Sonar monopulse three-dimensional imaging method based on array elements, storage medium and electronic equipment

Abstract

The invention belongs to an underwater acoustic detection technology, and particularly relates to a sonar monopulse three-dimensional imaging method based on array elements, a storage medium and electronic equipment. The method comprises the steps that a receiving and transmitting array element system is constructed, a first array element transmits and receives signals, other array elements only receive signals, a rectangular coordinate system is established with the first array element as an original point, and the other array elements are located on a coordinate axis; transmitting signals are reflected by a single detection target and then received by the pth array element to obtain single echo signals, and frequency domain sampling signals of the single echo signals are obtained through orthogonal frequency mixing, pulse compression and Fourier transform processing; the frequency domain sampling signal of the pth array element is the sum of the frequency sampling signals of the echo signals at the M range gates; and calculating the distance from the detection target to the array element according to the frequency domain sampling signal, obtaining the included angles between the detection target and x, y and z according to the geometrical relationship, and determining the three-dimensional imaging result of the detection target. Three-dimensional imaging can be carried out through a single pulse, the manufacturing cost is reduced, and the requirement for the movement precision of the sensor is low.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater acoustic detection, and in particular relates to a sonar single-pulse three-dimensional imaging method based on array elements, a storage medium and an electronic device. Background Art

[0002] Sonar is an electronic device that uses underwater sound waves to detect, locate and communicate with underwater targets. It is the most widely used and important device in hydroacoustics. It uses the propagation characteristics of sound waves underwater to complete the detection, positioning and communication of underwater targets through electroacoustic conversion and information processing, and determines the existence, location and type of objects in the ocean. It is also used for underwater information transmission.

[0003] Multi-beam imaging algorithm is one of the main research directions of sonar imaging. After the base array collects the signal, it needs to process the signal through beamforming technology to obtain effective information. By processing the array signal, the directivity of the system in a certain direction is obtained, and the azimuth information of the signal is obtained through this directivity. Multi-beam sonar systems usually use a linear array or planar array composed of multiple array elements. Compared with small-aperture arrays, imaging sonars with large-aperture arrays have higher resolution. Typical multi-beam sonar systems may contain dozens to hundreds of array elements. Large-sized arrays will bring space and weight burdens to them, and increase the manufacturing cost and process complexity of the transducer.

[0004] Synthetic aperture acoustic technology uses a small aperture array to synthesize a virtual large aperture array by moving the sonar carrier. It can obtain a higher resolution in the track direction without increasing the burden of the physical array. However, conventional synthetic aperture sonar often uses a dual-array side-scan mode, and there will be a detection gap area directly below the carrier platform, and generally only two-dimensional imaging can be performed. Since SAS relies on the precise movement of the sensor, the stability and navigation accuracy of the platform are crucial to the performance of the system, and it may be difficult to use in high sea conditions or unstable environments.

[0005] Although multi-beam sonar systems can provide high-resolution and wide-coverage underwater images, in order to improve the resolution, a large-size array is usually required. The large-size array brings space and weight burdens, and increases manufacturing costs and process complexity.

[0006] Although synthetic aperture sonar technology can achieve high-resolution imaging through a small aperture array and a cruise mode, it can generally only perform two-dimensional imaging. This technology has high requirements for sensor movement accuracy and platform stability, and its performance is limited in high sea conditions or unstable environments. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention proposes a sonar single-pulse three-dimensional imaging method, storage medium and electronic equipment based on array elements. A new transceiver array element system is adopted, and three-dimensional imaging can be performed with a single pulse, which greatly reduces the manufacturing cost; and high-resolution imaging does not need to be achieved by cruising, and the requirements for sensor movement accuracy are low.

[0008] In an embodiment of the present invention, the technical solution of the three-dimensional imaging method is: a sonar single pulse three-dimensional imaging method based on array elements, comprising the following steps:

[0009] S1. Construct a transceiver array element system, including P array elements, wherein the first array element transmits and receives signals; the remaining array elements except the first array element only receive signals but do not transmit signals; establish a rectangular coordinate system with the first array element as the origin, and the remaining array elements are located on the coordinate axes of the rectangular coordinate system;

[0010] S2, using a linear frequency modulation signal as a transmitting signal, after the transmitting signal is reflected by a single detection target, a single echo signal is received by the pth array element, where 1≤p≤P;

