Underwater sound response and positioning integrated sensing equipment, positioning method and control method

Abstract

The invention provides underwater acoustic response and positioning integrated sensing equipment, a positioning method and a control method, and the sensing equipment comprises a suspension supporting structure and a spherical receiving hydrophone which is used for receiving a sound wave signal to judge a target distance; the sound absorption part is used for realizing receiving and transmitting isolation of sound wave signals; the circular tube transmitting transducer is used for transmitting a sound wave signal; the double-ring receiving hydrophone is used for receiving the sound wave signal to judge the target orientation; the spherical receiving hydrophone, the pressure-resistant electronic cabin, the sound absorption part, the circular tube transmitting transducer and the double-ring receiving hydrophone are sequentially and coaxially arranged in the cylindrical structure from top to bottom in the gravity direction; by adopting the equipment disclosed by the invention, the functions of transmitting, receiving and positioning can be simultaneously realized, and the positioning and control requirements of underwater engineering equipment can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater measurement, control and underwater engineering equipment, and more specifically, to an integrated acoustic transponder and positioning sensor device, a positioning method and a control method. Background Art

[0002] Currently, in the fields of hydrographic survey, seabed exploration, underwater data collection, offshore wind farm construction, etc., unmanned underwater vehicles (UUVs) have been widely used. The performance evaluation and normal operation of UUVs are inseparable from the support of underwater acoustic test systems and equipment. As a commonly used underwater acoustic test equipment, an underwater acoustic transponder includes a transmitter and a receiver, so it can be used both as a signal source and as a transponder device. After years of development, there are already many foreign companies specializing in the research, development and production of underwater acoustic transponders. Among them, the underwater acoustic equipment developed by the French company iXblue represents the most advanced level in the industry, and there are multiple transponder products in the medium and low frequency bands under its banner, with applications involving underwater navigation and positioning, civilian search and rescue, etc. In China, the development in this aspect started relatively late, and in recent years, underwater acoustic transponder technology has gradually been promoted. New requirements have also been put forward for the testing of underwater equipment and the performance of underwater acoustic transponder devices in various ocean engineering projects.

[0003] Traditional underwater acoustic transponders have a single function, lack data sharing with sonar systems, are difficult to achieve high-performance real-time feedback applications, and cannot meet the testing requirements of multiple functions and multiple indicators. Therefore, traditional underwater acoustic transponders are usually used in conjunction with underwater acoustic positioning systems to complete the testing of underwater equipment. Ultra-Short Baseline (USBL) is the most commonly used underwater acoustic positioning system in the determination of UUV positions at present due to its advantages such as simple structure, small volume, convenient use, and low cost. Conventional USBL systems mostly adopt arrays such as 3-element L-shaped, 4-element cross-shaped, 8-element double cross-shaped, etc., and estimate the target azimuth by measuring the time delay difference / phase difference of each channel of the array; however, due to factors such as small array aperture and obvious high-frequency acoustic scattering effects, the positioning accuracy of the system is not high and the applicable test environment is limited. In addition, the receiving beam width is also an important indicator to measure the performance of the USBL system. The Seatrac series USBL developed by the foreign company Blueprint adopts a circular design, and the receiving beam width in the vertical direction is 120°. As Figure 1 shown, the HiPAP series USBL developed by Kongsberg company adopts a complex receiving system with dozens to hundreds of array elements, and the array shape is a planar array or a spherical array. It can greatly improve the positioning performance through beamforming, and has a receiving beam width of more than 180° in the vertical direction, but at the same time, it loses the advantages of array miniaturization and low cost, and the existing systems do not have the function of simultaneous transmission and reception, and cannot meet the comprehensive requirements of underwater control, communication and positioning. Summary of the Invention

[0004] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide an integrated underwater acoustic response and positioning sensing device, a positioning method and a control method to overcome the above-mentioned shortcomings.

[0005] The above technical object of the present invention is achieved through the following technical solutions: In the first aspect, an integrated underwater acoustic response and positioning sensing device includes: A suspension support structure, which includes: a suspension positioning ring and a plurality of connecting rods; the plurality of connecting rods are parallel to each other and evenly dispersed on the suspension positioning ring to form a cylindrical structure; A spherical receiving hydrophone for receiving acoustic wave signals to judge the target distance; An acoustic absorption member for realizing the isolation of the transmission and reception of acoustic wave signals; A circular tube transmitting transducer for transmitting acoustic wave signals; A double-ring receiving hydrophone for receiving acoustic wave signals to judge the target azimuth; The spherical receiving hydrophone, the acoustic absorption member, the circular tube transmitting transducer, and the double-ring receiving hydrophone are coaxially arranged inside the cylindrical structure in sequence from top to bottom along the gravity direction.

[0006] In one embodiment, the acoustic absorption member has an annular structure, and an air cavity is arranged inside the acoustic absorption member.

[0007] In one embodiment, it further includes: a pressure-resistant electronic cabin; a main control circuit is accommodated inside the pressure-resistant electronic cabin; the main control circuit is used to receive the ranging signal received by the receiving hydrophone, and / or receive the positioning signal of the double-ring receiving hydrophone, and / or control the transmitting transducer to transmit a communication control signal; in the gravity direction, the pressure-resistant electronic cabin is located between the receiving hydrophone and the acoustic absorption member.

