Underwater frogman detection sonar device and method based on beam forming technology

Abstract

The invention relates to the field of underwater detection devices, and discloses an underwater frogman detection sonar device based on a beam forming technology, which comprises a main console and a plurality of detection sub-devices, and is characterized in that the main console is in two-way communication connection with each detection sub-device; an identification module of the static identification total unit is used for acquiring the received signal and judging whether the signal-to-noise ratio DT of the received signal is greater than a preset target appearance threshold value, if the judgment result is false, judging the received signal as a low-activity signal and re-acquiring the received signal, and if the judgment result is true, judging that the underwater target to be detected appears, and otherwise, judging that the underwater target to be detected appears. The detection sub-device receives a signal, judges the received signal as a non-low-activity signal, and sends the signal to the control module of the detection sub-device, the control module of the detection sub-device performs information transmission with the communication module of the main console through the communication module, and the main console controls the dynamic identification total unit and the transmitting transducer to perform a dynamic identification process. According to the device, active and passive detection processes are combined, so that the underwater frogman detection process is more accurately carried out.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection devices, and in particular to an underwater frogman detection sonar device and method based on beamforming technology. Background Art

[0002] In recent years, with the continuous development of the field of marine exploration and development, ports and seaports have become important targets of attack. In open wars between countries, mines can effectively stop underwater sneak attacks; but in today's ongoing non-war conflicts, it is necessary to detect dangerous underwater targets in advance so as to take effective measures - politely ask the other party to leave, or launch a fatal counterattack. In response to the above-mentioned monitoring needs for underwater targets, technologies such as frogman detection sonar and anti-frogman detection equipment are also constantly developing. Among them, frogman detection sonar based on beamforming technology is often used in the prior art to detect and monitor underwater targets. Beamforming technology is an important array signal processing method in the fields of communication, sonar, radar, etc. It can judge the distance and direction of the target through information such as the incident direction and echo data of the target, so that the main lobe of the beam is aligned with the desired signal, and the side lobe and null are aligned with the interference signal. In this way, the signal-to-noise ratio of the signal output can be improved, thereby achieving the best reception result under a certain standard. At present, the detection distance of frogman detection sonar has reached hundreds of meters or even thousands of meters.

[0003] For example, the invention disclosed in the publication (announcement) number: CN114879202B discloses an underwater monitoring device and method based on beamforming technology, including a main console and two frogman detection sonars, the main console including a processor, a memory, a communication module, a power module, and an alarm module; the frogman detection sonars are respectively arranged on the underwater walls on both sides of the port, and perform two-way communication with the main console; each frogman detection sonar includes a transmitting transducer, a receiving transducer, a control module, a storage module, a communication module, and a power module; each frogman detection sonar also includes a frogman identification unit and an infrared identification unit, the frogman identification unit includes a first identification module, a calculation module, a second identification module, and a target sample library, and the infrared identification unit includes an infrared camera and an image recognition module. The underwater monitoring device and method based on beamforming technology provided in this application can comprehensively monitor the waters near the port and accurately identify the type of underwater targets to be detected.

[0004] The frogman identification unit and infrared identification unit of the above-mentioned invention are used to comprehensively monitor the waters near the port and accurately identify the types of underwater targets to be detected, avoiding blind spots in monitoring. However, its sonar actively sends detection signals to the potential target area and discovers the target by detecting echo signals. However, the higher emission sound source level makes it difficult for the sonar platform to conceal itself. The underwater frogman target intensity is small and the navigation noise is low, which further increases the difficulty of detection and further amplifies the disadvantages of traditional sonar. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater frogman detection sonar device and method based on beamforming technology to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an underwater frogman detection sonar device based on beamforming technology, comprising.

[0007] A main console and several detection sub-devices, wherein the main console is connected to each detection sub-device in a two-way communication manner, and the main console includes a communication module, a power module, a memory, a processor and an alarm module, and each detection sub-device includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module and a communication module, wherein the static identification unit includes a hydrophone sonar optical fiber matrix and an identification module, and the identification module of the static identification unit is used to acquire a received signal and determine whether the signal-to-noise ratio DT of the received signal is greater than a preset target appearance threshold value, if the judgment result is false, the received signal is determined to be a low-activity signal and the received signal is acquired again, if the judgment result is true, it is determined that an underwater target to be detected appears, and the received signal is determined to be a non-low-activity signal, and the signal is sent to the control module of the detection sub-device, the control module of the detection sub-device transmits information with the communication module of the main console through the communication module, and the main console controls the dynamic identification unit and the transmitting transducer to perform a dynamic identification process.

[0008] Preferably, the hydrophone sonar fiber optic matrix of the static identification master unit is distributedly installed in the waters on both sides of the port through a submersible or a buoy, and each hydrophone sonar fiber optic is vertically arranged below the submersible or the buoy.