[0011] S3, performing orthogonal mixing processing on a single echo signal; performing pulse compression on the output signal after orthogonal mixing, and then performing Fourier transformation to obtain a frequency domain sampling signal of the single echo signal;

[0012] S4. In the established rectangular coordinate system, the position with the same echo delay τ from the detection target to the p-th array element is the same range gate. Assume that the p-th array element has M range gates, and each range gate contains one or more detection targets; then the frequency domain sampling signal of the p-th array element is represented as the sum of the frequency sampling signals of the echo signals from the M range gates;

[0013] S5. Determine the range gate from the detection target to the first array element according to the frequency domain sampling signal of the first array element, and use it as the distance from the detection target to the first array element; multiply the frequency domain sampling signal of the first array element by the conjugate signal of the frequency domain sampling signal of the p'th array element to obtain a conjugate multiplied signal; perform Fourier transform on the conjugate multiplied signal to obtain the echo delay difference from the detection target to the first array element and the p'th array element; obtain the path difference from the detection target to the first array element and the p'th array element according to the echo delay difference; calculate the distance from the detection target to the p'th array element according to the path difference, where 2≤p'≤P;

[0014] S6. Connect the position of the detection target with the first array element in a rectangular coordinate system to obtain a target array element line; based on the distance from the detection target to the first array element, the distance from the detection target to the remaining array elements other than the first array element, and the distance between the first array element and the remaining array elements other than the first array element, obtain the angles between the target array element line and the x-axis, y-axis, and z-axis according to the geometric relationship; determine the three-dimensional imaging result of the detection target according to the angles between the target array element line and the x-axis, y-axis, and z-axis.

[0015] In an embodiment of the present invention, the technical solution adopted by the storage medium is: a storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, the steps of the sonar single pulse three-dimensional imaging method in an embodiment of the present invention are implemented.

[0016] In an embodiment of the present invention, the technical solution adopted by the electronic device is: an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the steps of the sonar single pulse three-dimensional imaging method in the embodiment of the present invention are executed.

[0017] Compared with the prior art, the technical effects achieved by the present invention include:

[0018] The present invention constructs a transceiver array element system, and establishes a rectangular coordinate system with the first array element in the transceiver array element system that can both transmit and receive signals as the center, and the remaining array elements are located on the coordinate axes of the rectangular coordinate system; thus, the present invention can use a single pulse to perform three-dimensional imaging, greatly reducing the manufacturing cost, and does not need to achieve high-resolution imaging through a cruising method, and has low requirements on the movement accuracy of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a sonar single pulse three-dimensional imaging method based on array elements in an embodiment of the present invention;

[0020] Figure 2 Schematic diagram of the distribution of all range gates of the first array element and the second array element in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the path difference from three detection targets to the first array element and the second array element in an embodiment of the present invention;

[0022] Figure 4 Schematic diagram of the imaging effect of a target in an embodiment of the present invention, wherein (a) is the actual target model and (b) is the imaging result;

[0023] Figure 5 Schematic diagram of the imaging effect of the letter A in an embodiment of the present invention, wherein (a) is the actual target model and (b) is the imaging result. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0025] Example

[0026] This embodiment provides a sonar single pulse three-dimensional imaging method based on array elements, such as Figure 1 As shown, the following steps are included:

[0027] S1. Construct a transceiver array element system, including P array elements, wherein the first array element transmits and receives signals; the remaining array elements except the first array element only receive signals but do not transmit signals; establish a rectangular coordinate system with the first array element as the center (i.e., the origin), and the remaining array elements are located on the coordinate axes of the rectangular coordinate system.

[0028] In this embodiment, the transceiver array element system includes four array elements, the first array element is recorded as Tx / Rx0, the second array element, the third array element and the fourth array element are recorded as Rx1, Rx2, and Rx3 respectively; a rectangular coordinate system is established with the first array element Tx / Rx0 as the center, then the coordinates of Rx1, Rx2 and Rx3 are (L1, 0, 0), (0, L2, 0) and (0, 0, L3) respectively, that is, the second array element, the third array element and the fourth array element are located on the x-axis, the y-axis and the z-axis respectively, wherein L1, L2 and L3 are the distances from Rx1, Rx2 and Rx3 to the origin of the rectangular coordinate system respectively.

[0029] S2. A linear frequency modulation signal is used as a transmitting signal. After the transmitting signal is reflected by a single detection target, a single echo signal is received by the pth array element, where 1≤p≤P.

