A double-ocean-floor horizontal array joint target positioning method based on subspace intersection

Abstract

The application discloses a double-ocean-floor horizontal array joint target positioning method based on subspace intersection, and comprises the following steps: signals emitted by an underwater sound source are synchronously collected by two ocean-floor horizontal arrays to construct a signal receiving model; a two-dimensional rectangular coordinate system is established based on the spatial positions of the two ocean-floor horizontal arrays; acoustic environment parameters are measured in the sea area where the two ocean-floor horizontal arrays are located; based on the mode theory, the acoustic environment parameters are substituted into a normal mode model to calculate the horizontal wave numbers of each order normal mode in the sound field; effective modes in each order mode corresponding to the horizontal wave numbers are screened out; a covariance matrix of the horizontal array output signals is constructed; the covariance matrix is subjected to eigenvalue decomposition to construct a signal subspace; a mode subspace is constructed; the mode subspace and the signal subspace are combined and subjected to orthogonal triangular decomposition to solve the estimation results of the sound source azimuth angle of the two ocean-floor horizontal arrays; and the position of the sound source is estimated according to the estimation results of the sound source azimuth angle of the two ocean-floor horizontal arrays.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of underwater sound source positioning, and particularly relates to a double-sea-floor horizontal array joint positioning method based on robust direction estimation. BACKGROUND

[0002] With the development of ocean engineering and signal processing methods, it is an urgent key technology to realize fast and accurate positioning of underwater sound sources. In recent years, the development and progress of equipment make the underwater detection mode more diverse. Among them, the large-aperture line array can obtain a larger detection radius, which is conducive to detecting low signal-to-noise ratio sound sources in complex marine environments. Based on the modal theory, compared with other depth layers, the amplitude of each order of normal wave mode is larger at the sea floor depth, that is, more orders of normal wave modes contribute to the sound field. Therefore, the sea floor horizontal array can effectively sample more orders of normal wave modes, and then obtain more sound source information. The multi-station joint target positioning method with the sea floor horizontal line array as the observation node can generate the position information of the target at each sampling time by jointly estimating the target direction of the multiple observation nodes. The target positioning is realized by using the direction measurement results of multiple observation stations, mainly by jointly providing the sound source direction information of each observation node to create a sound source positioning model, so as to solve the sound source position coordinates. This kind of method has small amount of calculation and stable performance, and is suitable for sound source positioning based on sea floor horizontal array direction estimation.

[0003] However, when the horizontal line array is applied to target direction estimation, the traditional direction estimation method based on the plane wave model has certain estimation deviation under the multi-path condition, which is easy to cause the peak deviation or splitting phenomenon of the spatial spectrum; the insufficient accuracy of the direction estimation result will greatly reduce the accuracy of the multi-station joint positioning algorithm. SUMMARY

[0004] The application provides a double-sea-floor horizontal array joint target positioning method based on subspace intersection, which is used for realizing high-resolution direction estimation of the horizontal array node according to the acoustic environment of the test sea area, and then utilizing the difference of the direction angles estimated by the horizontal arrays at different positions to jointly position the sound source, so as to solve the problems of large amount of calculation and low accuracy of the traditional method.

[0005] In order to realize the above-mentioned task, the application adopts the following technical scheme:

[0006] A double-sea-floor horizontal array joint target positioning method based on subspace intersection comprises the following steps:

[0007] Synchronously collecting signals emitted by underwater sound sources by using two sea floor horizontal arrays, and constructing a signal receiving model;

[0008] Establishing a two-dimensional rectangular coordinate system based on the spatial positions of the two sea floor horizontal arrays;

[0009] measuring acoustic environmental parameters in a sea area where the two seabed horizontal arrays are located;

[0010] Based on the modal theory, the acoustic environmental parameters are substituted into the normal mode model to calculate the horizontal wave numbers of each order of normal modes in the sound field; wherein each order of normal modes is obtained based on the decomposition of the signal receiving model;

