Buried target detecting and positioning method and system based on liquid-solid interface waves
Through the method based on liquid-solid interface waves, the interface wave signal excitation and reception, combined with the delay superposition algorithm, the detection and positioning of buried targets under the sea are achieved, solving the problem of difficulty in detection in the existing technology, and has high sensitivity and simple signal processing characteristics.
Patent Information
- Application Number
- CN202510196309.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-21
- Publication Date
- 2025-06-24
AI Technical Summary
The existing technology is difficult to effectively detect and locate small targets buried under the sea, mainly due to weak echo signals, severe submarine reverberation and complex echo mechanisms.
Using a method based on liquid-solid interface wave, the interface wave signal is transmitted through the interface wave normal force source excitation transducer, and the interface wave particle vibration reception transducer is used to form an array to receive scattered signals. The signal processing is performed through the delay superposition algorithm to realize the detection and positioning of buried targets under the sea.
It breaks through the detection bottleneck of traditional methods on burying targets, and achieves high sensitivity detection and positioning of burying targets under the sea. The signal processing algorithm is simple and robust.
Smart Images
Figure CN120195669A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of underwater target detection, and specifically, to a method and system for detecting and positioning buried targets based on liquid-solid interface waves. Background Art
[0002] The acoustic method is the most effective means for underwater target detection. However, due to reasons such as weak echo signals of small buried targets, severe seabed reverberation, and complex echo mechanisms, it is very difficult in engineering applications to comprehensively and accurately detect small buried targets by existing means. Interface waves propagate along the seabed interface, with energy concentrated near the seabed interface and being very sensitive to bottom-mounted / buried targets. Detecting buried targets near the seabed by exciting liquid-solid interface waves is expected to break through the detection bottleneck of buried targets and achieve the detection of seabed buried targets.
[0003] According to the existing technology, there is currently a lack of research on the method for positioning buried targets based on liquid-solid interface waves, and it is necessary to develop a method for target detection and positioning applicable to interface waves. Summary of the Invention
[0004] Aiming at the deficiencies in the prior art, the present invention provides a method and system for detecting and positioning buried targets based on liquid-solid interface waves.
[0005] According to the method and system for detecting and positioning buried targets based on liquid-solid interface waves provided by the present invention, the solution is as follows:
[0006] In the first aspect, a method for detecting and positioning buried targets based on liquid-solid interface waves is provided. The method includes:
[0007] Step S1: An interface wave signal is emitted by an interface wave normal force source excitation transducer, and an interface wave signal propagating along the seabed is excited. When the interface wave signal encounters a target, an interface wave scattering signal is generated;
[0008] Step S2: A transducer array is formed by combining interface wave particle vibration receiving transducers to receive the target interface wave scattering signal, and the interface wave scattering signal is processed by a delay and sum algorithm to achieve the detection and positioning of seabed buried targets.
[0009] Preferably, step S1 is specifically excited by an interface wave normal force source excitation transducer. The excitation transducer is arranged on the seabed, and by applying a normal force to the seabed sediment layer medium, Scholte waves propagating along the seabed interface are generated on the seabed;
[0010] The interface wave normal force source excitation transducer emits a sine signal modulated by a Gaussian window or a cosine window as shown in the formula s(t), and the amplitude, frequency, and period of the emitted signal are selected according to the actual sound speed of the seabed and the size of the target;
[0011]
[0012] Among them, M is the number of signal cycles, f0 is the center frequency of the transmitted signal, t is the time, and T is the signal period.
[0013] Preferably, in step S2, the interface wave particle vibration receiving transducer receives the interface wave scattering signal in the solid deposition layer, and obtains a highly sensitive interface wave signal by sensing the seabed deposition layer particle acceleration signal;
[0014] That is, the interface wave signal is scattered at the target, and the scattered signal is received by the interface wave particle vibration receiving transducer. By judging the arrival time analysis of the echo signal, it is judged whether there is a suspicious target; further, by forming a transducer array to receive the interface wave scattering signal, through the delay superposition processing algorithm, an image of the seabed area can be obtained, and the targets in this area can be detected and located.