[0008] In one embodiment, the double-ring receiving hydrophone includes: a sound-transmitting support structure, including a sound-transmitting support base and a sound-transmitting sheath, and a through hole axially penetrating is provided at the middle position of the sound-transmitting support base and the sound-transmitting sheath; an upper annular hydrophone array, including a plurality of first hydrophone elements; a lower annular hydrophone array, including a plurality of second hydrophone elements; the first hydrophone elements and the second hydrophone elements are connected to the sound-transmitting support base through axially extending support columns; the plurality of first hydrophone elements and the plurality of second hydrophone elements are arranged in a circular staggered manner; the heights of the upper annular hydrophone array and the lower annular hydrophone array in the axial direction are different; the sound-transmitting sheath wraps the upper annular hydrophone array and the lower annular hydrophone array and is fixed on the sound-transmitting support base.

[0009] In one embodiment, the double-ring receiving hydrophone further includes an acoustic impedance transformation filling column, which is located at the middle position between the upper annular hydrophone array and the lower annular hydrophone array; the acoustic impedance transformation filling column penetrates through the through holes of the acoustic transmission support base and the acoustic transmission sheath.

[0010] In one embodiment, the acoustic impedance transformation filling column is made of an acoustic absorption material or a sound reflection material.

[0011] In one embodiment, the double-ring receiving hydrophone further includes a preamplifier control circuit, which is installed in the acoustic transmission support base, and both the first hydrophone element and the second hydrophone element are electrically connected to the preamplifier control circuit.

[0012] Second aspect, a positioning method, which is applied to any one of the underwater acoustic response and positioning integrated sensing devices in the first aspect. The method includes: Using the circular tube transducer to transmit a positioning request signal, and the positioning request signal is a fixed pulse acoustic wave signal; Receiving response signals by using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: an acoustic wave signal transmitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal by using the spherical receiving hydrophone, obtaining the distance between the target to be measured and the spherical receiving hydrophone; After processing and calculating the response signal by using the double-ring receiving hydrophone, obtaining the azimuth of the target to be measured relative to the double-ring receiving hydrophone; Calculating and determining the three-dimensional space positioning of the target to be measured based on the distance and the azimuth.

[0013] In one embodiment, the step of obtaining the distance between the target to be measured and the spherical receiving hydrophone after processing and calculating the response signal by using the spherical receiving hydrophone specifically includes: Obtaining the signal to be detected in the response signal ; setting a reference signal based on the parameters of the response signal ; Using the reference signal To perform pulse compression on the signal to be detected To generate a narrow pulse signal ; Determining the time point corresponding to the maximum value of the copy correlation output in the narrow pulse signal, and determining the distance between the target to be measured and the spherical receiving hydrophone based on the time point and the sound speed.

[0014] In one embodiment, after processing and calculating the response signal by using the double-ring receiving hydrophone, the azimuth of the target to be measured relative to the double-ring receiving hydrophone is obtained, which specifically includes: Receiving an effective response signal by using the double-ring receiving hydrophone, and decomposing the response signal into multiple sound sources; according to the positions of each array element and the angles of each sound source , constructing a steering vector matrix ; Based on the constructed steering vector matrix , and the signals received by each array element in the double-ring receiving hydrophone , combining to obtain an array observation vector ; Based on the array observation vector , constructing a covariance matrix ; Using the covariance matrix , the steering vector matrix to calculate the beam response output of conventional beamforming ; Performing deconvolution on the beam response output , and combining with the R-L iterative algorithm to obtain the azimuth spectrum of the beam response output , and determining the azimuth of the target to be measured based on the azimuth spectrum .

[0015] In a third aspect, a control method is applied to any one of the underwater acoustic response and positioning integrated sensing devices in the first aspect. The method includes: Receiving response signals by using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: the acoustic wave signal emitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal by using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained; After processing and calculating the response signal by using the double-ring receiving hydrophone, the azimuth of the target to be measured relative to the double-ring receiving hydrophone is obtained; Based on the distance and the azimuth, calculating and determining the three-dimensional space positioning of the target to be measured; Using the circular tube transducer to emit a coded control signal, and the coded control signal is used to control the movement of the target to be measured.