[0030] In this embodiment, the transmission signal can be expressed as:

[0031] s(t)=A t exp[j(2πf0t+kπt 2 )],t∈[-T / 2,T / 2] (1)

[0032] The echo signal is received by the array element, and the array elements that receive the echo signal can be collectively referred to as receiving array elements, that is, the receiving array element can be the first array element, or the second, third or fourth array element. A single echo signal can be expressed as:

[0033] s r (t) = A r exp[j(2πf0(t-τ)+kπ(t-τ) 2 )],t∈[-T / 2,T / 2] (2)

[0034] Among them, A t is the amplitude of the transmitted signal, A ris the amplitude of a single echo signal, f0 is the signal center frequency, T is the signal pulse width, B is the signal bandwidth, k=B / T is the signal frequency change rate, τ is the echo delay experienced by the signal from the transmitter to the detection target and then back to the receiving array element, τ=r / c, r is the distance traveled by the signal from the transmitter to the detection target and then back to the receiving array element, and c is the speed of light.

[0035] S3, performing orthogonal mixing processing on a single echo signal; performing pulse compression on the output signal after orthogonal mixing, and then performing Fourier transformation to obtain a frequency domain sampling signal of the single echo signal.

[0036] In this embodiment, the output signal of a single echo signal (i.e., a single received signal) after orthogonal mixing is:

[0037] s b (t) = A b exp[-j2π(f0τ+kτt)] (3)

[0038] The frequency domain sampling signal of a single echo signal can be expressed as follows:

[0039] S(f)=A c exp(-j2πf0τ)exp(j2πnΔfτ) (4)

[0040] Among them, A b is the amplitude of the output signal after orthogonal mixing, A c is the amplitude of the frequency domain sampling signal, n=0,1,…,N-1 is the frequency domain sampling number, and Δf is the frequency sampling interval.

[0041] S4. In the established rectangular coordinate system, the position with the same echo delay τ from the detection target to the p-th array element is the same range gate. Assume that the p-th array element has M range gates, and each range gate contains one or more detection targets; then the frequency domain sampling signal of the p-th array element can be expressed as the sum of the frequency sampling signals of the echo signals from these M range gates.

[0042] In this embodiment, the frequency domain sampling signal S of the pth array element p It can be expressed as follows:

[0043] S p =z p,1 exp(-j2πnΔfτ p,1 )exp(-j2πf0τ p,1 )+…

[0044] +z p,m exp(-j2πnΔfτ p,m )exp(-j2πf0τ p,m )+…

[0045] +z p,M exp(-j2πnΔfτ p,M )exp(-j2πf0τ p,M ) (5)

[0046] Where m represents the mth range gate of the pth array element, 1≤m≤M; z p,m represents the amplitude of a single frequency sampling signal at the mth range gate of the pth array element, τ p,m It represents the echo delay experienced by the signal from being transmitted to the detection target at the mth range gate and then returning to the pth array element.

[0047] That is to say, after orthogonal mixing and pulse compression are performed one by one on all echo signals received by the p-th array element after being reflected by all detection targets, the frequency domain sampling signal of the p-th array element can be obtained.

[0048] For ease of understanding, first assume that the detection targets are at the same range gate r0 for the first array element Tx / Rx0 (that is, the echo delays of all detection targets to the first array element are the same), such as Figure 2 As shown, r 1k is the distance from the first array element Tx / Rx0 to the detection target k, r 11 =r 12 =…=r 1K =r0; r 2k is the distance from the second array element Rx1 to the detection target k. Then the frequency domain sampling signal S1 of the first array element Tx / Rx0 and the frequency domain sampling signal S2 of the second array element Rx1 are respectively:

[0049] S1=z 1,1 exp(-j2πnΔfτ 1,1 )exp(-j2πf0τ 1,1 )

[0050] S2=z 2,1 exp(-j2πnΔfτ 2,1 )exp(-j2πf0τ 2,1 )+…

[0051] +z 2,m exp(-j2πnΔfτ 2,m )exp(-j2πf0τ 2,m )+…

[0052] +z 2,M exp(-j2πnΔfτ 2,K )exp(-j2πf0τ 2,M ) (6)

[0053] When the detection targets are in the same range gate for the first array element Tx / Rx0, each range gate for the second array element Rx1 contains one detection target, so the frequency domain sampling signal of the second array element Rx1 can be expressed as:

[0054] S2=z 2,1 exp(-j2πnΔfτ 2,1 )exp(-j2πf0τ 2,1 )+…

[0055] +z 2,k exp(-j2πnΔfτ 2,k )exp(-j2πf0τ 2,k )+…

[0056] +z 2,K exp(-j2πnΔfτ 2,K )exp(-j2πf0τ 2,K ) (7)

[0057] where τ 2,k It represents the echo delay experienced by the signal from being transmitted to detecting target k and then returning to the second array element.