[0009] Preferably, each of the submersibles or buoys is provided with a sensor that matches the end locator of the hydrophone sonar optical fiber, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydrophone sonar optical fiber drive module.

[0010] Preferably, the communication unit, hydrophone sonar fiber optic drive module and power module of each of the submersibles or buoys are respectively connected to the control unit, and the hydrophone sonar fiber optic drive module includes a detection signal drive circuit.

[0011] As a preferred embodiment: the hydrophone sonar optical fiber is used to receive underwater target information, and generates relevant information through the detection signal driving circuit and sends it to the identification module of the static identification main unit through the control unit and the communication unit.

[0012] As a preferred embodiment: the signal-to-noise ratio DT of the recognition module of the static recognition unit is determined by the following formula:

[0013]

[0014] The noise power at the output end of the receiving transducer is measured and determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

[0015] A method for using an underwater frogman detection sonar device based on beamforming technology according to any of the above items comprises the following steps:

[0016] Step S1, performing a passive detection process of the waters near the port through the static recognition unit, fusing the passive detection information, and obtaining the target passive detection result;

[0017] Step S2, according to the passive target detection result, if a target is detected, actively detect the underwater target according to the control instruction to obtain active target detection information;

[0018] Step S3, fuse and position the target active detection information and the buoy position information, and issue an alarm through the alarm module to obtain the final target detection result.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention provides an underwater frogman detection sonar device and method based on beamforming technology, which first detects the presence of a target and measures the approximate position of the target through passive detection, and then detects the precise position of the target through active mode. This distributed active and passive sonar joint detection method is combined with multi-node detection information fusion positioning technology. Through the organic combination of the advantages of different detection technologies, it not only reduces the risk of exposure of the detection system, improves the target positioning accuracy, and fully guarantees the efficiency and accuracy of target detection, but also enables the system to meet the current needs of detecting and tracking weak underwater targets, and can select a suitable detection method according to actual conditions, thereby enhancing the scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the device of the present invention;

[0022] Figure 2 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] Example

[0025] See also Figure 1 , an underwater frogman detection sonar device based on beamforming technology shown in the figure includes a main console and several detection sub-devices, the main console is connected to each detection sub-device in a two-way communication manner, and the main console includes a communication module, a power module, a memory, a processor and an alarm module, each of the detection sub-devices includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module and a communication module, the static identification unit includes a hydrophone sonar optical fiber matrix and an identification module, and the identification module of the static identification unit is used to obtain a received signal and determine whether the signal-to-noise ratio DT of the received signal is greater than a preset target appearance threshold, if the judgment result is false, the received signal is determined to be a low activity signal and the received signal is re-acquired, if the judgment result is true, it is determined that an underwater target to be detected appears, and the received signal is determined to be a non-low activity signal, and the signal is sent to the control module of the detection sub-device, the control module of the detection sub-device transmits information with the communication module of the main console through the communication module, and the main console controls the dynamic identification unit and the transmitting transducer to perform a dynamic identification process.

[0026] In this embodiment, the processor of the main console is connected to the communication module for bidirectional communication, and the processor communicates unidirectionally with the memory and the alarm module respectively, and energy drive is provided by the power module, which has been fully disclosed in the prior art and will not be repeated here.

[0027] Furthermore, the hydrophone sonar fiber matrix of the static identification general unit is distributedly installed in the waters on both sides of the port through submersibles or buoys, and each hydrophone sonar fiber is vertically arranged below the submersible or buoy, each of the submersible or buoy is provided with a sensor matched with the end locator of the hydrophone sonar fiber, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydrophone sonar fiber drive module. The communication unit, hydrophone sonar fiber drive module and power module of each of the submersible or buoy are respectively connected to the control unit, the hydrophone sonar fiber drive module includes a detection signal driving circuit, the hydrophone sonar fiber is used to receive underwater target information, and generate relevant information through the detection signal driving circuit and send it to the identification module of the static identification general unit through the control unit and the communication unit. The signal-to-noise ratio DT of the identification module of the static identification general unit is determined by the following formula:

[0028]

[0029] The noise power at the output end of the receiving transducer is measured and determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

[0030] See also Figure 2, is a flow chart of this embodiment, a method for using an underwater frogman detection sonar device based on beamforming technology, comprising the following steps:

[0031] Step S1, performing a passive detection process of the waters near the port through the static recognition unit, fusing the passive detection information, and obtaining the target passive detection result;

[0032] Step S2, according to the passive target detection result, if a target is detected, actively detect the underwater target according to the control instruction to obtain active target detection information;

[0033] Step S3, fuse and position the target active detection information and the buoy position information, and issue an alarm through the alarm module to obtain the final target detection result.

