Method, device, product and storage medium for transmitting and receiving split influence correction

Abstract

The invention relates to a method and device for transmitting and receiving split influence correction, a product and a storage medium. The invention discloses a method and device for ultra-short baseline underwater acoustic positioning, and belongs to the technical field of underwater positioning, and the method comprises the following steps: obtaining basic data, and presetting initial second propagation time; the basic data comprises a transducer first position and a transducer second position; calculating a transponder simulation position according to the transducer second position and the initial second propagation time; according to the transponder simulation position, first propagation time is calculated, and an initial time delay error is calculated; and when the initial time delay error is greater than a set threshold value, carrying out iteration on the initial second propagation time and calculating an iteration time delay error until the iteration time delay error is smaller than the set threshold value. According to the method, the forward propagation time and the backward propagation time of the sound waves can be calculated, so that the underwater positioning precision is improved.

Description

Technical Field

[0001] The present invention belongs to the field of underwater positioning technology, and in particular relates to a method, device, product and storage medium for correcting the influence of transmission and reception separation. Background Art

[0002] The ultra-short baseline hydroacoustic positioning system locates underwater targets through the acoustic response between the transducer and the beacon. Affected by the movement of the measurement carrier and the dynamic changes of the sea surface environment, the position and attitude of the ultra-short baseline transducer have changed when the ultra-short baseline system transmits and receives acoustic signals. This is the effect of the separation of transmission and reception of ultra-short baseline hydroacoustic positioning.

[0003] The existing inversion for the sound propagation path generally only performs one-way acoustic path inversion, that is, it is assumed that the transducer state is the same at the time of transmission and reception. Affected by the dynamic environment of the sea surface, the transducer is in motion during the ultra-short baseline measurement, resulting in the problem of separate transmission and reception in the measurement. Obviously, there will be certain systematic errors in the use of one-way acoustic path inversion for target solution.

[0004] The key to eliminating the impact of the separation of transmitters and receivers is to use the measured sound velocity profile to accurately invert the round-trip path of the sound wave. However, the ultra-short baseline system measures the sum of the propagation times of the round-trip sound waves, and the forward and return propagation times of the sound waves cannot be determined separately.

[0005] Therefore, it is urgent to develop methods, devices, products and storage media for correcting the effects of the split transmission and reception to solve the problems in the prior art. Summary of the invention

[0006] The purpose of the present invention is to provide a method, device, product and storage medium for correcting the influence of the separation of transmission and reception, which can calculate the round-trip propagation time and return propagation time of the sound wave, so as to solve the problem raised in the above-mentioned background technology that the current ultra-short baseline underwater acoustic positioning cannot independently determine the round-trip propagation time and return propagation time of the system sound wave.

[0007] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows:

[0008] A method for correcting the impact of the transmission and reception splitting, comprising the following steps:

[0009] Acquire basic data and preset an initial second propagation time; the basic data includes a first transducer position and a second transducer position;

[0010] calculating a simulated position of the transponder based on the second position of the transducer and the initial second propagation time;

[0011] Calculate the first propagation time according to the simulated position of the transponder, and calculate the delay error at this time;

[0012] When the initial delay error is greater than a set threshold, the initial second propagation time is iterated and the delay error of the iteration is calculated, and the iteration is stopped when the calculated delay error is less than the set threshold.

[0013] Furthermore, the iteration of the initial second propagation time is performed by the following formula:

[0014] t i+1 ” = t i ”+k i Δt i ;

[0015] Among them, t i+1 ” is the second propagation time of the iteration at the i+1th iteration, t i ” is the second propagation time of the iteration at the i-th iteration; k i is the correction coefficient at the i-th iteration, Δt i is the delay error at the i-th iteration;

[0016] The iterative delay error is calculated by the following formula:

[0017] Δt i =Tt i '-t i ”;

[0018] Among them, Δt i is the delay error at the i-th iteration, T is the sum of the measured round-trip delays, t i ' is the first propagation time at the i-th iteration, t i ” is the second propagation time at the i-th iteration.