[0016] In summary, the present invention has the following beneficial effects: The underwater acoustic response and positioning integrated sensing device can simultaneously transmit and receive acoustic wave signals by coaxially arranging a spherical receiving hydrophone, a circular tube transmitting transducer, and a double-ring receiving hydrophone. The spherical receiving hydrophone can be used to measure the distance to the target to be measured, and the double-ring receiving hydrophone can be used to measure the azimuth to the target to be measured. By using the device of the present invention, the functions of simultaneous transmission, reception, and positioning can be achieved, which can meet the requirements of positioning and control of underwater engineering equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a diagram of the HiPAP series ultra-short baseline product in the prior art; Figure 2 It is the main structure diagram of the underwater acoustic response and positioning integrated sensing device of the present invention; Figure 3 It is the three-dimensional structure diagram of the double-ring receiving hydrophone of the present invention; Figure 4 It is the internal array structure diagram of the double-ring receiving hydrophone of the present invention; Figure 5 It is the internal structure schematic diagram of the double-ring receiving hydrophone of the present invention; Figure 6 It is the array element arrangement schematic diagram of the double-ring receiving hydrophone of the present invention; Figure 7 It is the structure schematic diagram of the spherical receiving hydrophone of the present invention; Figure 8 It is the structure schematic diagram of the cylindrical transmitting transducer of the present invention; Figure 9 It is the directivity test diagram of the 16th array element of the present invention for the 10 kHz acoustic wave signal; Figure 10 It is the directivity test diagram of the 16th array element of the present invention for the 30 kHz acoustic wave signal; Figure 11 It is the directivity test diagram of the 16th array element of the present invention for the 50 kHz acoustic wave signal; Figure 12 It is the schematic diagram of the received result of the signal of the present invention in the time-frequency domain; Figure 13 It is the schematic diagram of the received result of the signal of the present invention in the time domain; Figure 14 It is the signal pulse compression result of the present invention; Figure 15 It is the schematic diagram of the simulation result of the threshold signal detection of the present invention; Figure 16 It is the schematic diagram of the received signal model of the circular array of the present invention; Figure 17Schematic diagram for comparing the spatial spectrum estimation results of each algorithm of the present invention; Figure 18 Simulation diagram of the horizontal directivity result of the spherical hydrophone of the present invention; Figure 19 Simulation diagram of the vertical directivity result of the spherical hydrophone of the present invention; Figure 20 Simulation diagram of the horizontal directivity result of the circular tube transmitting transducer of the present invention; Figure 21 Simulation diagram of the vertical directivity result of the circular tube transmitting transducer of the present invention; Figure 22 Flowchart of the positioning method of the second embodiment of the present invention; Figure 23 Flowchart of the control method of the third embodiment of the present invention; In the figure, 1. Suspension support structure; 11. Suspension positioning ring; 12. Connecting rod; 2. Spherical receiving hydrophone; 3. Sound absorption member; 4. Circular tube transmitting transducer; 5. Double-ring receiving hydrophone; 51. Acoustic transmission support base; 52. Acoustic transmission sheath; 53. Through hole; 54. Upper annular hydrophone array; 55. Lower annular hydrophone array; 56. Support column; 57. Acoustic impedance transformation filling column; 58. Preamplifier control circuit; 6. Pressure-resistant electronic cabin. Detailed implementation mode

[0018] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms 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 communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0019] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include contact between the first and second features not directly but through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present invention.

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0021] Embodiment 1 To solve the above problems, the present invention provides an integrated underwater acoustic response and positioning sensing device, as Figures 2 - 8 shown, including: a spherical receiving hydrophone 2, a pressure-resistant electronic cabin 6, an acoustic absorption member 3, a circular tube transmitting transducer 4, and a double-ring receiving hydrophone 5; the above components are coaxially arranged in the order from top to bottom along the gravity direction inside a cylindrical structure.

[0022] It further includes a suspension support structure 1 providing positioning and support functions. The suspension support structure 1 includes: a suspension positioning ring 11 and a plurality of connecting rods 12; the plurality of connecting rods 12 are parallel to each other and evenly dispersed and installed on the suspension positioning ring to form a cylindrical structure; in this embodiment, the number of suspension positioning rings is two, and the two suspension positioning rings are respectively located at the top and bottom of the suspension support structure for providing positioning functions for the connecting rods. Among them, the suspension positioning ring at the top is fixed to the pressure-resistant electronic cabin through the connecting rods, and the suspension positioning ring at the bottom is also fixed to the pressure-resistant electronic cabin through four connecting rods; the four connecting rods above and the four connecting rods below can be a single rod passing through the pressure-resistant electronic cabin, or a non-passing split structure.

[0023] The shape requirements of the suspension positioning ring 11 are as follows: it should have a large hollow area and the thickness at the edge should be as thin as possible to reduce the interference with sound waves. At the same time, the diameters of the multiple connecting rods 12 also need to be minimized as much as possible while ensuring strength to reduce the impact of sound scattering on the spherical receiving hydrophone 2. Similar to the suspension positioning ring 11 at the top, the suspension positioning ring 11 at the bottom is required to have a large hollow area and the thickness at the edge should be as thin as possible, and the diameter of the connecting rod 12 should be minimized as much as possible while ensuring strength.

[0024] Hanging holes are provided on the suspension positioning ring 11 at the top. The hanging holes are used for fixed connection with the test platform or the ship, preferably fixed on the lifting rod structure, which can adjust the water depth of the device and can rotate horizontally. The four connecting rods 12 are evenly distributed on the suspension positioning ring 11 to form a cylindrical structure.

[0025] As Figure 1 , Figure 7 shown, the spherical receiving hydrophone 2 is a standard hydrophone, which is encapsulated with a sound-transmitting polyether material on the outside and is connected to the electronic cabin through a watertight cable. The spherical hydrophone can be externally connected to a signal pre-amplification module (set in the pressure-resistant electronic cabin 6, not shown in the figure). The cable is usually four-core. During installation, additional tooling is required to fix it vertically on the upper part of the device. The spherical receiving hydrophone 2 installed in this way has good receiving directivity in the horizontal direction. As Figure 18 shown, it can be seen that the horizontal directivity at 10 kHz is relatively flat. As the frequency increases, the directivity is more significantly affected by sound scattering such as the support rod and the cable, and the directivity disturbance begins to increase, but the maximum fluctuation does not exceed 10 dB.