[0011] Based on the horizontal wave numbers of each order of normal modes, effective modes in each order of modes corresponding to the horizontal wave numbers are screened out;

[0012] Based on the signal receiving model, a covariance matrix of the horizontal array output signal is constructed; by performing eigenvalue decomposition on the covariance matrix, a signal subspace is constructed; based on the horizontal wave numbers of each order of effective modes, a modal subspace is constructed;

[0013] The modal subspace and the signal subspace are combined and orthogonally triangularly decomposed to solve the estimation results of the azimuth of the sound source by the two seabed horizontal arrays;

[0014] According to the estimation results of the azimuth of the sound source by the two seabed horizontal arrays, the position of the sound source is estimated based on the established two-dimensional rectangular coordinate system.

[0015] Further, the use of two seabed horizontal arrays to synchronously collect signals emitted by underwater sound sources, and the construction of a signal receiving model, include:

[0016] For an N-element seabed horizontal array with an element spacing of d, the receiving depth is z r , the horizontal distance between the nth element of the horizontal array and the sound source is r n (n=1,2,...,N); there are S sound sources in the space, the signal angular frequency is ω, and the signal received by the nth element of the horizontal array is:

[0017]

[0018] In the formula, p s (ω,r n ,z r ) represents the sound pressure value of the signal received by the horizontal array from the sth sound source, and the sound pressure value has a functional relationship with the signal angular frequency ω, the horizontal distance r n from the sound source, and the receiving depth z r ; σ(ω) represents Gaussian white noise; under the lth snapshot, the received signal vector on the horizontal array is represented as: x l (ω)=[x1(ω),x2(ω),...,x N (ω)] T .

[0019] Further, the establishment of a two-dimensional rectangular coordinate system based on the spatial positions of the two seabed horizontal arrays includes:

[0020] The line connecting the midpoints of the two seabed horizontal arrays is determined as the x-axis, and the midpoint of any one of the seabed horizontal arrays is taken as the coordinate origin, and the x-axis is horizontally rotated by 90° as the y-axis, to construct a two-dimensional rectangular coordinate system; thus, the coordinates of the two seabed horizontal arrays are (x1, y1) and (x2, y2) respectively.

[0021] Further, in the sea area where the two seabed horizontal arrays are located, the acoustic environmental parameters are measured as inputs of the normal mode model, and the parameters include:

[0022] The measuring device is arranged near the seabed horizontal array, and the sound velocity profile is measured on site by using a temperature chain, a CTD or an XBT probe device; the acoustic characteristics of seabed sediments are obtained by using seabed sampling, in-situ measurement and seabed geoacoustic parameter inversion, to obtain the sound velocity, density and sound attenuation coefficient of seabed sediments.

[0023] Further, the effective modes in the modes corresponding to the horizontal wave numbers of the normal modes are screened out based on the horizontal wave numbers of the normal modes, and the effective modes in the modes corresponding to the horizontal wave numbers of the normal modes include:

[0024] According to the sound velocity profile in the water body and the seabed sound velocity c s , the reflection mode and the inversion mode are screened out as effective modes; wherein the horizontal wave number k m of the reflection mode needs to satisfy ωc s <k m <ωc max , and the horizontal wave number k m of the inversion mode needs to satisfy ωc max <k m <ωc min , c max and c min represent the maximum and minimum values of the sound velocity in the water body respectively; the order of the screened effective mode is represented as: m=1,2,...,M e , and M e is the maximum order of the screened effective mode.

