Water surface target avoiding method based on three-dimensional sparse array sound source orientation recognition

Abstract

The invention discloses a water surface target avoiding method based on three-dimensional sparse array sound source orientation recognition. The method is realized by arranging a three-dimensional sparse hydrophone array on an underwater vehicle, and the method comprises the following steps of acquiring propeller noise from a water surface target received by the three-dimensional sparse hydrophonearray, and estimating the position of the water surface target; calculating the movement speed of the water surface target according to the position change of the water surface target at fixed time intervals; judging whether the water surface target approaches the underwater vehicle or not according to the distance between the underwater vehicle and the water surface target and the motion speed of the water surface target, and if the water surface target approaches the underwater vehicle, re-planning a traveling route of the underwater vehicle so as to avoid the water surface target, otherwise, keeping the original route of the underwater vehicle to advance. The water surface target avoiding method can timely and flexibly avoid the water surface target under the condition of ensuring thenavigation safety of the underwater vehicle.

Description

technical field [0001] The invention relates to the field of azimuth recognition of water surface targets, in particular to a water surface target avoidance method based on three-dimensional sparse array sound source azimuth recognition. Background technique [0002] In order to avoid the interference and collision of ships on the water when the underwater vehicle is traveling and operating, it is necessary to detect the position and direction of navigation of the surface targets (various surface ships, etc.). The active detection method is currently the main method used by underwater vehicles for collision avoidance. The underwater vehicle can estimate the position, speed and other information of the surface target by sending detection signals to the water body and receiving the reflected signals. In recent years, the method of using passive detection to realize the positioning of water surface targets has also appeared one after another, such as the Chinese patents with a...

AI Technical Summary

Problems solved by technology

The Chinese patent application number CN201710334765.2 discloses a ship detection device and method using underwater acoustics and pressure coordination. The structure of the device is relatively complicated, and the measurement accuracy is easily affected by unstable underwater currents.

The Chinese patent with application number CN201310436674.1 proposes to use the model of dual array elements to achieve passive ranging of the target, but does not estimate the specific orientation of the target

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