Signal data real-time acquisition, storage and transmission device applied to hydrophone

Abstract

The invention discloses a signal data real-time acquisition, storage and transmission device applied to a hydrophone, and the device comprises a plurality of sound wave receivers disposed on a measurement platform to form a matrix layout; receiving sound wave signals of different underwater paths, and performing electric signal conversion; analyzing the received sound wave signal, extracting signal data of the sound wave, and calculating the arrival angle of the sound wave signal; calculating the position of a target signal source, determining main signals in different paths, and correcting the main signals; the corrected signal data is transmitted to a storage device for segmented storage; according to the invention, the plurality of receivers are deployed on the measurement platform to form the matrix layout, and the position of the target signal source is calculated, so that the main signals received by the receivers are determined, the multipath effect caused by water body boundary reflection is eliminated, the main signals are corrected, the quality and accuracy of the signals are improved, and the measurement accuracy is improved. And accurate transmission and storage of underwater signals are ensured, so that the performance of the hydrophone system in a complex underwater environment is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of signal data acquisition, storage and transmission, and in particular to a real-time signal data acquisition, storage and transmission device applied to a hydrophone. Background Art

[0002] Research on hydrophones has just started. Although it faces many challenges, it still has incomparable advantages. Hydrophones can be widely used in military and civilian fields, and can be used for environmental monitoring, resource exploration, seabed exploration, disaster prevention, auxiliary navigation of aircraft, anti-submarine, underwater anti-terrorism warning, etc. For these applications, target positioning and tracking technology is the basis of the above applications. For target navigation, anti-submarine positioning, underwater warning, seabed geological exploration and measurement, etc., it is necessary to accurately locate and track the target, so target positioning and tracking based on hydrophones is the most important technology of hydrophones. For some applications, the positioning and tracking of underwater targets is the application purpose of hydrophones.

[0003] Hydrophones are different from wireless sensor networks on land. Since the propagation speed of acoustic signals in water is very slow, their data transmission rate is very low. It is impossible to transmit the original information of all nodes to the main node through the sensor network. Therefore, each node needs to have a certain signal processing function to preprocess the information obtained by its sensor. The preprocessing results of the node are then transmitted to the main node through the hydrophone. The main node locates and tracks the target by fusing the results transmitted by each node.

[0004] The propagation of acoustic signals is affected by factors such as water boundaries, temperature and salinity, which causes refraction and reflection of the signals during propagation, forming multiple propagation paths. This multipath effect often causes the received signals to overlap, making it difficult to analyze and process the signals. Therefore, it is necessary to design a real-time signal data acquisition, storage and transmission device for hydrophones to solve the above problems. Summary of the invention

[0005] The present invention overcomes the shortcomings of the prior art and provides a real-time acquisition, storage and transmission device for signal data applied to a hydrophone.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a method for real-time acquisition, storage and transmission of signal data applied to a hydrophone, comprising the following steps:

[0007] Step S1, deploying a plurality of acoustic wave receivers on a measurement platform to form a matrix layout to cover a target seabed area;

[0008] Step S2, receiving underwater sound wave signals from different paths and converting them into electrical signals;

[0009] Step S3, analyzing the received sound wave signal, extracting the signal data of the sound wave, and calculating the angle of arrival of the sound wave signal;

[0010] Step S4, calculating the position of the target signal source, determining the main signal in different paths, and correcting the main signal;

[0011] Step S5: The corrected signal data is transmitted to a storage device for segmented storage, ensuring that the timestamp of each segment of data is synchronized with the received signal.

[0012] In a preferred embodiment of the present invention, in step S1, the matrix is ​​D, the size is n×m, specifically,

[0013] In a preferred embodiment of the present invention, in step S2, the sound wave receiver matrix receives sound wave signals transmitted from different paths, and records the time difference, intensity difference and phase difference of the sound wave signals, and converts the sound wave signals into electrical signals through a transducer.

[0014] In a preferred embodiment of the present invention, in step S3, the signal data includes: amplitude, frequency, phase and time stamp of the signal.

