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Underwater sound source azimuth and depth cooperative tracking method based on bottom-supported single three-dimensional vector hydrophone

A vector hydrophone and three-dimensional vector technology, which is applied in the direction of instruments, positioning, and measuring devices, can solve problems such as system complexity, and achieve high reception signal quality, high efficiency, and high deployment stability.

Active Publication Date: 2021-01-26
HEILONGJIANG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a method for underwater sound source azimuth and depth cooperative tracking based on a single 3D vector hydrophone sitting on the bottom. System complex problems, the beneficial effects of simplified system, high estimation accuracy and high tracking efficiency can be obtained

Method used

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  • Underwater sound source azimuth and depth cooperative tracking method based on bottom-supported single three-dimensional vector hydrophone
  • Underwater sound source azimuth and depth cooperative tracking method based on bottom-supported single three-dimensional vector hydrophone
  • Underwater sound source azimuth and depth cooperative tracking method based on bottom-supported single three-dimensional vector hydrophone

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Embodiment 1

[0066] A method for cooperative tracking of sound source azimuth and depth in water based on a single three-dimensional vector hydrophone sitting on the bottom, the method for cooperative tracking of sound source azimuth and depth in water comprises the following steps:

[0067] Step 1: Use a single three-dimensional vector hydrophone placed at the depth of the seabed to receive the acoustic signal from the sound source near the upper surface of the sea, and generate sound pressure spectrum and vibration velocity spectrum data;

[0068] Step 2: Based on the sound pressure spectrum and vibration velocity spectrum data in step 1, the estimated value of the horizontal azimuth angle is obtained from the cross-spectrum of the sound intensity in the horizontal x direction and the sound intensity in the vertical y direction

[0069] Step 3: Use the horizontal azimuth estimate from Step 2 Synthetic Horizontal Velocity Spectrum V r (r s ,z s ,ω);

[0070] Step 4: Obtain the vert...

Embodiment 2

[0114] The seawater depth is 500m, and the single three-dimensional vector hydrophone is deployed at a distance of 1m from the seabed. The sound source frequency is 200Hz, the sampling rate is 3.2kHz, and the sound velocity in water is 1480m / s. The sound source is located at an underwater depth of 20m, and the horizontal azimuth angle to the hydrophone is 45 degrees. The sound source moves from the horizontal distance vector hydrophone at 10km to 15km, and the data during the movement is processed in segments. The snapshot is 1024 to ensure proper spectral resolution. Under the condition that the spectral level signal-to-noise ratio is 10dB, draw the joint tracking curve of horizontal azimuth angle, vertical angle of arrival and depth during the movement (such as figure 2 shown), and analyze the estimation error (such as image 3 , 4 , 5 shown).

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Abstract

The invention discloses an underwater sound source azimuth and depth cooperative tracking method based on a bottom-supported single three-dimensional vector hydrophone. The method comprises: using a single three-dimensional vector hydrophone placed at the seabed depth for receiving sound signals sent by a sound source, and generating sound pressure spectrum and vibration velocity spectrum data; obtaining a horizontal azimuth angle estimated value according to the horizontal and vertical sound intensity cross spectrums; synthesizing a horizontal vibration velocity spectrum by using the estimated value; obtaining a vertical arrival angle estimated value according to the vertical sound intensity cross spectrum and the synthetic horizontal sound intensity cross spectrum; performing high-resolution spectrum estimation on the sound intensity spectrum to obtain a modulation frequency, and obtaining a sound source depth estimation result by utilizing the modulation frequency; and carrying outsegmentation processing on data of the sound source in any time period, and jointly drawing tracking curves of horizontal azimuth angles, vertical arrival angles and depth estimation results in different time periods. According to the method, the problem that a system for estimating and tracking the underwater sound source parameters by using a large array through a space scanning and guiding space matching method is complex in the past is solved.

Description

technical field [0001] The invention belongs to the field of underwater target tracking; in particular, it relates to a collaborative tracking method for the azimuth and depth of an underwater sound source based on a bottom-sitting single-dimensional vector hydrophone. Background technique [0002] Estimating parameters such as azimuth, distance and depth of underwater targets is the core task of monitoring, detecting and tracking underwater targets. Generally, a large array is used, but due to the complexity of the system, the pressure of information processing, and the difficulty of operating and deploying the system at sea, there is an urgent need for a more simplified system design and excellent tracking methods. [0003] Compared with the general sound pressure hydrophone, which can only obtain the sound pressure information of the sound field, the three-dimensional vector hydrophone can measure the sound pressure and particle velocity information in the sound field syn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/18
CPCG01S5/18Y02A90/30
Inventor 宋海岩
Owner HEILONGJIANG INST OF TECH
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