[0015] Preferably, the processing of the interface wave scattering signal in step S2 specifically includes:
[0016] Step S2.1: Define the seabed detection area and divide the detection area into grids;
[0017] Assume that each point in the area is a potential target scattering point. For any point o(x,y) in the area, according to the interface wave sound speed, calculate the propagation time t from the interface wave normal force source excitation transducer E(x,y) to the interface wave particle vibration receiving transducer R(x n ,y n ), and the position calculation is as follows: n (x n ,y n ) is,
[0018]
[0019] where c g represents the group velocity of the interface wave propagation;
[0020] Step S2.2: For the receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattering signal received by each interface wave particle vibration receiving transducer and take its absolute value;
[0021] where s n (t) is the interface wave scattering signal received by the nth interface wave particle vibration receiving transducer, Hilbert(s n (t)) is its Hilbert transform. Summing up the scattering signals of all interface wave particle vibration receiving transducers at any point o, the energy value E(x,y) for point o is:
[0022]
[0023] Step S2.3: Traverse all the detection area points to obtain the image of the entire area; when there is a target, the value of this point is larger, while when there is no target, the value of E(x, y) at this point is smaller. By normalizing the seabed detection area and analyzing the imaging result, the judgment of the presence or absence of the target in this area and the determination of its position are realized.
[0024] In a second aspect, a buried target detection and positioning system based on liquid-solid interface waves is provided, and the system includes:
[0025] Module M1: The interface wave normal force source excitation transducer is used to excite an interface wave signal propagating along the seabed. When the interface wave signal encounters a target, an interface wave scattering signal is generated.
[0026] Module M2: A transducer array is formed by combining multiple interface wave particle vibration receiving transducers to receive the target interface wave scattering signal. The interface wave scattering signal is processed by the delay and sum algorithm, and an image of the seabed area can be obtained to detect and position the target in this area.
[0027] Preferably, the Module M1 is specifically excited by the interface wave normal force source excitation transducer. The excitation transducer is arranged on the seabed, and by applying a normal force to the seabed sediment layer medium, Scholte waves propagating along the seabed interface are generated on the seabed.
[0028] The interface wave normal force source excitation transducer emits a sine signal modulated by a Gaussian window or a cosine window as shown in the formula s(t), and the amplitude, frequency, and period of the emitted signal are selected according to the actual sound speed of the seabed and the size of the target.
[0029]
[0030] where M is the number of signal cycles, f0 is the center frequency of the emitted signal, t is time, and T is the signal period.
[0031] Preferably, the Module M2 receives the interface wave scattering signal in the solid sediment layer by the interface wave particle vibration receiving transducer, and obtains a highly sensitive interface wave signal by sensing the seabed sediment layer particle acceleration signal.
[0032] That is, the interface wave signal is scattered at the target, and the scattered signal is received by the interface wave particle vibration receiving transducer. By judging and analyzing the arrival time of the echo signal, the presence or absence of a suspicious target is determined. Further, by forming a transducer array to receive the interface wave scattering signal in an array signal manner and through the delay and sum processing algorithm, an image of the seabed area can be obtained to detect and position the target in this area.
[0033] Preferably, the processing of the interface wave scattering signal by the module M2 specifically includes:
[0034] Module M2.1: Define the seabed detection area and divide the detection area into grids;
[0035] Assume that each point in the area is a potential target scattering point. For any point o(x,y) in the area, calculate the propagation time t from the interface wave normal force source excitation transducer E(x,y) to the interface wave particle vibration receiving transducer R(x n ,y n ) according to the interface wave sound speed. The position of (x n (x n ,y n ) is
[0036]
[0037] where c g represents the group velocity of the interface wave propagation;
[0038] Module M2.2: For the receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattering signal received by each interface wave particle vibration receiving transducer and take its absolute value;
[0039] where s n (t) is the interface wave scattering signal received by the nth interface wave particle vibration receiving transducer, Hilbert(s n (t)) is its Hilbert transform. Sum the scattering signals of all interface wave particle vibration receiving transducers at any point o to obtain the energy value E(x,y) for point o as:
[0040]
[0041] Module M2.3: Traverse all detection area points to obtain an image of the entire area; when there is a target, the value of this point is larger, while when there is no target, the value of E(x,y) at this point is smaller. By normalizing the seabed detection area and analyzing the imaging result, the determination of the presence or absence of a target in this area and the determination of its position are realized.