[0015] In a preferred embodiment of the present invention, in step S3, calculating the angle of arrival of the sound wave signal specifically includes the following steps:

[0016] Step S31: based on the signal received by the receiver in the matrix, calculate the phase of the signal. Among them, φ i The i in the code represents the receiver number, and the d i represents the distance from the target signal source to one of the receivers, and λ is the wavelength of the sound wave;

[0017] Step S32: Calculate the phase difference Δφ=φ between other receivers in the matrix and the receiver in step S31 j -φ i , calculate the angle at which the sound wave reaches this receiver Where d is the distance between two receivers in the receiver array;

[0018] Step S33: infer the propagation direction of the sound wave based on the calculated arrival angle of the sound wave.

[0019] In a preferred embodiment of the present invention, in step S4, calculating the position of the target signal source specifically includes the following steps:

[0020] Step S41, setting the position P of the target signal source, generating a three-dimensional coordinate P (x, y, z), where x, y and z represent the spatial coordinates of the target signal source;

[0021] Step S42: According to the target signal source P (x, y, z) to each receiver P i (x i ,y i ,z i ) i Calculated by formula The propagation time of its sound wave from the source to the receiver Where v is the speed of sound;

[0022] Step S43: Use the least square method to solve and obtain the coordinates (x, y, z) of the target signal source to determine the position of the target signal source.

[0023] In a preferred embodiment of the present invention, the main signal in different paths is determined, specifically, according to the position of the target signal source and the position of the receiver, the angle at which the sound wave signal reaches the receiver is determined as the main signal.

[0024] In a preferred embodiment of the present invention, in step S4, the main signal is corrected, specifically, the phase change is calculated according to the propagation distance and frequency. Among them, Δφ i is the receiver P i The phase change of the received signal, f is the frequency of the sound wave, d i is the propagation distance;

[0025] Based on the attenuation and phase change of the sound wave signal at the receiver after propagation, the received signal is, R i (t) = A i ·S(t i )·e jΔφi , where R i (t) is the receiver P i The received signal, A i is the attenuation coefficient, S(t i ) is the target signal.

[0026] A real-time acquisition, storage and transmission of signal data applied to a hydrophone, comprising: a central control platform, and an acoustic wave receiving module, a signal conversion module, a signal processing module, a target position calculation module, a signal correction module, and a data storage and transmission module;

[0027] The acoustic wave receiving module deploys multiple acoustic wave receivers to cover the target seabed area in a matrix layout to capture underwater acoustic wave signals from all directions;

[0028] A signal conversion module is used to convert the received sound wave signal into an electrical signal through a transducer, and record the time difference, intensity difference and phase difference of the signal;

[0029] The signal processing module is used to analyze the received sound wave signal, extract key information and calculate the angle of arrival of the sound wave;

[0030] The target position calculation module uses the phase difference between the receivers to calculate the position of the target signal source and determine the distance between the target and the receiver;

[0031] The signal correction module is used to calculate the phase change and take into account the signal attenuation, correct the main signal, and enhance the received signal quality;

[0032] The data storage and transmission module is used to store the corrected signal data, transmit it to the handheld device via wireless Bluetooth, read the working status of the hydrophone, and transmit it to the central control platform via wireless communication.

[0033] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0034] (1) The present invention provides a method for real-time acquisition, storage and transmission of signal data applied to a hydrophone. By deploying multiple receivers on a measurement platform to form a matrix layout, the position of the target signal source is calculated to determine the main signal received by the receiver, thereby eliminating the multipath effect caused by the reflection of the water body boundary and correcting the main signal, thereby improving the quality and accuracy of the signal, ensuring the accurate transmission and storage of underwater signals, and thus ensuring the performance of the hydrophone system in a complex underwater environment.

[0035] (2) By calculating the position of the target signal source, the present invention can obtain the angle at which the sound wave signal emitted by the target signal source reaches the receiver, thereby determining which receivers in the matrix receive the main signal, reducing the impact of multipath interference, reducing the interference of overlapping signals, thereby improving the signal-to-noise ratio of the signal, providing a basis for subsequent data analysis, ensuring that the extracted information is more accurate and effective, effectively improving the quality of the signal, making the characteristics of the transmitted signal such as amplitude, frequency and phase more accurate, reducing noise and distortion, and enhancing the reliability of the signal.