[0019] Further, the correction coefficient is calculated by the following formula:

[0020]

[0021] Among them, k i is the correction coefficient at the i-th iteration, ρ i1 is the first straight-line distance at the i-th iteration, ρ i2 is the second straight-line distance at the i-th iteration; the first straight-line distance is the straight-line distance between the first position of the transducer and the simulated position of the transponder, and the second straight-line distance is the straight-line distance between the second position of the transducer and the simulated position of the transponder.

[0022] Furthermore, the correction coefficient is a constant.

[0023] Furthermore, the calculation process of the first propagation time includes the following steps:

[0024] Calculating an iterative Snell constant based on the first position of the transducer and the simulated position of the transponder;

[0025] When the horizontal offset difference corresponding to the iterative Snell constant is greater than the set threshold, the iterative Snell constant is iterated and the horizontal offset difference at the iteration is calculated, and the process stops when the calculated horizontal offset difference is less than the set threshold.

[0026] Furthermore, the iteration of the initial Snell constant is performed by the following formula:

[0027]

[0028] Among them, p i+1 is the Snell constant at the i+1th iteration, p i is the Snell constant at the i-th iteration;

[0029]

[0030] Δx is the horizontal offset between the first position of the transducer and the simulated position of the transponder.

[0031] Furthermore, the calculation process of the first propagation time also includes the following:

[0032] Based on the iterated Snell constant, the first propagation time is calculated.

[0033] A computer device comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0034] A computer program product comprises a computer program, which implements the steps of the above method when executed by a processor.

[0035] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0036] The present application associates the first position of the transducer and the second position of the transducer, avoiding the systematic error that exists when performing target solution by one-way acoustic path inversion, and can obtain the outbound propagation time and return propagation time of the sound wave, so that the round-trip path of the sound wave can be accurately inverted to eliminate the influence of the separation of the transmitter and the receiver. Furthermore, when calculating the first propagation time, the present application uses accelerated iteration to increase the speed of solving the nonlinear equation, thereby speeding up the speed of correcting the influence. The simulation experiment results show that the present application can improve the positioning accuracy of the ultra-short baseline at a target depth of 3000m by about 40% by eliminating the influence of the separation of the transmitter and the receiver.

[0037] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the overall flow chart of the present invention;

[0039] Figure 2 This is a schematic diagram of the principle structure of ultra-short baseline positioning;

[0040] Figure 3 is a schematic diagram of the sound velocity profile;

[0041] Figure 4 Track diagram of the survey ship and underwater target during the experiment

[0042] Figure 5 is the sound velocity profile during the experiment;

[0043] Figure 6 The transducer position at the time of signal transmission and reception during the experiment;

[0044] Figure 7 is the ultra-short baseline positioning error during the experiment. DETAILED DESCRIPTION

[0045] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings. In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0046] A method for correcting the effect of the transmission and reception separation can obtain the forward propagation time and return propagation time of the sound wave of the underwater acoustic positioning system, comprising the following steps:

[0047] S1: Acquire basic data and preset an initial second propagation time; the basic data includes the first position of the transducer, the second position of the transducer, the sum of the measured round-trip delay and the sound velocity profile, etc.;

[0048] S2: Calculating a simulated position of the transponder according to the second position of the transducer and the initial second propagation time;

[0049] S3: Calculate the first propagation time and the initial delay error according to the simulated position of the transponder;

[0050] S4: When the initial delay error is greater than the set threshold, the initial second propagation time is iterated and the iterative delay error is calculated, and the process stops when the iterative delay error is less than the set threshold.

[0051] The first propagation time is the time delay from the first position of the transducer to the simulated position of the transponder, and the second propagation time is the time delay from the second position of the transducer to the simulated position of the transponder. The time delay refers to the propagation time of the acoustic wave of the positioning system.

[0052] In this embodiment, the first position of the transducer is the transducer position at the time of transmission, and the second position of the transducer is the transducer position at the time of reception. Correspondingly, the first propagation time is the forward propagation time of the sound wave, and the second propagation time is the return propagation time of the sound wave.

[0053] Optionally, the first position of the transducer may also be the transducer position at the receiving moment, and the second position of the transducer may be the transducer position at the transmitting moment.

