8
黄海中部	15.8	22.7	25	32
渤海中部	12.4	19.6	22	26

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表 3 不同水质下3种目标探测距离

Table 3. Three target detection distances under different water quality conditions

目标类型	时间/ns	探测距离/m
渔网	47.8	5.5
气泡群	87.0	10
鱼线/多孔礁石	113.1	13

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表 4 不同水质下4种目标探测距离

Table 4. Four target detection distances under different water quality conditions

目标类型	时间/ns	探测距离/m
渔网	17.4	2
气泡群	34.8	4
鱼线	69.6	8
多孔礁石	87.0	10

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表 5 测试目标尺寸

Table 5. Size of test target

目标类型	尺寸
气泡群	D为70~90 μm
鱼线	D=210 μm
渔网	Φ=2.5 cm；D=280 μm；l=3 m
多孔礁石	L=15 cm；W=13 cm；H=20 cm

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表 6 三目标探测距离与实际距离结果对比

Table 6. Comparison of detection distance and actual distance for three targets

目标类型	探测距离/m	时间/ns			实际探测距离/m			平均值/m	相对误差/m	标准差
渔网	5.5	51.2	46.5	48.6	5.894	5.345	5.582	5.607	0.107	0.1548
气泡群	10	91.9	87.85	84.05	10.366	9.909	9.475	9.916	0.084	0.210
鱼线	13	114.8	116.55	115.6	12.955	13.35	13.039	13.15	0.150	0.0538

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表 7 四目标探测距离与实际距离结果对比

Table 7. Comparison of detection distance and actual distance for four targets

目标类型	探测距离/m	时间/ns			实际探测距离/m			平均值/m	相对误差/m	标准差
鱼线	2	18.5	18.3	18.05	2.128	2.105	2.075	2.102	0.102	0.03
气泡群	4	34.5	36.2	37.7	3.968	4.163	4.334	4.155	0.155	0.259
渔网	8	70.1	69.3	68.3	8.05	7.970	7.855	7.958	0.042	0.133
多孔礁石	10	91.1	86.5	87.15	10.477	9.940	10.010	10.142	0.142	0.413

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