[0036] (3) The present invention improves the target positioning capability of the system by predicting the position of the target signal source, and can accurately track the target signal source in an underwater environment. By using the propagation time and phase difference of the sound wave signal, the target position is calculated through an accurate algorithm. The system can update the target position information in real time. Real-time feedback enables the target to be continuously tracked in a dynamic environment, avoiding positioning delays and uncertainties, ensuring that the prediction of the target position can respond quickly, and the positioning is always kept in the latest state. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a flow chart of a method for real-time acquisition, storage and transmission of signal data applied to a hydrophone according to the present invention;

[0039] Figure 2 It is a schematic diagram of a framework for real-time acquisition, storage and transmission of signal data applied to a hydrophone according to the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0043] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; 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 communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0044] like Figure 1 As shown, a method for real-time acquisition, storage and transmission of signal data applied to a hydrophone comprises the following steps:

[0045] Step S1, deploying a plurality of acoustic wave receivers on a measurement platform to form a matrix layout to cover a target seabed area;

[0046] Step S2, receiving underwater sound wave signals from different paths and converting them into electrical signals;

[0047] In step S2, the acoustic wave receiver matrix receives the acoustic wave signals transmitted from different paths, and records the time difference, intensity difference and phase difference of the acoustic wave signals, and converts the acoustic wave signals into electrical signals through the transducer;

[0048] Step S3, analyzing the received sound wave signal, extracting the signal data of the sound wave, wherein the signal data includes: the amplitude, frequency, phase and timestamp of the signal, and calculating the angle of arrival of the sound wave signal;

[0049] Step S4, calculating the position of the target signal source, determining the main signal in different paths, and correcting the main signal;

[0050] Step S5: The corrected signal data is transmitted to a storage device for segmented storage, ensuring that the timestamp of each segment of data is synchronized with the received signal.

[0051] Among them, in step S1, the receiver is the core component of the hydrophone, which is responsible for receiving the sound wave signal reflected or transmitted from the target seabed area. Configuring multiple receivers into a matrix layout helps to improve the spatial coverage capability of the received signal and the accuracy of data acquisition; the matrix-structured receiver array can receive sound wave signals from multiple angles and different positions, thereby effectively distinguishing the direction, distance and other information of the target object;

[0052] Through the matrix layout, the system can ensure wide coverage in the seabed area, avoiding the blind spots of acoustic signal coverage, and ensuring that no matter in which direction the target signal source is located, it can be received by the system. The matrix layout allows for higher spatial resolution, especially in larger detection areas;

[0053] The relative positions of the receivers allow the system to use the angular differences between the different receivers to accurately measure the direction and position of the target signal source.

[0054] In step S2, due to the complexity of the underwater environment, the sound wave may reach the receiver through multiple paths, including direct path, reflection path, refraction path, etc. The sound wave signals of different paths have different propagation time, attenuation degree, phase change and other characteristics, forming signal data with complex interference;

[0055] Therefore, it needs to be converted into electrical signals. The converted electrical signals include not only the amplitude information of the sound wave, but also its frequency, phase and time information, providing necessary data support for subsequent signal analysis.

[0056] In step S3, the sound wave propagation path prediction is mainly carried out by calculating the phase difference, propagation time difference and other information of the signals received by different receivers. According to the received phase data, combined with the sound wave propagation speed and the spatial layout between the receivers, the angle at which the sound wave reaches each receiver is calculated. When different receivers receive signals from the same source, the phases of the signals will be different due to the different relative positions between the receivers. Through these phase differences, the propagation direction of the sound wave can be inferred;

[0057] In step S4, the position of the target signal source is determined by analyzing the phase difference and propagation time difference of the sound wave and combining the arrangement and geometric relationship of the receivers. Specifically, the distance from the target signal source to each receiver is calculated through the ranging and angle information between multiple receivers, and then the position of the target signal source is calculated;

[0058] By analyzing the received sound wave signals, the spatial position of the target signal source is calculated and the target is accurately located, which can effectively improve the accuracy of subsequent signal processing, reduce the positioning error caused by multipath propagation or reflection, and provide reliable data support for subsequent signal correction, noise removal and signal reconstruction;

[0059] Determining the location of the target signal source not only helps with positioning, but also enhances the system's ability to track the target in real time. In a dynamic underwater environment, the location of the signal source may change. Real-time and accurate positioning can help the system adjust the receiver's receiving strategy to ensure continued accurate tracking of the signal.