[0054] In step S1, when the initial second propagation time is preset, the initial second propagation time is generally set to half of the sum of the measured round-trip delays. j1 ,y j1 ,z j1 ), the second position of the transducer is (x j2 ,y j2 ,z j2 ). The sum of the measured round trip delays is T, and the initial second propagation time is t i ”,t i ”=0.5T.

[0055] In the step S2, calculating the simulated position of the transponder according to the second position of the transducer and the initial second propagation time comprises the following steps:

[0056] According to the preset initial second propagation time and the second position of the transducer, the transponder simulation position (x ti ,y ti ,z ti ). This is a prior art. For example, the one-way acoustic path inversion technology cited in the background technology also includes calculations through propagation time and position, sound line tracking, etc.

[0057] In this embodiment, the simulated position of the transponder can be calculated by ray tracing. The ray tracing is a prior art, and the calculation can be obtained by the following principle or by other prior art. For example, the method steps for calculating the approximate coordinates of the target in the article entitled "Constant gradient ray tracing underwater positioning algorithm taking into account the beam incidence angle" are cited in the following format: Xin Mingzhen, Yang Fanlin, Xue Shuqiang, et al. Constant gradient ray tracing underwater positioning algorithm taking into account the beam incidence angle [J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(12): 1535-1542. DOI: 10.11947 / j.AGCS.2020.20190518.

[0058] As an optional implementation, Figure 2 As shown, the positions of the three acoustic units can be set to O, A and B respectively, then the lengths of OA and OB are d x and d y , can be obtained based on the ultra-short baseline underwater acoustic positioning system. The time delays of the acoustic signal from propagation to each acoustic unit are τ, τ a and τ b , then the delay differences between OA and OB are τ x =τ-τ a , τ y =τ-τ b .

[0059] Coordinates of the simulated position of the transponder (x ti ,y ti ,z ti ) can be expressed as:

[0060]

[0061] Where ρ is the slant distance from the target to the transducer, that is, the distance between the simulated position of the transponder and the transducer position at point O.

[0062]

[0063] Among them, c is the sound propagation velocity, which can be obtained according to the sound velocity profile.

[0064] The slant distance from the target to the transducer can be expressed as:

[0065] ρ = ct / 2;

[0066] Among them, ρ is the slant distance from the target to the transducer, c is the sound propagation velocity, and t is the time from the transducer transmitting the sound wave to receiving the sound wave, that is, the sum of the round-trip delays.

[0067] In step S3, the calculation of the first propagation time includes the following steps:

[0068] S31: Calculating an iterative Snell constant according to the first position of the transducer and the simulated position of the transponder;

[0069] S32: When the horizontal offset difference corresponding to the iterative Snell constant is greater than the set threshold, the iterative Snell constant is iterated and the horizontal offset difference at the iteration is calculated, and the process stops when the calculated horizontal offset difference is less than the set threshold.

[0070] In step S31, the iterative Snell constant is calculated by the following formula:

[0071]

[0072] Among them, p i+1 is the iterative Snell constant at the i+1th iteration, p i is the iterative Snell constant at the i-th iteration;

[0073]

[0074] Δx is the overall horizontal offset of the first position of the transducer from the simulated position of the transponder.

[0075] When u=0, p0 is the initial Snell constant, which can be calculated according to the Snell constant p formula:

[0076] p=sinθ k / c k ;

[0077] Among them, Figure 3 As shown in the figure, the depth corresponding to the kth layer of the sound velocity profile is (z k ,z k+1 ), the corresponding sound speed interval is (c k ,c k+1 ), where depth z k The sound speed at depth zk+1 is ck, and the sound speed at depth zk+1 is ck+1. θk is the sound speed profile depth z k The beam incident angle of the kth layer. gk is the sound velocity gradient of the kth layer. This part of the data can be obtained from the sound velocity profile.

[0078] The principle is as follows:

[0079] According to the first position of the transducer (x j1 ,y j1 ,z j1 ) and transponder simulation position (x ti ,y ti ,z ti ), get the horizontal offset, the formula is as follows:

[0080]

[0081] Among them, Δx is the overall horizontal offset, x j is the coordinate of the first position of the transducer on the X-axis, y j is the coordinate of the first position of the transducer on the Y axis, x t The coordinate of the simulated position of the transponder on the X axis, y t is the coordinate of the simulated position of the transponder on the Y axis. The coordinates of the simulated position of the transponder on the X axis, Y axis and Z axis are x ti ,y ti and z ti The coordinates of the first position of the transducer on the X-axis, Y-axis and Z-axis are x j1 ,y j1 and z j1 .