[0026] As Figure 1As shown in the figure, the pressure-resistant electronic cabin 6 is cylindrical, and its axis is coaxial with the overall equipment. A plurality of multi-channel watertight sockets are installed on the top of the pressure-resistant electronic cabin 6 for signal transmission from the spherical receiving hydrophone 2 and the double-ring receiving hydrophone 5 into the electronic cabin, as well as signal transmission from the in-cabin circuit module to the dry-end host computer. The dry end refers to non-underwater equipment, including onshore equipment or surface platform equipment. The multi-channel watertight connector specifically includes the plug of the signal transmission cable, the end cover socket, and the watertight plug. Among them, the cable plug and the watertight plug need to be adapted to the end cover socket, and both must meet the pressure-resistant requirements of the maximum working water depth. When there is no cable inserted into the socket, the watertight plug is used to connect to the socket to prevent water from entering the electronic cabin. The pressure-resistant electronic cabin must first meet the requirements of the maximum working water depth, and then it is necessary to consider whether the designed in-cabin space can meet the installation and wiring requirements of the signal acquisition, processing, transmission module, and attitude sensing module; when the watertight and space requirements are met, it is also necessary to control the weight to facilitate operation and the loading of the small test platform. The internal circuit of the pressure-resistant electronic cabin 6 is communicatively connected to the host computer through a gigabit network cable. The internal part of the pressure-resistant electronic cabin is also provided with a main control circuit for receiving the monitoring signal of the spherical hydrophone, and / or receiving the positioning signal of the double-ring receiving hydrophone, and / or controlling the transmitting transducer to transmit a communication control signal.

[0027] The sound-absorbing member 3 is specifically: a cavity-containing sound-absorbing rubber sleeve, which is in a circular ring structure and is fixed to the outside of the lower end of the electronic cabin with bolts during use. As an underwater sound absorption material, it must meet the following two conditions: one is that the acoustic characteristic impedance of this material matches or is as close as possible to the acoustic characteristic impedance of the propagation medium water, so that sound waves can enter the sound absorption material without reflection; the other is that this material has a high sound attenuation coefficient, so that the sound energy can be rapidly attenuated in the sound absorption material. At present, in addition to polyurethane materials, rubber materials such as neoprene, butyl rubber, and styrene-butadiene rubber all have good sound absorption characteristics. In addition, an air cavity can be added to the sound absorption layer to further improve the sound absorption effect. When the sound absorption coefficient reaches 0.9, the sound isolation degree is 20 dB. Considering the transducer directivity and the sound-absorbing rubber sleeve meeting the appropriate size, the acoustic transceiver isolation degree can even reach 40 dB - 60 dB in a certain working frequency band.

[0028] As Figure 8 As shown in the figure, the circular tube transmitting transducer is a broadband communication transducer, which is externally potted with a sound-transmitting polyether material and is connected to the lower end of the electronic cabin through a 4-core watertight cable. The installation method is similar to that of the spherical receiving hydrophone, and it is fixed to the lower part of the device in a vertical posture with a tooling. To achieve long-distance response and communication, there are index requirements for the transmitting voltage response of the transmitting transducer, which should generally be not less than 138 dB / V, and a signal power amplification module is installed in the electronic cabin, which can greatly improve the transmitting sound source level. The acoustic wave signal transmitted by the circular tube transmitting transducer can carry different information through coding. For specific details, please refer to the subsequent embodiments.

[0029] The suspension positioning ring located at the bottom also includes six suspension holes and four connecting rods 12. To minimize the impact on the transmitting transducer, the diameter of the support column also needs to be controlled. Since there are fewer sockets at the lower end of the electronic cabin, the length of the support column can be less than that of the upper suspension structure. The other two suspension holes can be used to fix the counterweight, end cap, and install the double-ring receiving hydrophone.

[0030] As Figures 1 - 6 shown, the double-ring receiving hydrophone 5 is hoisted on the suspension positioning ring 11 at the bottom; the double-ring receiving hydrophone 5 includes: an acoustic transmission support structure, including an acoustic transmission support base 51 and an acoustic transmission sheath 52, and there is an axially penetrating through-hole 53 in the middle position of the acoustic transmission support base 51 and the acoustic transmission sheath 52; the acoustic transmission support structure is made of an acoustic transmission material, such as acoustic transmission polyurethane, which has good acoustic transmission effect and avoids interfering with sound waves; there is a cavity opening from its bottom end inside the acoustic transmission support base 51, and a detachable rear cover plate is provided for covering the bottom opening. The preamplifier control circuit 58 is installed inside the acoustic transmission support base 51 and fixed using a connecting piece, and the connecting piece is preferably a copper column. The preamplifier control circuit 58 includes a circuit board, a chip, an interface component, etc. The circuit board has a circular plate-like structure, and the chip, interface component, etc. are distributed on the end face of the circuit board. The preamplifier circuit board can receive weak impedance transformation signals, amplify and band-pass filter, and output the signals to the main control circuit in the pressure-resistant electronic cabin 6 through a watertight shielded cable. One end of the multi-core watertight connector passes through the acoustic transmission support base 51 and is connected to the preamplifier control circuit 58, and the other end is connected to the main control circuit inside through a multi-channel watertight socket at the top of the pressure-resistant electronic cabin 6. The double-ring receiving hydrophone 5 also includes: an upper annular hydrophone array 54, including a plurality of first hydrophone elements; a lower annular hydrophone array 55, including a plurality of second hydrophone elements; the first hydrophone elements and the second hydrophone elements are connected to the acoustic transmission support base 51 through axially extending support columns 56; the plurality of first hydrophone elements and the plurality of second hydrophone elements are arranged in a circular staggered manner; the upper annular hydrophone array 54 and the lower annular hydrophone array 55 have different heights in the axial direction; the acoustic transmission sheath 52 wraps the upper annular hydrophone array 54 and the lower annular hydrophone array 55 and is fixed on the acoustic transmission support base 51. Specifically, the hydrophone element is cylindrical, and the ratio of the diameter to the height is approximately 1:2. Since the aperture of the double-ring array is limited, the diameter of a single hydrophone is controlled at about 7.5 mm; in addition, to ensure the resolution ability in the vertical direction, the acoustic center spacing between the upper and lower layers of circular arrays is 15 mm - 20 mm. When assembling the array, the upper and lower layers of circular arrays are fixed on the acoustic transmission support in a staggered manner of element positions, and then a thin layer of polyether is first potted outside the elements. After the base and cable are installed, the whole is potted watertightly outside. At least 35 mm of space needs to be left in the middle of the array for installing a cylindrical acoustic baffle. The internal cross-section of the entire double-ring array is as Figure 5As shown in the figure. The pre-amplification circuit of the double-ring array and the base 2 are of circular ring structure, which is convenient for installation at the bottom of the double-ring array. The number of channels of the pre-amplification circuit is the same as the number of array elements, and it is used to amplify the signals received by each array element. The pre-amplification circuit is powered by an external 5V, and the positive and negative power supply wiring is designed on the circuit board; the input end of the pre-amplification circuit is connected to each hydrophone array element, and differential input is adopted, and the positive and negative poles of the hydrophone need to be connected at the same time; the output end of the pre-amplification circuit is connected to the cable, and single-ended output is adopted, which can transmit the amplified signals of all array elements to the electronic cabin, and the power supply of the pre-amplification circuit is also provided by an external cable. The main technical indicators of the pre-amplification circuit include: effective working bandwidth, in-band gain, and gain error between channels. Among them, the effective working bandwidth is 1kHz - 300kHz (-3dB attenuation); the in-band gain satisfies at least 20dB, that is, the signal amplitude is amplified by 10 times; the channels are in good consistency, and the gain error is not greater than 1dB. During assembly, the input and output lead connections of the pre-amplification circuit are completed through the connection holes of the base, and then the whole circuit is potted in the base. The overall shape after assembly is as Figure 3 shown.