[0042] In a third aspect, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the steps of the buried target detection and positioning method based on the liquid-solid interface wave are implemented.
[0043] Fourthly, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the computer program is executed by the processor, the steps of the method for detecting and positioning buried targets based on liquid-solid interface waves are implemented.
[0044] Compared with the prior art, the present invention has the following beneficial effects:
[0045] 1. The present invention can realize the detection and positioning of underwater buried targets, breaking through the detection bottleneck of traditional methods for buried targets;
[0046] 2. The present invention uses the method of exciting with a normal force source and receiving with a solid deposition layer to excite and receive interface wave signals. The excited interface waves account for the main components and the received interface wave signals have a relatively high signal-to-noise ratio, which is helpful for subsequent signal processing;
[0047] 3. The present invention proposes a method for detecting and positioning underwater targets applicable to liquid-solid interface waves. By performing delay superposition processing on the interface wave signals obtained by the receiving transducer array, underwater imaging of the detection area is realized. The signal processing algorithm is simple and has good robustness.
[0048] Other beneficial effects of the present invention will be described in the specific implementation manner through the introduction of specific technical features and technical solutions. Those skilled in the art should be able to understand the beneficial technical effects brought by the technical features and technical solutions through these introductions. BRIEF DESCRIPTION OF THE DRAWINGS
[0049] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present invention will become more apparent:
[0050] Figure 1 is a flowchart of the method for detecting and positioning buried targets based on liquid-solid interface waves;
[0051] Figure 2 is a schematic diagram of the method for detecting and positioning interface wave targets;
[0052] Figure 3 is a time-domain waveform diagram of interface wave detection;
[0053] Figure 4 is a result diagram of the interface wave detection method and the positioning method. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0054] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.
[0055] An embodiment of the present invention provides a method for detecting and positioning buried targets based on liquid-solid interface waves. Using liquid-solid interface waves as information carriers and using the scattered echo signals of the targets for seabed imaging, it is expected to break through the bottleneck of traditional sonar longitudinal wave detection (body wave) methods in water and use interface waves to achieve the detection and positioning of buried targets on the seabed. It includes: an interface wave normal force source excitation transducer, a normal force source formed by a moving coil transducer, which is installed in a bottom-mounted manner to apply a normal force to the seabed sediment layer medium, and further generate Scholte waves propagating along the seabed interface on the seabed; an interface wave particle vibration receiving transducer, an interface wave signal receiving transducer based on an accelerometer, which is collected in a sediment layer receiving manner to collect three-component particle signals in the seabed sediment layer, and the transducer forms a transducer array through multiple combinations.
[0056] The interface wave normal force source excitation transducer emits an interface wave signal, exciting an interface wave signal propagating along the seabed. When the interface wave encounters a target, an interface wave scattering signal is generated, which is received by the interface wave particle vibration receiving transducer array, and the signal is processed through a delay and sum algorithm to achieve the detection and positioning of buried targets on the seabed.
[0057] Referring to Figure 1 as shown, the method includes:
[0058] Step S1: The interface wave normal force source excitation transducer emits an interface wave signal, exciting an interface wave signal propagating along the seabed. When the interface wave signal encounters a target, an interface wave scattering signal is generated;
[0059] Step S2: The interface wave particle vibration receiving transducers are combined to form a transducer array to receive the target interface wave scattering signal, and the interface wave scattering signal is processed through a delay and sum algorithm to achieve the detection and positioning of buried targets on the seabed.
[0060] Among them, the interface wave signal excitation: It is excited by the interface wave normal force source excitation transducer. The excitation transducer is arranged on the seabed, and by applying a normal force to the seabed sediment layer medium, Scholte waves propagating along the seabed interface are generated on the seabed. The interface wave normal force source excitation transducer emits a sine signal modulated by a Gaussian window or a cosine window as shown in the formula s(t), and the amplitude, frequency, and period of the emitted signal are selected according to the actual sound speed of the seabed and the size of the target;
[0061]
[0062] Where M is the number of signal cycles, f0 is the center frequency of the transmitted signal, t is the time, and T is the signal period.
[0063] Interface signal reception: The interface wave particle vibration receiving transducer receives the interface wave scattering signal in the solid deposition layer, and obtains a highly sensitive interface wave signal by sensing the seabed deposition layer particle acceleration signal.