[0060] In an underwater environment, sound waves may propagate through different paths, including direct paths, reflected paths, etc. Different paths will cause signal overlap and multipath effects, affecting the clarity and accuracy of the signal. By correcting the phase and weight of the received signal, the system can effectively distinguish between the main path signal and the interference signal, thereby reducing the impact of multipath interference.

[0061] In the present invention, in step S1, the matrix is ​​D, the size is n×m, specifically,

[0062]

[0063] In order to achieve comprehensive coverage and high-precision monitoring of the target seabed area, multiple receivers need to be carefully deployed on the measurement platform and arranged in a certain pattern to form a matrix layout;

[0064] Each generator and receiver has a fixed position in the matrix, which is represented by coordinates (rows, columns). Each laser generator has its own unique parameters and pointing angles, which change according to the influence of turbulence.

[0065] Here, the receiver angles at the edge of the matrix are fixed, for example, d 11 d 12 d 13 ,…,d 1m d 11 d 21 d 31 ,…,d n1 d n1 d n1 d n3 ,…,d nm d 1m d 2m d 3m ,…,d nm , used to monitor the sound wave information of different paths in real time;

[0066] In underwater environments, due to the reflection and refraction of water, the multipath effect may cause multiple signal paths to reach the receiver at the same time, resulting in signal superposition and interference. Through multiple receivers arranged in a matrix, the system can analyze the acquisition of signals from different paths and use beamforming technology and multipath interference cancellation algorithms to effectively suppress or correct these unnecessary interference signals.

[0067] Multiple receivers can more accurately restore the true propagation path of the target signal through phase difference and time delay analysis, and reduce signal distortion caused by multipath interference;

[0068] The matrix structure enables the system to obtain target signal information from multiple angles, thereby utilizing data such as the phase difference, time delay, and amplitude difference of sound waves to enhance the signal's positioning and tracking capabilities; the positioning accuracy of each receiver is different, so through the matrix-layout receiver array, the target can be monitored and tracked at a wider range of angles and positions, ensuring accurate prediction and real-time update of the target position.

[0069] In the present invention, in step S3, the angle of arrival of the sound wave signal is calculated, which specifically includes the following steps:

[0070] Step S31: based on the signal received by the receiver in the matrix, calculate the phase of the signal. Among them, φ i The i in the code represents the receiver number, and the d i represents the distance from the target signal source to one of the receivers, and λ is the wavelength of the sound wave;

[0071] Step S32: Calculate the phase difference Δφ=φ between other receivers in the matrix and the receiver in step S31 j -φ i , calculate the angle at which the sound wave reaches this receiver Where d is the distance between two receivers in the receiver array;

[0072] Step S33: infer the propagation direction of the sound wave based on the calculated arrival angle of the sound wave.

[0073] The received sound wave signal is digitized by the receiver, the received signal is analyzed, the phase of the signal received by each receiver is calculated, and the phase difference between different receivers is calculated by using the phase of the signal received by different receivers in the matrix, thereby calculating the angle at which the sound wave reaches the receiver;

[0074] By accurately analyzing the sound wave signal and calculating the angle of arrival of the sound wave, basic data is provided for subsequent steps, which not only improves the system's accuracy in locating the target signal source, but also enhances the ability to resist interference in complex underwater environments, making the positioning and tracking of target signals more reliable. Through the combination of phase and angle, the direct path signal and the reflected path signal can be better judged in the subsequent process, thereby performing effective information extraction and signal analysis in a multi-path environment.

[0075] In the present invention, in step S4, the position of the target signal source is calculated, which specifically includes the following steps:

[0076] Step S41, setting the position P of the target signal source, generating a three-dimensional coordinate P (x, y, z), where x, y and z represent the spatial coordinates of the target signal source;

[0077] Step S42: According to the target signal source P (x, y, z) to each receiver P i (x i ,y i ,z i ) i Calculated by formula The propagation time of its sound wave from the source to the receiver Where v is the speed of sound;

[0078] Step S43: Use the least square method to solve and obtain the coordinates (x, y, z) of the target signal source to determine the position of the target signal source.