[0034] Furthermore, the hydrophone sonar fiber optic matrix of the static identification general unit is distributedly installed in the waters on both sides of the port through submersibles or buoys, and each hydrophone sonar fiber optic is vertically arranged below the submersible or buoy, each of the submersible or buoy is provided with a sensor that matches the end locator of the hydrophone sonar fiber optic, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydrophone sonar fiber optic drive module. The communication unit, hydrophone sonar fiber optic drive module and power module of each of the submersible or buoy are respectively connected to the control unit, the hydrophone sonar fiber optic drive module includes a detection signal driving circuit, the hydrophone sonar fiber optic is used to receive underwater target information, and generates relevant information through the detection signal driving circuit and sends it to the identification module of the static identification general unit through the control unit and the communication unit, and the identification unit obtains the received signal and judges Whether the signal-to-noise ratio DT of the received signal is greater than the preset target appearance threshold. If the judgment result is false, the received signal is judged as a low-activity signal and the received signal is reacquired. If the judgment result is true, it is determined that an underwater target to be detected appears, and the received signal is judged as a non-low-activity signal, and the signal is sent to the control module of the detection sub-device. The control module of the detection sub-device exchanges information with the communication module of the main console through the communication module. After receiving the information, the main console controls the control module of the corresponding detection sub-module through the communication module. The control module controls the transmitting transducer according to the transmitting instruction, and converts the transmitting signal in the form of an electrical signal into a directional underwater acoustic signal through beam forming for transmission, thereby performing an active detection process on the target area. The process has been fully disclosed in the prior art and will not be repeated here.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underwater frogman detection sonar device based on beamforming technology, characterized in that: include: A main console and several detection sub-devices, wherein the main console is connected to each detection sub-device in a two-way communication manner, and the main console includes a communication module, a power module, a memory, a processor and an alarm module, and each detection sub-device includes a static identification unit, a dynamic identification unit, a transmitting transducer, a receiving transducer, a control module, a storage module and a communication module, wherein the static identification unit includes a hydrophone sonar optical fiber matrix and an identification module, and the identification module of the static identification unit is used to acquire a received signal and determine whether the signal-to-noise ratio DT of the received signal is greater than a preset target appearance threshold value, if the judgment result is false, the received signal is determined to be a low-activity signal and the received signal is acquired again, if the judgment result is true, it is determined that an underwater target to be detected appears, and the received signal is determined to be a non-low-activity signal, and the signal is sent to the control module of the detection sub-device, the control module of the detection sub-device transmits information with the communication module of the main console through the communication module, and the main console controls the dynamic identification unit and the transmitting transducer to perform a dynamic identification process.

2. The underwater frogman detection sonar device based on beamforming technology according to claim 1, characterized in that: The hydrophone sonar optical fiber matrix of the static identification master unit is distributedly installed in the waters on both sides of the port through a submersible or a buoy, and each hydrophone sonar optical fiber is vertically arranged below the submersible or the buoy.

3. The underwater frogman detection sonar device based on beamforming technology according to claim 2 is characterized in that: Each of the submersibles or buoys is provided with a sensor that matches the end locator of the hydrophone sonar optical fiber, and each submersible or buoy is also equipped with a control unit, a communication unit, and a hydrophone sonar optical fiber drive module.

4. The underwater frogman detection sonar device based on beamforming technology according to claim 3 is characterized by: The communication unit, hydrophone sonar fiber optic drive module and power module of each of the submersibles or buoys are respectively connected to the control unit, and the hydrophone sonar fiber optic drive module includes a detection signal drive circuit.

5. The underwater frogman detection sonar device based on beamforming technology according to claim 4 is characterized in that: The hydrophone sonar optical fiber is used to receive underwater target information, and generates relevant information through the detection signal driving circuit and sends it to the identification module of the static identification main unit through the control unit and the communication unit.

6. The underwater frogman detection sonar device based on beamforming technology according to claim 5, characterized in that: The signal-to-noise ratio DT of the recognition module of the static recognition unit is determined by the following formula: The noise power at the output end of the receiving transducer is measured and determined in advance based on the inherent characteristics of the receiving transducer and the underwater acoustic environment in which the receiving transducer is located.

7. The method for using the underwater frogman detection sonar device based on beamforming technology according to any one of claims 1 to 6, characterized in that: The steps include: Step S1, performing a passive detection process of the waters near the port through the static recognition unit, fusing the passive detection information, and obtaining the target passive detection result; Step S2, according to the passive target detection result, if a target is detected, actively detect the underwater target according to the control instruction to obtain active target detection information; Step S3, fuse and position the target active detection information and the buoy position information, and issue an alarm through the alarm module to obtain the final target detection result.

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