[0064] The interface wave signal is scattered at the target, and the scattered signal is received by the interface wave particle vibration receiving transducer. By judging the time of arrival of the echo signal, it is determined whether there is a suspicious target; further, by forming a transducer array to receive the interface wave scattering signal in an array, through the delay superposition processing algorithm, an image of the seabed area can be obtained, and the targets in this area can be detected and located.
[0065] The processing of the interface wave scattering signal specifically includes:
[0066] Step S2.1: Define the seabed detection area and divide the detection area into grids;
[0067] Assume that each point in the area is a potential target scattering point. For any point o(x,y) in the area, according to the interface wave sound speed, calculate the propagation time t from the interface wave normal force source excitation transducer E(x,y) to the interface wave particle vibration receiving transducer R(x n ,y n ). The position calculation is as follows: n (x n ,y n ) is
[0068]
[0069] Where c g represents the group velocity of the interface wave propagation;
[0070] Step S2.2: For the receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattering signal received by each interface wave particle vibration receiving transducer and take its absolute value;
[0071] Where s n (t) is the interface wave scattering signal received by the nth interface wave particle vibration receiving transducer, Hilbert(s n (t)) is its Hilbert transform. Summing up the scattering signals of all interface wave particle vibration receiving transducers at any point o, the energy value E(x,y) for point o is:
[0072]
[0073] Step S2.3: Traverse all the detection area points to obtain the image of the entire area. When there is a target, the value of this point is relatively large, while when there is no target, the value of E(x,y) at this point is relatively small. By normalizing the seabed detection area and analyzing the imaging result, the determination of the presence or absence of the target in this area and the determination of its position are realized.
[0074] The present invention also provides a buried target detection and positioning system based on the liquid-solid interface wave. The buried target detection and positioning system based on the liquid-solid interface wave can be implemented by executing the process steps of the buried target detection and positioning method based on the liquid-solid interface wave. That is, those skilled in the art can understand the buried target detection and positioning method based on the liquid-solid interface wave as the preferred implementation manner of the buried target detection and positioning system based on the liquid-solid interface wave. This system specifically includes:
[0075] Module M1: The interface wave normal force source excitation transducer is used to excite an interface wave signal propagating along the seabed. When the interface wave signal encounters a target, an interface wave scattering signal is generated.
[0076] Module M2: A transducer array is formed by combining interface wave particle vibration receiving transducers to receive the target interface wave scattering signal. The interface wave scattering signal is processed through a delay and sum algorithm to realize the detection and positioning of the buried target on the seabed.
[0077] Among them, for the excitation of the interface wave signal: It is excited by the interface wave normal force source excitation transducer. The excitation transducer is arranged on the seabed. By applying a normal force to the seabed sediment layer medium, Scholte waves propagating along the seabed interface are generated on the seabed. The interface wave normal force source excitation transducer emits a sine signal modulated by a Gaussian window or a cosine window as shown in the formula s(t), and the amplitude, frequency, and period of the emitted signal are selected according to the actual sound speed of the seabed and the size of the target.
[0078]
[0079] Where M is the number of signal cycles, f0 is the center frequency of the transmitted signal, t is the time, and T is the signal period.
[0080] For the reception of the interface signal: The interface wave particle vibration receiving transducer is used to receive the interface wave scattering signal in the solid sediment layer, and a highly sensitive interface wave signal is obtained by sensing the seabed sediment layer particle acceleration signal.
[0081] The interface wave signal scatters at the target, and the scattered signal is received by the interface wave particle vibration receiving transducer. By judging, the time arrival analysis of the echo signal is carried out to determine whether there is a suspicious target; further, an array signal of the interface wave scattered signal is received by forming a transducer array, and the seabed target is detected and positioned through the delay and sum processing algorithm.