[0058] S5. Determine a range gate from the detection target to the first array element according to the frequency domain sampling signal of the first array element, and use the range gate as the distance from the detection target to the first array element; multiply the frequency domain sampling signal of the first array element by the conjugate signal of the frequency domain sampling signal of the p'th array element to obtain a conjugate multiplied signal; perform Fourier transform on the conjugate multiplied signal to obtain an echo delay difference from the detection target to the first array element and the p'th array element; obtain a path difference from the detection target to the first array element and the p'th array element according to the echo delay difference; calculate the distance from the detection target to the p'th array element according to the path difference, wherein 2≤p'≤P, and the p'th array element is the remaining array element except the first array element.

[0059] In this embodiment, after orthogonal mixing and pulse compression are performed on the echo signal of the first array element Tx / Rx0, a range gate r0 from the detection target to the first array element Tx / Rx0 can be obtained. The range gate r0 is the distance from the detection target to the first array element.

[0060] Taking the second array element (i.e., p'=2) as an example, the distance from the detection target to the p'th array element is calculated, and the details are as follows: the frequency domain sampling signal of the first array element Tx / Rx0 and the conjugate signal of the frequency domain sampling signal of the second array element Rx1 are multiplied to obtain the conjugate multiplied signal; the conjugate multiplied signal is Fourier transformed to obtain the echo delay difference from the detection target to the first array element Tx / Rx0 and the second array element Rx1:

[0061] (τ 1,1 -τ2,1 ),…,(τ 1,1 -τ 2,k ),…,(τ 1,1 -τ 2,K ) (8)

[0062] According to the echo delay difference, the path difference from the detection target to the first array element Tx / Rx0 and the second array element Rx1 is obtained as follows:

[0063] Δr1=c(τ 1,1 -τ 2,1 ),…,Δr K =c(τ 1,1 -τ 2,K ) (9)

[0064] Wavelength difference Figure 3 According to the path difference, the distance from the detection target to the second array element Rx1 can be calculated as:

[0065] r 21 =r0+Δr1,…,r 2k =r0+Δr k ,…,r0+Δr K (10)

[0066] The same method can be used to calculate the distance from the detection target to the remaining array elements (such as the third array element, the fourth array element, etc.) except the first array element.

[0067] S6. Connect the position of the detection target with the first array element in a rectangular coordinate system to obtain a target array element line; based on the distance from the detection target to the first array element, the distance from the detection target to the remaining array elements other than the first array element, and the distance between the first array element and the remaining array elements other than the first array element, obtain the angles between the target array element line and the x-axis, y-axis, and z-axis according to the geometric relationship; determine the three-dimensional imaging result of the detection target according to the angles between the target array element line and the x-axis, y-axis, and z-axis.

[0068] Based on the distance from the detection target to the first array element Tx / Rx0 and the second array element Rx1, and the distance between the first array element Tx / Rx0 and the second array element Rx1, the angles θ1, θ2, …, θ between the line connecting the detection target and the first array element Tx / Rx0 (i.e., the target array element line) and the x-axis can be obtained according to the geometric relationship. K The angle θ between the line connecting the detection target k and the first array element (i.e. the target array element line of the detection target k) and the x-axis is k for:

[0069]

[0070] Where r0 is the distance gate from the detection target to the first array element, L1 is the distance from the second array element to the origin of the rectangular coordinate system; r2k To detect the distance from the target to the second array element.

[0071] Therefore, for K detection targets, there are K angles between the target array line and the x-axis, which are θ1, θ2, …, θ K .