[0031] As Figure 4 shown, the double-ring receiving hydrophone also includes an acoustic impedance transformation filling column, which is located in the middle of the upper ring hydrophone array and the lower ring hydrophone array; the acoustic impedance transformation filling column passes through the through holes of the acoustic transmission support base and the acoustic transmission sheath, and the acoustic impedance transformation filling column is made of sound-absorbing material or sound-reflecting material. The double-ring receiving hydrophone also includes a pre-amplification control circuit, which is installed in the acoustic transmission support base, and the first hydrophone array element and the second hydrophone array element are both electrically connected to the pre-amplification control circuit. The acoustic impedance transformation filling column is of cylindrical structure. When in use, it is installed in the middle of the double-ring array, and one end is fixed to the ring array base with screws, and the length is slightly greater than the height of the ring array. The materials of the acoustic impedance transformation filling column are mainly divided into sound-reflecting materials and sound-absorbing materials. Among them, aluminum is used for the sound-reflecting material, and rubber with cavities is used for the sound-absorbing material. Since the aperture of the double-ring array is small and the arrangement of each array element is compact, when the sound wavelength is close to the size of the array element, the acoustic scattering effect between array elements is obvious. Therefore, the purpose of installing the acoustic impedance transformation filling column is to improve the acoustic characteristics of the double-ring array and enhance the suppression effect on the backward beam. The diameter of the acoustic impedance transformation filling column is 20mm - 32mm, and the length is 120mm - 150mm. Installing acoustic impedance transformation filling columns of different sizes will result in different acoustic reception performances, and it is necessary to test the reception sensitivity and directivity for various situations. Especially when conducting underwater tests, it is necessary to pay attention to avoiding the appearance of air bubbles between the acoustic impedance transformation filling column and the ring array.

[0032] As Figure 6As shown in the figure, each array element needs to be numbered and a reference array element needs to be set before the water test. Taking 16 array elements as an example, the lower circular array is specified as an odd-numbered array element and the upper circular array is specified as an even-numbered array element. When the double circular array is inverted on the suspension structure, the upper circular array is actually located at the bottom of the entire device. To facilitate position confirmation, the 16th array element is used as the reference base array element. When used specifically, it is necessary to weight it according to the sensitivity value of each array element.

[0033] The receiving directivity is different when different materials of sound baffles are installed in the middle of the double ring array. The test results for the 16th array element are as follows: Figure 9 , Figure 10 , Figure 11 The results include the cases of 10kHz, 30kHz, and 50kHz. It can be seen that with the increase of frequency, the acoustic baffle effect becomes more obvious. When the acoustic absorption baffle is added, the suppression of the back sound wave is the strongest. When the anti-sound baffle is added at 50kHz, the main lobe and side lobe can be distinguished. The main lobe is basically facing the direction of the sound source, which is also conducive to reducing high-frequency sound scattering interference and improving the detection performance and resolution of effective signals. In practical applications, the array point spread function can be calculated according to the directivity diagram to realize the beamforming algorithm.

[0034] This embodiment is a sensing device integrating underwater acoustic response and positioning. When in use, the double circular array is fixed on the suspension positioning ring at the bottom through the screw hole at the bottom, that is, the hydrophone array is located at the bottom of the entire device; the device is fixedly connected to the test platform or ship through the suspension positioning ring at the top, and preferably a lifting rod is used to adjust the depth of the device into the water and to rotate horizontally. When carrying out underwater target positioning work, it is carried out according to the ultra-short baseline principle. First, the received signal of each array element is digitally collected and pulse compressed, and then beamforming is performed according to the receiving directivity of each array element to determine the approximate azimuth of the target. Finally, the pulse delay estimation and spatial spectrum estimation are further used to realize the accurate measurement of the target distance and azimuth, so as to achieve the purpose of three-dimensional positioning of underwater targets.