[0079] The paths that sound waves take from the target signal source to the receiver may be different, resulting in phase differences, time delays, and attenuation in the signals on each path. In order to obtain clear and consistent target signals, it is necessary to first determine which signal paths are the main paths; determine the main signals in different paths, specifically, determine the angle at which the sound wave signal arrives at the receiver based on the target signal source position and the receiver position, as the main signal.

[0080] By determining the location of the target signal source, the angle at which the sound wave signal emitted by the target signal source reaches the receiver can be obtained, thereby determining which receivers in the matrix receive the main signal, thereby reducing the impact of multipath interference and the interference of overlapping signals, thereby improving the signal-to-noise ratio of the signal, providing a basis for subsequent data analysis and ensuring that the extracted information is more accurate and effective.

[0081] In the present invention, in step S4, the main signal is corrected, specifically, the phase change is calculated according to the propagation distance and frequency. Among them, Δφ i is the receiver P i The phase change of the received signal, f is the frequency of the sound wave, d i is the propagation distance;

[0082] Based on the attenuation and phase change of the sound wave signal at the receiver after propagation, the received signal is, R i (t) = A i ·S(t i )·e jΔφi , where R i (t) is the receiver P i The received signal, A i is the attenuation coefficient, S(t i ) is the target signal, where d i is the propagation distance between the target signal source and the receiver, and α is the attenuation exponent.

[0083] In summary, it should be noted that in step S4, the signal of the main path is determined, that is, the path most directly related to the target signal source, and different signal paths usually have smaller time delays and less signal attenuation.

[0084] Based on the location of the target signal source and the main signal path, the system calculates the propagation time difference and phase difference of the signal received by each receiver.

[0085] Use the following formula to make the correction:

[0086] Attenuation coefficient:

[0087] Phase change:

[0088] Based on the calculated time difference and phase difference, the system corrects the signal of each receiver to ensure that all received signals are aligned with the target signal. The corrected signal will be closer to the real waveform of the target signal.

[0089] After the received signal is corrected, the system will dynamically adjust the phase and weight of each receiver in the receiver array. The goal of the adjustment is to align the phases of all received signals, thereby improving the quality and consistency of the signal.

[0090] Each receiver calculates the phase amount Δφ that needs to be adjusted based on the relative position and path difference of the target signal source. i .

[0091] The signal of each receiver is corrected by the phase amount so that the signals received by different receivers are completely aligned in phase.

[0092] By correcting the main signal, the accuracy and consistency of the signal can be effectively improved. Since the sound wave signal propagating in water will be affected by multipath effects, attenuation and phase change factors, the received signal may deviate from the real signal. By correcting the main signal, for example, considering the propagation distance, attenuation coefficient and phase change, the actual collected data can be closer to the target signal, improving the quality of subsequent signal data acquisition, storage and transmission;

[0093] Signal correction can also reduce the impact of noise and interference. The underwater environment is complex, and background noise and interference from other signal sources often affect signal quality. By identifying and correcting the main signal, the interfered secondary signals can be effectively eliminated, thereby reducing the impact of noise and improving the signal-to-noise ratio, making the data clearer during storage and transmission, and facilitating subsequent analysis and processing.

[0094] The corrected main signal can optimize the efficiency of data storage and transmission.

[0095] like Figure 1 As shown, a real-time acquisition, storage and transmission of signal data applied to a hydrophone includes: a central control platform, and an acoustic wave receiving module, a signal conversion module, a signal processing module, a target position calculation module, a signal correction module, and a data storage and transmission module;

[0096] The acoustic wave receiving module deploys multiple acoustic wave receivers to cover the target seabed area in a matrix layout to capture underwater acoustic wave signals from all directions;

[0097] A signal conversion module, used to convert the received sound wave signal into an electrical signal through a transducer, and record the time difference, intensity difference and phase difference of the signal;

[0098] The signal processing module is used to analyze the received sound wave signal, extract key information and calculate the angle of arrival of the sound wave;

[0099] The target position calculation module uses the phase difference between the receivers to calculate the position of the target signal source and determine the distance between the target and the receiver;

[0100] The signal correction module is used to calculate the phase change and take into account the signal attenuation, correct the main signal, and enhance the received signal quality;

[0101] The data storage and transmission module is used to store the corrected signal data, transmit it to the handheld device via wireless Bluetooth, read the working status of the hydrophone, and transmit it to the central control platform via wireless communication.