[0082] The processing of the interface wave scattered signal specifically includes:
[0083] Module M2.1: Define the seabed detection area and divide the detection area into grids;
[0084] Assume that each point in the area is a potential target scattering point. For any point o(x, y) in the area, according to the interface wave sound speed, calculate the propagation time t from the interface wave normal force source excitation transducer E(x, y) to the interface wave particle vibration receiving transducer R(x n , y n ), and the position calculation is as follows: n (x n , y n ) is,
[0085]
[0086] where c g represents the group velocity of the interface wave propagation;
[0087] Module M2.2: For the receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattered signal received by each interface wave particle vibration receiving transducer and take its absolute value;
[0088] where s n (t) is the interface wave scattered signal received by the nth interface wave particle vibration receiving transducer, Hilbert(s n (t)) is its Hilbert transform. Sum the scattered signals of all interface wave particle vibration receiving transducers at any point o to obtain the energy value E(x, y) for point o as:
[0089]
[0090] Module M2.3: Traverse all points in the detection area to obtain an image of the entire area; when there is a target, the value of this point is larger, while when there is no target, the value of E(x, y) at this point is smaller. By normalizing the seabed detection area and analyzing the imaging result, the determination of the presence or absence of a target in this area and the determination of its position are realized.
[0091] Next, a more specific description of the present invention will be given.
[0092] Interface wave emission and scattering:
[0093] Interface wave normal force source excitation transducer: Adopting a moving coil design to form a normal force source, and applying a normal force to the seabed sediment medium in a bottom-mounted installation manner. This excitation method can generate Scholte waves propagating along the interface on the seabed.
[0094] When the emitted interface wave encounters a seabed buried target, scattering will occur at the target, forming an interface wave scattering signal.
[0095] Interface wave signal reception:
[0096] Interface wave particle vibration receiving transducer: Based on an accelerometer, deployed in the seabed sediment layer, used to collect three-component particle vibration signals. These transducers form an array through multiple combinations and can highly sensitively sense the interface wave signals in the seabed sediment layer.
[0097] The receiving transducer array receives the interface wave scattering signals generated by the target scattering, and these signals carry information about the seabed target.
[0098] Signal processing and target detection:
[0099] Delay and sum processing algorithm: Process the received interface wave scattering signals. This algorithm applies corresponding delay compensation to the signals received by each receiving transducer and sums them up.
[0100] By analyzing the arrival time of the echo signals, it is possible to determine the presence or absence of a suspicious target and its location. The specific steps include:
[0101] Calculate the distance from each receiving transducer to the potential target and determine the corresponding propagation time.
[0102] After delaying and adjusting the scattering signals of all receiving transducers at a certain assumed target position and summing them up, the energy value at this position is obtained.
[0103] Traverse the entire detection area, construct an energy distribution map, and then locate the possible seabed targets.
[0104] This application is for a specific application scenario (seabed detection). In addition to involving the concepts of delay and summation, it also includes additional signal processing steps (such as Hilbert transform), as well as specific formulas for the characteristics of acoustic wave propagation in the ocean environment. It is an improved algorithm based on the idea of delay and sum processing and is particularly suitable for specific fields such as seabed detection.
[0105] Specifically, through finite element simulation analysis, the simulation calculation of buried target detection and positioning based on liquid-solid interface waves is carried out to illustrate the working mode and process of this invention.
[0106] Use the pressure acoustics module and solid mechanics model in the finite element calculation software to separately model the fluid and the solid. At the same time, use the acoustic-structure boundary to connect the fluid and the solid, simulate the liquid-solid boundary, realize the transfer of stress and displacement, and establish a liquid-solid interface wave sound field simulation model. Take a spherical target with a radius of 0.5 m as the detection object, and place the target at x = 5 m, y = 5 m. The interface wave sound speed is set to about 100 m / s. Place the transmitting transducer at x = 0 m, y = 0 m, and the receiving transducer at x = 0 m, y increasing from 1 m to 8 m at intervals of 1 m; the calculation time is from 0 - 500 ms, and the sampling rate is 10 kHz.
[0107] The overall processing flow chart of the buried target detection and positioning method based on the liquid-solid interface wave is as Figure 1 shown. First, the transmitting transducer emits a 3-cycle sine signal under cosine modulation, and the interface wave signal is excited through the normal force source transducer. The normal force source signal is loaded through the point source in the solid mechanics module, and a 100 Hz signal is selected for detection, where M = 5 and T = 2.5 μs in the signal;
[0108]
[0109] Further, an array is formed by arranging 8 receiving transducers to realize the reception of the interface signal. The interface wave signal is collected by collecting the normal displacement at the receiving array, and the target is positioned through delay and summation processing. The interface wave detection and positioning situation map is as Figure 2 shown.