[0035] The device designed in this embodiment is compact and highly integrated, which can meet the requirements of various test platform installations and measurements in different environmental waters. It is also designed with structures such as sound-absorbing rubber sleeves and acoustic baffles, which can reduce the acoustic scattering interference between the test platform and the transducer, and improve the underwater positioning accuracy of the device. The designed device also has a wide operating frequency band and measurement beam angle range, and has good system stability. This device adopts an integrated design, and the response sensor system structure is upper reception and lower transmission. Since the transmission and reception are separated, simultaneous reception and transmission can be achieved in the application to meet the real-time response requirements; and a rubber sleeve with a cavity 7 is installed between the receiving hydrophone and the circular tube transmitting transducer, and its sound absorption coefficient is greater than 0.95, which can achieve more than 20dB of acoustic isolation, minimizing the impact of the transmission signal on the receiving function.

[0036] The spherical hydrophone 4 in the solution of this embodiment is used for receiving underwater acoustic pulse signals. The horizontal receiving directivity and vertical receiving directivity results are as follows Figure 18 、 Figure 19 shown. It can be seen that the horizontal directivity at 10 kHz is relatively flat. As the frequency increases, the directivity is more significantly affected by acoustic scattering such as the support rod and cable, and the directivity perturbations begin to increase, but the maximum fluctuation does not exceed 10 dB. The position with the largest energy attenuation is exactly in the direction corresponding to the gigabit network cable. In actual tests, the transmission network cable can be kept as far away from the azimuth of the target to be measured as possible; in the vertical directivity, 180° is the cable outlet direction of the hydrophone, so due to the influence of acoustic occlusion, the energy will be slightly smaller. 90° and 270° are on both sides of the hydrophone, and the -3 dB opening angle width is greater than 60°. In summary, the spherical hydrophone has the performance of receiving acoustic pulses with horizontal omnidirectionality and vertical wide angles within the working frequency band, and can detect long-distance pulse signals in the range of azimuth angles from 0° to 360° and elevation angles of 60°.

[0037] The circular tube transducer 8 in the solution of this embodiment is used for transmitting response pulses, target simulation pulses, communication pulse signals, etc. The horizontal transmitting directivity and vertical transmitting directivity results are as follows Figure 20 、 Figure 21 shown. It can be seen that as the frequency increases, the influences of acoustic scattering and acoustic occlusion become more obvious, and the fluctuations of the directivity curve increase. Among them, the stability of the horizontal directivity is better, and the maximum fluctuation at 50 kHz does not exceed 6 dB; the vertical directivity is more significantly affected by the cable outlet end (180°), but the -3 dB transmitting opening angle width near 90° and 270° on both sides of the transducer remains above 30°. In summary, the circular tube transducer of this application has the performance of transmitting acoustic pulses with horizontal omnidirectionality and vertical wide angles within the working frequency band, and can transmit high sound source level pulse signals in the range of azimuth angles from 0° to 360° and elevation angles of 30°.

[0038] Embodiment 2 The solution of this embodiment is mainly used for underwater active positioning and navigation. First, the device emits a fixed pulse signal through the circular tube transducer 8. After the target to be measured receives the fixed pulse, it sends back a response signal. Then, the device receives and collects the response signal through the spherical hydrophone 4 and the double-ring receiving hydrophone at the same time. Among them, the signal collected by the spherical hydrophone is subjected to time delay estimation after pulse compression to measure the target distance and speed; the multi-channel signal collected by the double-ring array can achieve target azimuth estimation after threshold detection and beamforming. Then, the attitude recorder in the electronic cabin can obtain the reference information such as the heading angle of the measuring device. By integrating the above multi-sensor data, three-dimensional space positioning of underwater targets can be achieved. After receiving the fixed pulse emitted by the device, the target to be measured can calibrate its own position and reset the navigation route to achieve the navigation function; in the solution of this embodiment, the device is equivalent to integrating an acoustic beacon system.

[0039] As Figure 22 shown, a positioning method is applied to the integrated underwater acoustic response and positioning sensor device as in Embodiment 1. The positioning method includes the following steps: S11. Use the circular tube transducer to emit a positioning request signal, and the positioning request signal is a fixed pulse acoustic wave signal; S12. Use the spherical receiving hydrophone and the double-ring receiving hydrophone to receive the response signal respectively; the response signal is specifically: the acoustic wave signal emitted by the target to be measured after receiving the positioning request signal; S13. After processing and calculating the response signal by using the spherical receiving hydrophone, obtain the distance between the target to be measured and the spherical receiving hydrophone; S14. After processing and calculating the response signal by using the double-ring receiving hydrophone, obtain the azimuth of the target to be measured relative to the double-ring receiving hydrophone; S15. Calculate and determine the three-dimensional space positioning of the target to be measured based on the distance and azimuth.

[0040] Among them, in step S13, after processing and calculating the response signal by using the spherical receiving hydrophone, obtaining the distance between the target to be measured and the spherical receiving hydrophone specifically includes the following sub-steps: Obtain the signal to be responded ; among them, to improve the signal detection performance in complex waters, the response signal selects a frequency modulation signal, and its expression is denoted as:

[0041]

[0042] In the formula, is the signal pulse width, is the initial frequency, is the frequency modulation slope, based on the response signal the signal bandwidth can be obtained .