[0025] Further, the covariance matrix of the horizontal array output signal is constructed based on the signal receiving model; the signal subspace is constructed by performing eigenvalue decomposition on the covariance matrix; the mode subspace is constructed based on the horizontal wave numbers of the effective modes, and the mode subspace includes:

[0026] Based on the received signal vector x l (ω) of the lth snapshot, the covariance matrix of the horizontal array output signal is obtained under L snapshots as:

[0027]

[0028] where the upper index H denotes the conjugate transpose; and the covariance matrix Eigenvalue decomposition can be written as follows:

[0029]

[0030] where, denotes the diagonal matrix composed of the first S large eigenvalues arranged in descending order, denotes the signal subspace composed of the eigenvectors corresponding to the first S large eigenvalues; denotes the diagonal matrix composed of the remaining N-S small eigenvalues, denotes the noise subspace composed of the eigenvectors corresponding to the N-S small eigenvalues;

[0031] Based on the horizontal wave number k m (m = 1, 2,..., M e ), the modal subspace corresponding to the search angle θ is defined as:

[0032]

[0033] where span{·} denotes the span space, i is the imaginary unit, and e is the base of natural logarithm.

[0034] Further, the combination of the modal subspace and the signal subspace and the orthogonal triangular decomposition are used to solve the estimation result of the two seabed horizontal arrays on the sound source azimuth, including:

[0035] The combination of the modal subspace and the signal subspace can obtain an N × (M e +S) order matrix:

[0036]

[0037] After QR decomposition, we get:

[0038]

[0039] where, is the orthogonal matrix obtained by orthogonal decomposition, is an (M e +S) × (M e +S) order upper triangular matrix, the diagonal elements are singular values of ; then the function:

[0040] The peak value of the function corresponds to the estimated sound source azimuth

[0041] Further, the position of the sound source is estimated based on the established two-dimensional rectangular coordinate system according to the two seabed horizontal array azimuth angle estimation results, comprising:

[0042] The two seabed horizontal array azimuth angle estimation results are respectively The included angle between the end-fire direction of the two seabed horizontal arrays and the positive direction of the x-axis of the two-dimensional rectangular coordinate system is Therefore, the observation equation for the sound source located at (x, y) is:

[0043]

[0044] Therefore, the estimated sound source position is The sound source position can be obtained by solving the following equation group:

[0045]

[0046] A sound source positioning device comprises a processor, a memory and a computer program stored in the memory; when the processor executes the computer program, the double seabed horizontal array joint target positioning method based on subspace intersection is realized.

[0047] A computer readable storage medium, wherein the medium stores a computer program; when the computer program is executed by a processor, the double seabed horizontal array joint target positioning method based on subspace intersection is realized.

[0048] Compared with the prior art, the present application has the following technical features:

[0049] The double seabed horizontal array joint positioning method based on robust bearing estimation provided by the present application is based on normal wave theory, and the bearing estimation error of the seabed horizontal array is eliminated by accurately modeling the normal wave number, so that the double horizontal array joint positioning has practical value. The beneficial effects of the present application are embodied in that the direction finding accuracy of a single horizontal array node is improved by introducing the subspace intersection algorithm, thereby improving the target positioning accuracy. Compared with the traditional matching field direction finding method, the computational amount is greatly reduced, and the efficiency of target positioning is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 The combination of the measured data and the simulation results in the entire joint positioning process is given, and the target positioning result is output;

[0051] Figure 2 is a flowchart of the method of the present application;

[0052] Figure 3 is a schematic diagram of the test sea area corresponding to the embodiment of the present application, and a schematic diagram of a rectangular coordinate system based on the position of the horizontal array;

[0053] Figure 4 is the position relationship between two fixed sound sources and two horizontal array direction finding nodes in the space corresponding to the embodiment of the present application;

[0054] Figure 5 is a typical shallow sea sound speed profile provided by the embodiment of the present application;

[0055] Figure 6 is the wave number value of the first six order normal wave modes calculated based on the modal theory;

[0056] Figure 7 is the azimuth estimation result of two seabed horizontal array direction finding nodes at the same time corresponding to the embodiment of the present application;

[0057] Figure 8 is the joint positioning result of 500 time instants corresponding to the embodiment of the present application;

[0058] Figure 9 is the positioning root mean square error corresponding to the embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the object, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely in combination with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a representative embodiment of the present application, but not all.