[0072] Similarly, by multiplying the frequency domain sampling signal of the first array element Tx / Rx0 with the conjugate signal of the frequency domain sampling signal of the third array element Rx2 and the fourth array element Rx3, the angles γ1, γ2, …, γ between the line connecting the detection target and the first array element Tx / Rx0 (i.e., the target array element line) and the y-axis can be obtained. K The angle γ between the line connecting the detection target k and the first array element (i.e. the target array element line of the detection target k) and the y-axis is k for:

[0073]

[0074] Where L2 is the distance from the third array element to the origin of the rectangular coordinate system; r 3k To detect the distance from the target to the third array element.

[0075] And the angles φ1, φ2, …, φ between the line connecting the detection target and the first array element Tx / Rx0 (i.e., the target array element line) and the z-axis K The angle φ between the line connecting the detection target k and the first array element (i.e. the target array element line of the detection target k) and the z-axis is k for:

[0076]

[0077] Where L3 is the distance from the fourth array element to the origin of the rectangular coordinate system; r 4k The distance from the detected target to the fourth array element.

[0078] For the same detection target k, there is the following equation:

[0079] cos 2 θ k +cos 2 γ k +cos 2 φ k =1 (14)

[0080] By using the matching rule of formula (14), the line connecting the same detection target and the first array element (that is, the target array element line of the same detection target) can be matched with the angles of the x, y, and z axes, thereby obtaining the three-dimensional imaging result of the detection target, that is, the three-dimensional positioning of the detection target.

[0081] When the detected target is in different range gates for the first array element Tx / Rx0, firstly, the signal of each range gate within the range corresponding to the target echo in the one-dimensional range direction of the first array element Tx / Rx0 is extracted separately. For the extracted signal of a single range gate, the requirements that the detected target is in the same range gate are met, and the operations of the above steps S5 and S6 are performed to obtain the imaging result of the detected target in the range gate; by traversing each extracted signal, the imaging results of all targets (i.e., cubic targets) can be obtained, such as Figure 4 shown.

[0082] If the outline of an object is drawn by multiple detection targets, such as the letter A, the imaging result is as follows: Figure 5 shown.

[0083] Based on the same inventive concept, this embodiment further provides a storage medium on which computer instructions are stored. When the computer instructions are executed by a processor, steps S1-S6 of the sonar single pulse three-dimensional imaging method in this embodiment are implemented.

[0084] In addition, this embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps S1-S6 of the sonar single pulse three-dimensional imaging method in this embodiment are executed.

[0085] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A sonar single pulse three-dimensional imaging method based on array elements, characterized in that: The following steps are involved: S1. Construct a transceiver array element system, including P array elements, wherein the first array element transmits and receives signals; The remaining array elements except the first array element only receive signals but do not transmit signals; a rectangular coordinate system is established with the first array element as the origin, and the remaining array elements are located on the coordinate axes of the rectangular coordinate system; S2, using a linear frequency modulation signal as a transmitting signal, after the transmitting signal is reflected by a single detection target, a single echo signal is received by the pth array element, where 1≤p≤P; S3, performing orthogonal mixing processing on a single echo signal; The output signal after orthogonal mixing is pulse compressed and then subjected to Fourier transform to obtain a frequency domain sampling signal of a single echo signal; S4. In the established rectangular coordinate system, the position with the same echo delay τ from the detection target to the p-th array element is the same range gate. Assume that the p-th array element has M range gates, and each range gate contains one or more detection targets; then the frequency domain sampling signal of the p-th array element is represented as the sum of the frequency sampling signals of the echo signals from the M range gates; S5. Determine the range gate from the detection target to the first array element according to the frequency domain sampling signal of the first array element, and use it as the distance from the detection target to the first array element; multiply the frequency domain sampling signal of the first array element by the conjugate signal of the frequency domain sampling signal of the p'th array element to obtain a conjugate multiplied signal; perform Fourier transform on the conjugate multiplied signal to obtain the echo delay difference from the detection target to the first array element and the p'th array element; obtain the path difference from the detection target to the first array element and the p'th array element according to the echo delay difference; calculate the distance from the detection target to the p'th array element according to the path difference, where 2≤p'≤P; S6. Connect the position of the detection target with the first array element in a rectangular coordinate system to obtain a target array element line; based on the distance from the detection target to the first array element, the distance from the detection target to the remaining array elements other than the first array element, and the distance between the first array element and the remaining array elements other than the first array element, obtain the angles between the target array element line and the x-axis, y-axis, and z-axis according to the geometric relationship; determine the three-dimensional imaging result of the detection target according to the angles between the target array element line and the x-axis, y-axis, and z-axis.