[0043] Set the reference signal based on the parameters of the response signal , and its expression is denoted as:

[0044] where represents the conjugate time reversal of the response signal ; substituting Equation into Equation gives:

[0045] Using the reference signal to perform pulse compression on the signal to be detected , generating a narrow pulse signal , and its expression is denoted as:

[0046] where represents the convolution calculation.

[0047] The further representation based on Equation 5.1 is:

[0048] When , the narrow pulse signal can be simplified to:

[0049] Equation (6) is the output after the chirp signal is copy-correlated, and it is a signal with as the fixed carrier frequency. Its envelope is approximately a sinc function. Converting Equation to the standard form of the signal, its expression is as follows:

[0050] where the pulse width of the narrow pulse signal is .

[0051] Specifically, copy correlation is actually a signal matching operation. When a part of the signal to be detected is highly similar to the reference signal, an obvious peak will appear in the matching result (copy correlation output). If the signal contains multiple frequency-modulated pulses (for example, one transmission contains two segments of signals), multiple peaks will be seen in the copy correlation output. If the exact time point of the signal being sent is known, combined with the arrival time point detected by copy correlation, that is, the time when the peak occurs, the propagation delay of the signal can be calculated. Specifically, the sending time point and the arrival time point can be obtained using the time synchronization module, and the delay , Indicates the launch time point, Indicates the receiving time point; and based on the delay and the speed of sound Determine the distance between the target and the spherical receiving hydrophone ,include: .

[0052] For the simulation related to FM signal copy, Figure 12 and Figure 13 As shown in the figure, the signal detected by the spherical hydrophone is a pulse of 110ms in length, which contains two frequency-modulated signals. Due to the presence of many acoustic reflections and noise interference, it is difficult to separate the two signals from the time domain waveform, and its short-time Fourier transform result also has the problem of limited resolution. Therefore, a 10ms pulse near 24kHz is intercepted as a reference signal for copy correlation. The copy correlation result is shown in the figure below. Figure 14 As shown in the figure, two peak points can be clearly seen, and their horizontal coordinate values ​​are related to the number of sampling points and the sampling rate. Finally, the peak time of the first FM signal is 25ms, and the peak time of the second signal is 67.65ms. The pulse interval between the two signals is 42.65ms. Based on the above pulse interval, it can be determined whether the time between the first signal peak and the second signal peak meets the predetermined parameters; if for the target to be measured, if the 24kHz signal is sent at time 0, and the spherical hydrophone receives the first signal peak at a time point of 25ms, then according to the sound speed and time delay, it can be calculated that the slant distance of the target sound source is approximately 1500m / s×0.025s=37.5m.

[0053] In one embodiment, in order to achieve efficient calculation and reduce the demand for computing resources, the following steps can also be used to calculate the copy-related output, that is, the narrow pulse signal :

[0054] in, It is the response signal Frequency domain function obtained by Fourier transform; is the reference signal The frequency-domain function obtained through Fourier transform; after multiplying the two frequency-domain functions and then performing inverse Fourier transform, a narrow pulse signal is obtained. 。

[0055] In step S14, after processing and calculating the response signal using the double-ring receiving hydrophone, the azimuth of the target to be measured relative to the double-ring receiving hydrophone is obtained, which specifically includes the following sub-steps: In the signal processing flow of the double-ring array, first the signal is received and digital sampling is completed by the acquisition module, and then effective signal detection is performed. The detection process is to first calculate the energy mean of the pulse data to be detected, and then compare it with the mean value of the ambient noise data. When the pulse energy is greater than a certain signal-to-noise ratio, it is determined as an effective signal, and then the effective signal is stored waiting for spatial spectrum estimation operation.

[0056] The parameters set in the detection include the length of the pulse to be detected and the signal-to-noise ratio (SNR) threshold. Among them, the length of the pulse processed each time determines the positioning refresh rate. When the pulse length decreases, the refresh rate will increase, but there is also a lower limit to ensure the signal consistency of each array element and the azimuth estimation accuracy. The SNR threshold determines the detection probability. When the SNR threshold is too low, false alarms may occur, and when it is too high, missed detections may occur. Therefore, it is necessary to select an appropriate SNR threshold in combination with the sound source level of the response signal and the working distance of the device. The simulation of effective signal detection is as Figure 15 shown, where the threshold value can be dynamically adjusted according to the acoustic wave energy to minimize the influence of reflected signals and trailing signals. When the signal energy is greater than the threshold value, it can be determined as an effective signal.

[0057] In the case where the response signal is valid, the response signal is decomposed into multiple sound sources; according to the positions of each array element and the angles of each sound source , a steering vector matrix is constructed. The specific form of the steering vector matrix can be seen in the following content; Based on the signals received by each array element in the double-ring receiving hydrophone , an array observation vector is combined; Specifically, observing the double-ring receiving hydrophone along the gravity direction, then the axis center of the double-ring receiving hydrophone is the coordinate origin of the xoy plane, and the number of array elements is M , in this embodiment, M = 16, the radius of the circular array is r , then the three-dimensional coordinates of each array element can be expressed as , where is the angle between the m -th array element and the positive x-axis direction.