[0082] Assuming the transponder simulation position is on the nth floor, the horizontal offset expression of each floor is as follows:

[0083]

[0084] The formula for Snell's constant p is as follows:

[0085] p=sinθ k / c k ;

[0086] Among them, the depth corresponding to the kth layer of the sound velocity profile is (z k ,z k+1 ), the corresponding sound speed interval is (c k ,c k+1 ), where depth z k The speed of sound at c k , depth z k+1 The speed of sound is c k+1 θ k is the sound velocity profile depth z k The beam incident angle of the kth layer. g k is the sound velocity gradient of the kth layer.

[0087] The overall horizontal offset satisfies the following formula:

[0088]

[0089] Convert the above formula into form:

[0090]

[0091]

[0092] Calculate p" from p':

[0093]

[0094] P is an intermediate variable, which is easier to calculate after conversion. Otherwise, it needs to be derived and the calculation is more complicated. This application simplifies the calculation process through conversion.

[0095] Construct accelerated iteration:

[0096]

[0097] Among them, p i+1 is the iterative Snell constant at the i+1th iteration, p i is the iterative Snell constant at the i-th iteration.

[0098] In step S32, the horizontal offset difference calculation formula is as follows:

[0099]

[0100] Where dx is the horizontal offset difference, Δx is the overall horizontal offset, It is the sum of the horizontal offsets of each layer after substituting the iterative Snell constant of this iteration into the horizontal offset expression of each layer.

[0101] Generally, when the horizontal offset difference is less than 1 cm, the iteration is stopped, and the iterative Snell constant at this time is the final iterative Snell constant.

[0102] In step S3, the calculation of the first propagation time includes the following steps:

[0103] S33: Calculate the first propagation time according to the final iterative Snell constant.

[0104] Specifically, the beam incident angle may be calculated by iterating the Snell constant, and the first propagation time may be calculated according to the beam incident angle.

[0105] The relationship between the iterative Snell constant and the beam incident angle is as follows:

[0106] p=sinθ k / c k ;

[0107] p is the depth z k The beam incident angle at k is the depth z k The angle between the sound propagation direction at and the vertical direction, c k is the depth z k The speed of sound at .

[0108] The first propagation time is calculated as follows:

[0109]

[0110] Among them, t i ' is the first propagation time.

[0111] This is prior art and will not be described in detail in this application.

[0112] The iteration of the initial second propagation time in step 4 is performed by the following formula:

[0113] t i+1 ” = t i ”+kΔt i ;

[0114] Among them, t i+1 ” is the second propagation time at the i+1th iteration, t i ” is the second propagation time at the i-th iteration; k i is the correction coefficient at the i-th iteration, Δt i is the delay error at the i-th iteration.

[0115] The delay error is calculated by the following formula:

[0116] Δt i =Tt i '-t i ”;

[0117] Among them, Δt i is the delay error at the i-th iteration, T is the sum of the measured round-trip delays, t i ' is the first propagation time at the i-th iteration, t i ” is the second propagation time at the i-th iteration. When i=0, Δt0 is the initial delay error, t0' is the initial first propagation time, and t0” is the initial second propagation time.

[0118] Optionally, the correction coefficient may be constant to 1 / 2 or calculated by the following formula:

[0119]

[0120] Among them, k i is the correction coefficient, ρ i1 is the first straight-line distance at the i-th iteration, ρ i2 is the second straight-line distance at the i-th iteration. The first straight-line distance is the straight-line distance between the first position of the transducer and the simulated position of the transponder, and the second straight-line distance is the straight-line distance between the second position of the transducer and the simulated position of the transponder.

[0121] The second straight-line distance is calculated according to the simulated position of the transponder and the second position of the transducer. The second straight-line distance is the distance between the simulated position of the transponder and the second position of the transducer.