[0110] Further carry out the signal processing of the interface wave seabed target detection and positioning method.
[0111] In the first step, define the detection area, and the length and width of the detection area are distributed as 10×10 m. Mesh the detection area with a mesh spacing of 0.1 m. Assume that each point in the area is a potential target scattering point. For any point o(x, y) in the area, calculate the propagation time t n ,y n from the interface wave transmitting transducer E(x, y) to the receiving point R(x n (x n ,y n ) according to the interface wave sound speed as,
[0112]
[0113] where c g is 100 m / s.
[0114] In the second step, for the receiving array composed of 8 receiving transducers, s n (t) is the interface wave scattering signal received by the nth transducer, as Figure 3As shown, a target scattered echo can be seen after the incident interface wave signal. By performing a Hilbert transform on this wave packet and summing the scattered signals of all receiving transducers at an arbitrary point o, the energy value E(x, y) for point o is obtained as
[0115]
[0116] In the third step, all the detection area points are traversed to obtain the target probability of the entire area. When a target exists, the value of this point is relatively large, while when there is no target, the value of E(x, y) at this point is relatively small. By performing normalization processing on the seabed detection area and analyzing the imaging results, the determination of the presence or absence of a target in this area and the determination of its position are realized. The target detection and positioning results obtained by the present invention are as Figure 4 shown. The target position is at x = 4.8 and y = 5.5 m. The detection and positioning of the target are realized.
[0117] The embodiment of the present invention provides a method and system for detecting and positioning buried targets based on liquid-solid interface waves. Using the liquid-solid interface wave as an information carrier and using the scattered echo signal of the target for seabed imaging, it is expected to break through the bottleneck of the traditional sonar longitudinal wave detection (body wave) method in water and use the interface wave to realize the detection and positioning of buried targets on the seabed.
[0118] Those skilled in the art know that in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc., to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be regarded as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structure within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as both software modules for implementing the method and the structure within the hardware component.
[0119] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.
Claims
1. A buried target detection and positioning method based on liquid-solid interface waves, characterized in that: include: Step S1: The interface wave normal force source excites the transducer to emit an interface wave signal, thereby exciting an interface wave signal propagating along the seabed, and when the interface wave signal encounters a target, an interface wave scattering signal is generated; Step S2: forming a transducer array by combining interface wave particle vibration receiving transducers, receiving the interface wave scattering signal, processing the interface wave scattering signal by a time-delay superposition algorithm, and realizing the detection and positioning of the buried target on the seabed.
2. The buried target detection and positioning method based on liquid-solid interface wave according to claim 1 is characterized in that: The step S1 is specifically to excite the transducer by the interface wave normal force source, arrange the excitation transducer on the seabed, and generate Scholte waves propagating along the seabed interface on the seabed by applying normal force to the seabed sediment medium; The interface wave normal force source excites the transducer to emit a sine signal modulated by a Gaussian window or a cosine window, and the amplitude, frequency and period of the emission signal are selected according to the actual sound speed on the seabed and the size of the target; Among them, M is the signal cycle number, f0 is the center frequency of the transmitted signal, t is the time, and T is the signal period.
3. The buried target detection and positioning method based on liquid-solid interface wave according to claim 1 is characterized in that: In step S2, the interface wave particle vibration receiving transducer receives the interface wave scattering signal in the solid sediment layer, and obtains a high-sensitivity interface wave signal by sensing the particle acceleration signal of the seabed sediment layer; That is, the interface wave signal is scattered after encountering the target, and the scattered signal is returned to the interface wave particle vibration receiving transducer, and the presence of suspicious targets is determined by analyzing the arrival time of the echo signal; further, the interface wave scattered signal is received by forming an array signal, and the seabed target is detected and located through the delayed superposition processing algorithm.