[0060] The present application proposes to use the subspace intersection method for seabed horizontal array multi-station joint positioning, thereby effectively improving the target positioning accuracy. Moreover, under the condition of accurately calculating the wave number of each order normal wave, the subspace intersection method only needs to perform one-dimensional search on the sound source azimuth, is suitable for low-frequency shallow sea sound field with less total order of normal wave, and greatly reduces the operation amount compared with the traditional matching field method.

[0061] Referring to the drawings, the present application provides a double seabed horizontal array joint target positioning method based on subspace intersection, comprising the following steps:

[0062] Step one, using two seabed horizontal arrays to synchronously collect the signals emitted by underwater sound sources, and constructing a signal receiving model.

[0063] For an N-element seabed horizontal array with an element spacing of d, the receiving depth is z r , the horizontal distance between the nth element of the horizontal array and the sound source is r n (n=1, 2,..., N); there are S sound sources in the space at the same time, the signal angular frequency is ω, and the signal received by the nth element of the horizontal array is:

[0064]

[0065] In the formula, p s (ω,r n ,z r () represents the sound pressure level of the s-th sound source signal received by the horizontal array. The magnitude of this sound pressure level is related to the signal angular frequency ω and the horizontal distance r from the sound source. n , receiving depth z r A functional relationship exists; σ(ω) represents Gaussian white noise. Therefore, in the l-th snapshot, the received signal vector on the horizontal array can be represented as: x l (ω)=[x1(ω),x2(ω),...,x N (ω)] T The superscript T indicates transpose.

[0066] Step 2: Establish a two-dimensional rectangular coordinate system based on the spatial positions of the two seabed horizontal arrays.

[0067] In this step, the line connecting the midpoints of the two seabed horizontal arrays is determined as the x-axis, and the midpoint of any one of the seabed horizontal arrays is taken as the origin of the coordinate system. The x-axis is rotated horizontally by 90° to form the y-axis, thus constructing a two-dimensional rectangular coordinate system parallel to the horizontal plane. Therefore, the coordinates of the two seabed horizontal arrays are (x1, y1) and (x2, y2), respectively, where x1 = y1 = 0.

[0068] Step 3: Within the sea area where the two seabed horizontal arrays are located, measure acoustic environmental parameters such as sound velocity profiles and acoustic properties of seabed sediments.

[0069] The measuring device is located near the seabed horizontal array, and the sound velocity profile can be measured in-situ using devices such as temperature chain, CTD, and XBT probes. The acoustic properties of seabed sediments are obtained through seabed sampling, in-situ measurement, and seabed geosonic parameter inversion to obtain the sound velocity, density, and sound attenuation coefficient of seabed sediments.

[0070] Step four: Based on modal theory, the acoustic signal received by the seabed horizontal array is composed of superposition of normal modes of different orders; by substituting the sound velocity profile and acoustic environment parameters of the seabed sediments mentioned in step three into the normal mode model, the horizontal wavenumber k of each normal mode in the sound field is calculated. m (m=1,2,...,M), where m is the order of the mode; where each normal mode is a function of the signal receiving model x in step one. n (ω) is obtained by decomposition.

[0071] Step 5: Based on the horizontal wavenumbers of each normal mode, select the effective modes from the modes corresponding to each order of horizontal wavenumbers.

[0072] Based on the sound speed profile in the water and the sound speed c on the seabed s The reflection mode and the inversion mode were selected as effective modes; among them, the horizontal wavenumber k of the reflection mode was determined.m ωc s < k m ωc max horizontal wave number of the inverse mode m ωc max < k m ωc min c max and c min respectively represent the maximum and minimum values of the sound speed in the water body; the effective mode order selected is represented as: m = 1, 2,..., M e M e is the maximum order of the effective mode selected.