[0122] When the coordinates of the simulated position of the transponder are (x ti ,y ti ,z ti ), the coordinates of the first position of the transducer are (x j1 ,y j1 ,z j1 ), the coordinates of the second position of the transducer are (x j2 ,y j2 ,z j2 ), the first straight-line distance and the second straight-line distance can be calculated by the following formula:

[0123]

[0124] Among them, ρ i1 is the first straight line distance, ρ i2 is the second straight line distance.

[0125] The basic data includes the first position of the transducer, the second position of the transducer, the sum of the measured round-trip delay and the sound velocity profile, etc. In this embodiment, the first position of the transducer is the transducer position at the receiving time, and the second position of the transducer is the transducer position at the transmitting time. Optionally, the first position of the transducer can be the transducer position at the transmitting time, and the second position of the transducer is the transducer position at the receiving time.

[0126] The threshold in step 4 can be set as needed, generally 0.000001. That is, when the delay error is less than 0.000001, the iteration is stopped, and the obtained iterative second propagation time and first propagation time are the corrected forward propagation time and return propagation time.

[0127] The simulation experiment is as follows:

[0128] Assume that the sound velocity measurement error at the transducer is 0.1m / s, the angle measurement error caused by the phase difference measurement is a random error within the range of 0.1°, and the attitude error is set to Δθa=0.06° with reference to the attitude measurement accuracy of the high-precision inertial navigation. The ship sails at a speed of 5km, and the coordinates of the time when the transducer transmits the sound wave are (0,0,0). The time positions of the transducers receiving the sound waves at different epochs are randomly generated in combination with the ship speed. The target depth is 1500m, and the real navigation trajectory of the target transponder is simulated, such as Figure 4 , combined with some experimental sound velocity profile data, such as Figure 5 , use constant gradient ray tracking (search beam incidence angle) to invert the round-trip sound ray propagation time and the angle between the sound ray and the X-axis and Y-axis at the receiving time (9000 epochs).

[0129] The round trip delay and the angle measurement with random errors are used as the observations of the ultra-short baseline system. Combined with the sound velocity profile, the target solution is performed in two modes, with and without the correction of the transducer receiving and transmitting separation. For the uncorrected mode, the average sound velocity method and one-way sound line tracking are used respectively, where the one-way sound line tracking uses the receiving time position with 0.5t as the initial value to correct the sound line; for the correction of the ultra-short baseline receiving and transmitting separation, the two-way sound line tracking combined with the time distribution method is used for solution, where the time inversion is performed using the Newton iteration method and the accelerated iteration method proposed in this paper. Figure 6 is the transmitting and receiving time positions of the transducer at each observation epoch, Figure 7 The position errors obtained by different methods for each observation epoch are shown in the figure. The computer parameters used in the experiment are Win10 system and Intel(R)Core(TM)i7-8700 CPU.

[0130] Table 1:

[0131]

[0132] Table 1 summarizes the mean error and calculation time obtained by various methods at epoch 9000.

[0133] The analysis of the experiment is as follows:

[0134] (1) Ultra-short baseline positioning error analysis: During ultra-short baseline measurement, the transducer is in a state of split transmission and reception, resulting in a large difference in the position and attitude of the transducer when transmitting and receiving sound waves, and a large difference in the round-trip sound wave path. The traditional ultra-short baseline positioning algorithm fails to consider the impact of the split transmission and reception of the transducer on underwater acoustic positioning, and only performs one-way sound line tracking for sound line correction, which reduces the accuracy of target solution. Figure 7 It can be seen that the result of the transducer two-way sound line tracking after the correction of the transmission and reception separation has the same change trend as the point error obtained without correction. Figure 7 It can be seen from the target navigation trajectory that this trend changes with the target position. Specifically, when the water depth is constant, the positioning error increases with the increase of horizontal distance.