4. The buried target detection and positioning method based on liquid-solid interface wave according to claim 1 is characterized in that: The step S2 of processing the interface wave scattering signal specifically includes: Step S2.1: define the seabed detection area and divide the detection area into grids; Assume that each point in the region is a potential target scattering point. For any point o(x, y) in the region, the velocity of the interface wave is calculated from the interface wave normal force source excitation transducer E(x, y) to the interface wave particle vibration receiving transducer R(x n ,y n ) position to calculate the propagation time t n (x n ,y n )for, Among them, c g represents the group velocity of interface wave propagation; Step S2.2: for a receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattered signal received by each interface wave particle vibration receiving transducer and take its absolute value; Among them, s n (t) is the interface wave scattering signal received by the nth interface wave particle vibration receiving transducer, Hilbert (s n (t)) is its Hilbert transform, and the scattered signals of all interface wave particle vibration receiving transducers at any point o are summed up to obtain the energy value E(x,y) for point o: Step S2.3: Traverse all the detection area points to obtain the image of the entire area; when there is a target, the value of the point is larger, and when there is no target, the E(x, y) value of the point is smaller. By normalizing the seabed detection area and analyzing the imaging results, the presence or absence of targets in the area can be judged and the location can be determined.
5. A buried target detection and positioning system based on liquid-solid interface waves, characterized in that: include: Module M1: The interface wave normal force source excites the transducer to emit an interface wave signal, thereby exciting an interface wave signal propagating along the seabed. When the interface wave signal encounters a target, an interface wave scattering signal is generated. Module M2: A transducer array is formed by combining interface wave particle vibration receiving transducers, the interface wave scattering signal is received, and the interface wave scattering signal is processed by a time-delay superposition algorithm to realize the detection and positioning of buried targets on the seabed.
6. The buried target detection and positioning system based on liquid-solid interface wave according to claim 5, characterized in that: The module M1 is specifically excited by an interface wave normal force source excitation transducer, and the excitation transducer is arranged on the seabed, and a normal force is applied to the seabed sediment medium to generate a Scholte wave propagating along the seabed interface on the seabed; The interface wave normal force source excites the transducer to emit a sine signal modulated by a Gaussian window or a cosine window, and the amplitude, frequency and period of the emission signal are selected according to the actual sound speed on the seabed and the size of the target; Among them, M is the signal cycle number, f0 is the center frequency of the transmitted signal, t is the time, and T is the signal period.
7. The buried target detection and positioning system based on liquid-solid interface wave according to claim 5, characterized in that: The module M2 receives the interface wave scattering signal in the solid sediment layer by the interface wave particle vibration receiving transducer, and obtains a highly sensitive interface wave signal by sensing the acceleration signal of the seabed sediment layer particle; That is, the interface wave signal is scattered after encountering the target, and the scattered signal is returned to the interface wave particle vibration receiving transducer, and the presence of suspicious targets is determined by analyzing the arrival time of the echo signal; further, the interface wave scattered signal is received by forming an array signal, and the seabed target is detected and located through the delayed superposition processing algorithm.
8. The buried target detection and positioning system based on liquid-solid interface wave according to claim 5, characterized in that: The module M2 processes the interface wave scattering signal specifically including: Module M2.1: Define the seabed detection area and divide the detection area into grids; Assume that each point in the region is a potential target scattering point. For any point o(x, y) in the region, the velocity of the interface wave is calculated from the interface wave normal force source excitation transducer E(x, y) to the interface wave particle vibration receiving transducer R(x n ,y n ) position to calculate the propagation time t n (x n ,y n )for, Among them, c g represents the group velocity of interface wave propagation; Module M2.2: For a receiving array composed of N interface wave particle vibration receiving transducers, perform Hilbert transform on the scattered signal received by each interface wave particle vibration receiving transducer and take its absolute value; Among them, s n (t) is the interface wave scattering signal received by the nth interface wave particle vibration receiving transducer, Hilbert (s n (t)) is its Hilbert transform, and the scattered signals of all interface wave particle vibration receiving transducers at any point o are summed up to obtain the energy value E(x,y) for point o: Module M2.3: Traverse all the detection area points to obtain the image of the entire area; when there is a target, the value of the point is larger, and when there is no target, the E(x, y) value of the point is smaller. By normalizing the seabed detection area and analyzing the imaging results, it is possible to determine whether there is a target in the area and determine its position.
9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the buried target detection and positioning method based on liquid-solid interface waves according to any one of claims 1 to 4 are implemented.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by a processor, the steps of the buried target detection and positioning method based on liquid-solid interface waves according to any one of claims 1 to 4 are implemented.