[0073] Step six, based on the signal receiving model, the covariance matrix of the horizontal array output signal is constructed; by performing eigenvalue decomposition on the covariance

[0074] matrix, the signal subspace Based on the horizontal wave number of each order effective mode, the mode subspace μ(θ) is constructed.

[0075] Based on the received signal vector x l (ω) of the lth snapshot obtained in step one, the covariance matrix of the horizontal array output signal is obtained under L snapshots as:

[0076]

[0077] In the formula, the superscript H represents the conjugate transpose; by performing eigenvalue decomposition on the covariance matrix , it can be written in the following form:

[0078]

[0079] wherein, represents the diagonal matrix composed of the first S large eigenvalues arranged from large to small, and represents the signal subspace composed of the eigenvectors corresponding to the first S large eigenvalues; represents the diagonal matrix composed of the remaining N-S small eigenvalues, represents the noise subspace composed of the eigenvectors corresponding to the N-S small eigenvalues;

[0080] Based on the horizontal wave number k m of each order effective mode (m = 1, 2,..., M e ), the mode subspace corresponding to the search angle θ is defined as:

[0081]

[0082] where span{•} denotes the span of a set of vectors, i is the imaginary unit and e is the base of the natural logarithm.

[0083] Step seven, combine the modal subspace with the signal subspace and perform orthogonal triangular decomposition to obtain the estimation of the azimuth of the sound source by the two horizontal bottom arrays.

[0084] Combining the modal subspace with the signal subspace, an N x (M e +S) order matrix is obtained:

[0085]

[0086] After QR decomposition, we have:

[0087]

[0088] where, Q is the orthogonal matrix obtained by orthogonal decomposition, R is an (M e +S) x (M e +S) order upper triangular matrix, the diagonal elements of which are the singular values of ; then the function:

[0089] The peak of the function corresponds to the estimated azimuth of the sound source

[0090] Step eight, based on the estimation of the azimuth of the sound source by the two horizontal bottom arrays, the position of the sound source is estimated based on the established two-dimensional rectangular coordinate system.

[0091] For the case of double horizontal bottom arrays, the estimation of the azimuth of the sound source by the two horizontal bottom arrays is The included angle between the end-on direction of the two horizontal bottom arrays and the positive direction of the x-axis of the two-dimensional rectangular coordinate system is Then for the sound source located at (x, y), the observation equation is:

[0092]

[0093] Therefore, the estimated position of the sound source can be obtained by solving the following equation set:

[0094]

[0095] ​Compared with the prior art, the application effectively eliminates the target azimuth estimation deviation caused by the plane wave model; compared with the traditional matched field processing direction finding method, the application only needs to search for the angle when using the seabed horizontal array for azimuth estimation, effectively reducing the calculation amount; the method has simple principle and is easy to implement, and the positioning error is not greatly affected by the sound source depth, the required environmental information is less, and the positioning efficiency is higher; the method is suitable for the scene where multiple targets exist at the same time, and subsequent target tracking algorithm can be used to realize real-time output of the multi-target track in the scene.

[0096] Embodiments

[0097] According to the received signal of the seabed horizontal array and the simulated marine acoustic environment, the target positioning result is output according to the flow shown in Figure 1 The specific operation steps of the algorithm are given in Figure 2 .

[0098] 1. Refer to the transceiving structure for joint positioning of underwater sound sources in Figure 3 , a joint positioning system composed of two seabed horizontal array observation nodes is established in a shallow sea area with a sea depth of 100 m. In the two-dimensional rectangular coordinate system shown in Figure 4 , the coordinates of the two 64-element horizontal arrays are (0, 0) m and (960, 0) m, and the aperture is 315 m; it is assumed that there are two sound sources with a depth of 25 m in the space, and the coordinates are (1000, 4000) m and (5000, 10000) m.