[0102] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A method for real-time acquisition, storage and transmission of hydrophone signal data, characterized in that: The following steps are involved: Step S1, deploying a plurality of acoustic wave receivers on a measurement platform to form a matrix layout to cover a target seabed area; Step S2, receiving underwater sound wave signals from different paths and converting them into electrical signals; Step S3, analyzing the received sound wave signal, extracting the signal data of the sound wave, and calculating the angle of arrival of the sound wave signal; Step S4, calculating the position of the target signal source, determining the main signal in different paths, and correcting the main signal; Step S5: The corrected signal data is transmitted to a storage device for segmented storage, ensuring that the timestamp of each segment of data is synchronized with the received signal.

2. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S1, the matrix is ​​D, the size is n×m, specifically, 3. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S2, the acoustic wave receiver matrix receives acoustic wave signals transmitted from different paths, records the time difference, intensity difference and phase difference of the acoustic wave signals, and converts the acoustic wave signals into electrical signals through a transducer.

4. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S3, the signal data includes: amplitude, frequency, phase and time stamp of the signal.

5. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S3, calculating the angle of arrival of the sound wave signal specifically includes the following steps: Step S31: based on the signal received by the receiver in the matrix, calculate the phase of the signal. Among them, φ i The i in the code represents the receiver number, and the d i represents the distance from the target signal source to one of the receivers, and λ is the wavelength of the sound wave; Step S32: Calculate the phase difference Δφ=φ between other receivers in the matrix and the receiver in step S31 j -φ i , calculate the angle at which the sound wave reaches this receiver Where d is the distance between two receivers in the receiver array; Step S33: infer the propagation direction of the sound wave based on the calculated arrival angle of the sound wave.

6. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S4, calculating the position of the target signal source specifically includes the following steps: Step S41, setting the position P of the target signal source, generating a three-dimensional coordinate P (x, y, z), where x, y and z represent the spatial coordinates of the target signal source; Step S42: According to the target signal source P (x, y, z) to each receiver P i (x i ,y i ,z i ) i Calculate by formula The propagation time of its sound wave from the source to the receiver Where v is the speed of sound; Step S43: Use the least square method to solve and obtain the coordinates (x, y, z) of the target signal source to determine the position of the target signal source.

7. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: Determine the main signal in different paths, specifically, determine the angle at which the sound wave signal reaches the receiver according to the target signal source position and the receiver position, as the main signal.

8. The method for real-time acquisition, storage and transmission of signal data applied to hydrophone according to claim 1, characterized in that: In step S4, the main signal is corrected, specifically, the phase change is calculated according to the propagation distance and frequency. Among them, Δφ i is the receiver P i The phase change of the received signal, f is the frequency of the sound wave, d i is the propagation distance; Based on the attenuation and phase change of the sound wave signal at the receiver after propagation, the received signal is, R i (t) = A i ·S(t i )·e jΔφi , where R i (t) is the receiver P i The received signal, A i is the attenuation coefficient, S(t i ) is the target signal.

9. A method for real-time acquisition, storage and transmission of signal data applied to hydrophones, comprising: The central control platform, and the sound wave receiving module, signal conversion module, signal processing module, target position calculation module, signal correction module, data storage and transmission module carried by it; characterized in that, The acoustic wave receiving module deploys a plurality of acoustic wave receivers to cover the target seabed area in a matrix layout to capture underwater acoustic wave signals from all directions; The signal conversion module is used to convert the received sound wave signal into an electrical signal through a transducer, and record the time difference, intensity difference and phase difference of the signal; The signal processing module is used to analyze the received sound wave signal, extract key information and calculate the angle of arrival of the sound wave; The target position calculation module calculates the target signal source position and determines the distance between the target and the receiver using the phase difference between the receivers; The signal correction module is used to calculate the phase change and take into account the signal attenuation, correct the main signal, and enhance the received signal quality; The data storage and transmission module is used to store the corrected signal data, transmit it to the handheld device via wireless Bluetooth, read the working status of the hydrophone, and transmit it to the central control platform via wireless communication.

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