2. The sonar single pulse three-dimensional imaging method according to claim 1, characterized in that: The transceiver array element system constructed in step S1 includes four array elements, and the second array element, the third array element and the fourth array element are respectively located on the x-axis, the y-axis and the z-axis.

3. The sonar single pulse three-dimensional imaging method according to claim 1, characterized in that: The transmission signal of step S2 is expressed as: s(t)=A t exp[j(2πf0t+kπt 2 )],t∈[-T / 2,T / 2] The echo signal is received by the array element, and the array elements that receive the echo signal are collectively referred to as receiving array elements; a single echo signal is expressed as: s r (t)=A r exp[j(2πf0(t-τ)+kπ(t-τ) 2 )],t∈[-T / 2,T / 2] Among them, A t is the amplitude of the transmitted signal, A r is the amplitude of a single echo signal, f0 is the signal center frequency, T is the signal pulse width, B is the signal bandwidth, k=B / T is the signal frequency change rate, τ is the echo delay experienced by the signal from the transmitter to the detection target and then back to the receiving array element, τ=r / c, r is the distance traveled by the signal from the transmitter to the detection target and then back to the receiving array element, and c is the speed of light.

4. The sonar single pulse three-dimensional imaging method according to claim 3, characterized in that: The output signal of a single echo signal after orthogonal mixing in step S3 is: s b (t)=A b exp[-j2π(f0τ+kτt)] The frequency domain sampling signal of a single echo signal is expressed as: S(f)=A c exp(-j2πf0τ)exp(j2πnΔfτ) Among them, A b is the amplitude of the output signal after orthogonal mixing, A c is the amplitude of the frequency domain sampling signal, n=0,1,…,N-1 is the frequency domain sampling number, and Δf is the frequency sampling interval.

5. The sonar single pulse three-dimensional imaging method according to claim 4, characterized in that: The frequency domain sampling signal S of the pth array element in step S4 p It is expressed as: S p =z p,1 exp(-j2πnΔfτ p,1 )exp(-j2πf0τ p,1 )+…+z p,m exp(-j2πnΔfτ p,m )exp(-j2πf0τ p,m )+…+z p,M exp(-j2πnΔfτ p,M )exp(-j2πf0τ p,M ) Where m represents the mth range gate of the pth array element, 1≤m≤M; z p,m represents the amplitude of a single frequency sampling signal at the mth range gate of the pth array element, τ p,m It represents the echo delay experienced by the signal from being transmitted to the detection target at the mth range gate and then returning to the pth array element.

6. The sonar single pulse three-dimensional imaging method according to claim 1, characterized in that: Assume there are K detection targets, the second array element is located on the x-axis, and the angle θ between the target array line of detection target k and the x-axis is k for: Where r0 is the distance gate from the detection target to the first array element, L1 is the distance from the second array element to the origin of the rectangular coordinate system; r 2k To detect the distance from the target to the second array element; The third array element is located on the y-axis, and the angle γ between the target array element line and the y-axis of the detection target k is k for: Where L2 is the distance from the third array element to the origin of the rectangular coordinate system; r 3k To detect the distance from the target to the third array element; The fourth array element is located on the z-axis, and the angle φ between the target array element line detecting target k and the z-axis is k for: Where L3 is the distance from the fourth array element to the origin of the rectangular coordinate system; r 4k To detect the distance from the target to the fourth array element; For the same detection target k, there is the following equation: cos 2 i k +cos 2 c k +cos 2 f k =1 By using the matching rule of the equation, the target array element line of the same detection target is matched with the angles of the x, y and z axes to obtain a three-dimensional imaging result of the detection target.

7. The sonar single pulse three-dimensional imaging method according to claim 1, characterized in that: When the detection target is in different range gates with respect to the first array element, firstly, the signal of each range gate within the range corresponding to the target echo in the one-dimensional range of the first array element is extracted separately. For the extracted signal of a single range gate, the requirement that the detection target is in the same range gate is met, and steps S5 and S6 are processed to obtain the imaging result of the detection target in the range gate; and each extracted signal is traversed to obtain the imaging results of all targets.

8. A storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by the processor, the steps of the sonar single pulse three-dimensional imaging method described in any one of claims 1 to 7 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the processor performs the steps of the sonar single pulse three-dimensional imaging method according to any one of claims 1 to 7.

Images