[0099] 2. Calculate the wave number of each order of normal mode based on the measured sound speed profile and seabed bottom parameters. Referring to the typical shallow sea sound speed profile shown in Figure 5 , the seabed density ρ = 1.72 g / cm 3 , the sound speed c = 1600 m / s, and the sound attenuation coefficient α = 0.2 dB / λ. The signal frequency is 120 Hz, and the normal mode wave number is obtained by the normal mode model. After mode selection, M e = 6, the first 6 order normal mode wave numbers are shown in Figure 6 .

[0100] 3. Direction finding based on subspace intersection method to obtain the direction finding result θ is on each node (in this example, node number i = 1, 2, and sound source label s = 1, 2). The azimuth estimation results of the two horizontal array nodes are shown in Figure 7 , and the angle scanning step is 0.025°. The azimuths of the two sound sources measured by node I are 64.05° and 76.325°, and the azimuths of the two sound sources measured by node II are 68.375° and 89.375°.

[0101] 4. Substituting the azimuth estimation results and the position coordinates of the two-level array nodes, the positions of the two sound sources are solved as (1064.1, 5178.3) m and (4130.7, 10050.6) m respectively. Figure 8 The positioning results of 500 times are given.

[0102] 5. Positioning accuracy analysis. The positioning accuracy is measured by the root mean square error, as shown in the following formula: Figure 9 The average positioning root mean square error of sound source I is 100.1 m, and the average positioning root mean square error of sound source II is 448.9 m. The simulation results prove that the method of the present application has good target positioning performance.

[0103] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A subspace intersection based joint target location method of dual bottom horizontal arrays, characterized in that, The method comprises the following steps: Signals emitted by an underwater sound source are synchronously collected by two seabed horizontal arrays to construct a signal receiving model; A two-dimensional rectangular coordinate system is established based on the spatial positions of the two seabed horizontal arrays; Acoustic environmental parameters are measured in the sea area where the two seabed horizontal arrays are located; Based on the modal theory, the acoustic environmental parameters are substituted into the normal mode model to calculate the horizontal wave numbers of each order of normal modes in the sound field, wherein each order of normal modes is obtained by decomposing the signal receiving model; Based on the horizontal wave numbers of each order of normal modes, effective modes in each order of modes corresponding to the horizontal wave numbers are screened out, including: According to the sound velocity profile in the water body and the sound velocity of the sea bottom , the reflection mode and the inversion mode are selected as effective modes; wherein the horizontal wave number of the reflection mode needs to satisfy , the horizontal wave number of the inversion mode needs to satisfy , and respectively represent the maximum value and the minimum value of the sound velocity in the water body; the order of the selected effective mode is represented as: , M e is the maximum order of the selected effective mode, is the signal angular frequency; Based on the signal receiving model, a covariance matrix of the horizontal array output signals is constructed; by performing eigenvalue decomposition on the covariance matrix, a signal subspace is constructed; based on the horizontal wave numbers of each order of effective modes, a modal subspace is constructed; The modal subspace and the signal subspace are combined and subjected to orthogonal triangular decomposition to obtain estimation results of the sound source azimuth by the two seabed horizontal arrays; Based on the estimation results of the sound source azimuth by the two seabed horizontal arrays, the position of the sound source is estimated based on the established two-dimensional rectangular coordinate system.

2. The dual bottom sea horizontal array joint target location method based on subspace intersection according to claim 1, characterized in that, The method of synchronously collecting signals emitted by an underwater sound source by two seabed horizontal arrays to construct a signal receiving model comprises the following steps: For array element spacing is of The horizontal array at the seabed has a receiving depth of [missing information]. Horizontal array n The horizontal distance between each element and the sound source is , Simultaneous existence within space S A sound source, horizontal array n The signal received by each array element is: (1) where represents the pressure value of the received signal of the horizontal array to the mth sound source, and the value has a function relationship with the signal angular frequency , the horizontal distance of the sound source, and the receiving depth . represents the Gaussian white noise; the received signal vector on the horizontal array under the mth shot is represented as: .