[0135] (2) Further analysis of ultra-short baseline positioning error: Figure 7As shown in Table 1, the position error of each epoch of the average sound velocity method is evenly distributed on both sides of 6m, and has a certain randomness. The position error of each epoch of the one-way sound line tracking algorithm is evenly distributed on both sides of 2m. The position error of each point obtained by the correction of the transducer receiving and transmitting separation is evenly distributed on both sides of 1.2m. The positioning error caused by the transducer receiving and transmitting separation shows a certain systematicity. As shown in Table 1, the time mean error obtained by the correction solution of the transducer receiving and transmitting separation is small. Combined with the ultra-short baseline positioning principle and the time allocation method, the positioning error caused by the transducer receiving and transmitting separation is better corrected. The corrected point mean error is mainly caused by other measurement errors such as angle measurement. From the perspective of point mean error, the time allocation method proposed in this paper improves the accuracy by 40% compared with the one-way sound line tracking algorithm.

[0136] (3) The computational efficiency of each method is analyzed: the average sound velocity method has a simple model and very high computational efficiency; the ultra-short baseline one-way ray tracking only considers the refraction effect of the sound ray propagation process, and the constant gradient ray tracking can effectively reduce the impact of this phenomenon, but the ultra-short baseline beam incidence angle is not accurate. The mathematical relationship between the beam incidence angle and the propagation delay can be established, and the Newton iteration method is used to solve the nonlinear equation with high computational efficiency; the transducer transmission and reception separation correction method requires two-way ray tracking, so the computational efficiency is lower than that of traditional ultra-short baseline ray tracking. In addition, the accelerated iteration method proposed in this paper is about 4 times higher than the Newton iteration method, and the single epoch calculation time is short, which can be used for ultra-short baseline real-time positioning solution.

[0137] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

[0138] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for correcting the impact of transmission and reception separation, characterized in that: The steps include: Acquire basic data and preset an initial second propagation time; the basic data includes a first transducer position and a second transducer position; calculating a simulated position of the transponder based on the second position of the transducer and the initial second propagation time; Calculate the first propagation time according to the simulated position of the transponder, and calculate the delay error at this time; When the initial delay error is greater than a set threshold, the initial second propagation time is iterated and the delay error of the iteration is calculated, and the iteration is stopped when the calculated delay error is less than the set threshold.

2. The method for correcting the impact of transmission and reception separation according to claim 1, characterized in that: The iteration of the initial second propagation time is performed by the following formula: t i+1 ”=t i ”+k i Δt i ; Among them, t i+1 ” is the second propagation time at the i+1th iteration, t i ” is the second propagation time at the i-th iteration; k i is the correction coefficient at the i-th iteration, Δt i is the delay error at the i-th iteration; The delay error is calculated by the following formula: Δt i =T-t i ’-t i ”; Among them, Δt i is the delay error at the i-th iteration, T is the sum of the measured round-trip delays, t i ' is the first propagation time at the i-th iteration, t i ” is the second propagation time at the i-th iteration.

3. The method for correcting the impact of transmission and reception separation according to claim 2, characterized in that: The correction factor is calculated by the following formula: Among them, k i is the correction coefficient at the i-th iteration, ρ i1 is the first straight-line distance at the i-th iteration, ρ i2 is the second straight-line distance at the i-th iteration; the first straight-line distance is the straight-line distance between the first position of the transducer and the simulated position of the transponder, and the second straight-line distance is the straight-line distance between the second position of the transducer and the simulated position of the transponder.

4. The method for correcting the impact of the transmission and reception split according to claim 2, characterized in that: The correction coefficient is a constant.

5. The method for correcting the impact of transmission and reception separation according to claim 1, characterized in that: The calculation process of the first propagation time includes the following steps: Calculating an iterative Snell constant based on the first position of the transducer and the simulated position of the transponder; When the horizontal offset difference corresponding to the iterative Snell constant is greater than the set threshold, the iterative Snell constant is iterated and the horizontal offset difference at the iteration is calculated, and the process stops when the calculated horizontal offset difference is less than the set threshold.

6. The method for correcting the influence of transmission and reception separation according to claim 5, characterized in that: The iterative Snell constant is calculated by the following formula: Among them, p i+1 is the iterative Snell constant at the i+1th iteration, p i is the iterative Snell constant at the i-th iteration; Δx is the horizontal offset between the first position of the transducer and the simulated position of the transponder.

7. The method for correcting the impact of transmission and reception separation according to claim 5, characterized in that: The calculation process of the first propagation time also includes the following: Based on the iterated Snell constant, the first propagation time is calculated.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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