3. The dual bottom sea horizontal array joint target location method based on subspace intersection of claim 1, wherein, The method of establishing a two-dimensional rectangular coordinate system based on the spatial positions of the two seabed horizontal arrays comprises the following steps: The line connecting the midpoints of the two seabed horizontal arrays is determined as the x axis, and the midpoint of any one of the seabed horizontal arrays is taken as the coordinate origin, and the horizontal rotation of the x axis by 90° is taken as the y axis, to construct a two-dimensional rectangular coordinate system; thus, the coordinates of the two seabed horizontal arrays are and , respectively.

4. The dual bottom sea horizontal array joint target location method based on subspace intersection of claim 1, wherein, The acoustic environmental parameters are measured in the sea area where the two seabed horizontal arrays are located as inputs of the normal mode model, and these parameters include: The measurement device is arranged near the seabed horizontal array, the sound velocity profile is measured on site by a temperature chain, a CTD or an XBT probe device, the acoustic characteristics of seabed sediments are obtained by seabed sampling, in-situ measurement and seabed geoacoustic parameter inversion to obtain the sound velocity, density and sound attenuation coefficient of the seabed sediments.

5. The dual bottom sea horizontal array joint target location method based on subspace intersection of claim 1, wherein, Based on the signal receiving model, a covariance matrix of the horizontal array output signals is constructed; By performing eigenvalue decomposition on the covariance matrix, a signal subspace is constructed; Based on the horizontal wave numbers of each order of effective modes, a modal subspace is constructed, including: Based on the received signal vector of the first snap ; then the covariance matrix of the horizontal array output signal is obtained at the first L snap (2) where the upper index H denotes the conjugate transpose; by the eigenvalue decomposition of the covariance matrix is written in the form (3) in, This means arranging the eigenvalues ​​from largest to smallest, with the first... S A diagonal matrix composed of large eigenvalues Indicates from the previous S The signal subspace formed by the eigenvectors corresponding to the large eigenvalues; Indicates that it is composed of the rest A diagonal matrix composed of small eigenvalues Indicates by The noise subspace formed by the eigenvectors corresponding to the small eigenvalues; horizontal wavenumbers based on each order effective mode , ; search angle corresponding modal subspace is defined as: (4) wherein represents a complex number, , is the imaginary unit, e is the base of the natural logarithm.

6. The dual bottom sea horizontal array joint target location method based on subspace intersection of claim 5, wherein, The method of combining the modal subspace and the signal subspace and performing orthogonal triangular decomposition to obtain estimation results of the sound source azimuth by the two seabed horizontal arrays comprises the following steps: Combining the modal subspace with the signal subspace, we obtain a matrix of order (5) After QR decomposition, we have: (6) wherein is an orthogonal matrix obtained by orthogonal decomposition, is a upper triangular matrix whose diagonal elements , are singular values of ; then the function: (7) the peak of the histogram corresponds to the estimated sound source azimuth .

7. The dual bottom sea horizontal array joint target location method based on subspace intersection of claim 1, wherein, The method of estimating the position of the sound source based on the estimation results of the sound source azimuth by the two seabed horizontal arrays and based on the established two-dimensional rectangular coordinate system comprises the following steps: The azimuth angle estimation results of the two seabed horizontal arrays are respectively , ; the included angle between the end-fire direction of the two seabed horizontal arrays and the positive direction of the axis of the two-dimensional rectangular coordinate system x is ; and the observation equation for the sound source located at is: (8) Thus, the estimated sound source position The equations can be solved to obtain (9)。 8. An acoustic source positioning device comprising a processor, a memory and a computer program stored in the memory; characterized in that, When the processor executes the computer program, the method of jointly positioning a target based on subspace intersection by two seabed horizontal arrays according to any one of claims 1-7 is realized.

9. A computer readable storage medium having stored therein a computer program; characterized in that, When the computer program is executed by the processor, the method of jointly positioning a target based on subspace intersection by two seabed horizontal arrays according to any one of claims 1-7 is realized.

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