[0058] In this embodiment, the broadband signal is divided into multiple narrowbands for processing, and only the far-field narrowband plane wave condition is considered. The received signal model is as follows Figure 16 As shown, assume H narrowband plane waves respectively arrive at the circular array from directions Taking the center of the circle as the reference point, then The incident signal received by the m-th array element at time

[0059] where is the time factor, is the time delay difference relative to the reference point when the h -th signal arrives at the m -th array element. There is , is the speed of sound, represents the signal frequency, represents the noise received by the -th array element. Considering the scattering sound field , then the total sound pressure signal received by the array element is the sum of the incident signal and the scattering signal, that is . Arranging the signals received by M acoustic sensors at time t into a column vector, the received signal intensity of the circular array at time t can be obtained, that is, the array observation vector t at time :

[0060] where , represents the complex domain, represents the total received signal vector; , represents the received noise signal vector; , represents the received scattering signal vector; , represents the received response signal vector; represents the steering vector matrix, is

[0061] where ; .

[0062] Based on the received signal intensity of the circular array at time t , that is, the array observation vector t at time , calculate the weighted output of the circular array , including:

[0063] Among them, is the weight vector of the circular array; denotes the conjugate transpose of; the weight vector of the circular array is used to determine the direction of signal reception.

[0064] Based on the array observation vector construct the covariance matrix ; among them, denotes the conjugate transpose of, turning the column vector into a row vector and taking the complex conjugate of each element; Based on the weighted output of the circular array and the covariance matrix , calculate the output power of the circular array P , and its expression is as follows:

[0065] Using conventional beamforming, according to the different wavefront curvature radii of the sound source arriving at each array element, compensate and sum the time delay difference according to the spherical wave law, so that the signals received by different array elements can be added in phase. When , obtain the beam response output of conventional beamforming (CBF) , and its expression is:

[0066] Among them, is the scanning angle; denotes the weight vector corresponding when the scanning angle is ; Since the beam width of conventional beamforming is large and the angular resolution of the incoming wave direction is poor, for small-aperture arrays, the deconvolution technique has the advantages of high resolution, robustness, and array gain. Therefore, this scheme introduces deconvolution beamforming and uses signal subspace decomposition to perform the following conversion on Equation :

[0067]

[0068]

[0069]

[0070]

[0071] In the formula, is the beam pattern intensity function. For the incident signal power, the distribution function in the azimuth plane can be expressed as follows:

[0072] Combining Equation (16) and Equation (17) gives: The CBF output can be regarded as the convolution of the distribution function and the beam pattern intensity function , that is:

[0073] In the formula, is the unit impulse function, and * represents the convolution operation.

[0074] By performing deconvolution on the above formula, the distribution function of the signal power in the azimuth plane can be estimated. Taking the beam intensity function of the CBF output as the point spread function PSF, using the translational invariance of the circular array, combined with the R - L iterative algorithm to solve :

[0075] In the formula, i is the number of iterations, .

[0076] After I iterations, the azimuth spectrum based on the deconvolution CBF method is:

[0077] Among them, the azimuth spectrum represents represents the acoustic wave intensity coming in the direction of the scanning angle . When the acoustic wave intensity in the direction is relatively high, it indicates that there may be a sound source in this azimuth.

[0078] As Figure 17 shows, it is a comparison of the spatial spectrum results between the deconvolution algorithm and other algorithms. In the figure, the abscissa is the azimuth angle of positioning; the ordinate is the normalized spatial spectrum amplitude (unit: dB) of each algorithm. It can be seen that the deconvolution beamforming has greater advantages in both resolution and dynamic range.

[0079] In summary, in this embodiment, a positioning method is provided. By using a spherical receiving hydrophone to receive the response signal and calculate the distance, and using a double - ring receiving hydrophone to receive the response signal and calculate the azimuth, the three - dimensional spatial positioning of the target to be measured relative to this device can be accurately determined.

[0080] Embodiment III As Figure 23As shown in the figure, this embodiment provides a monitoring and control method for a cable - type underwater robot (ROV) during underwater operations. The method includes the following steps: S21. Use the spherical receiving hydrophone and the double - ring receiving hydrophone to receive the response signal respectively; the response signal is specifically: the acoustic wave signal emitted by the target to be measured after receiving the positioning request signal; S22. After processing and calculating the response signal by the spherical receiving hydrophone, obtain the distance between the target to be measured and the spherical receiving hydrophone; S23. After processing and calculating the response signal by the double - ring receiving hydrophone, obtain the azimuth of the target to be measured relative to the double - ring receiving hydrophone; S24. Calculate and determine the three - dimensional space positioning of the target to be measured based on the distance and the azimuth; S25. Use the circular tube transducer to emit an encoded control signal, and the encoded control signal is used to control the movement of the target to be measured.

[0081] The difference between this embodiment and the second embodiment is that the positioning process is passive positioning. This device does not actively send a positioning request signal. That is, the spherical hydrophone and the double - ring array receiving hydrophone both passively receive the pulse signal emitted by the target to be measured. After determining the three - dimensional space azimuth of the target to be measured based on the pulse signal of the target to be measured; the circular tube transmitting transducer emits a pulse specifically as an encoded control signal, conducts command transmission with the target to be measured, controls the target to be measured to adjust the motion parameters and perform precise movement to complete the underwater operation task.

[0082] In the solution of this embodiment, the hydrophone and the transducer are still connected to the electronic cabin through a watertight cable. The main control circuit in the electronic cabin has functions such as signal acquisition, processing, and transmission. The collected data and control instructions are all transmitted to the upper computer through a gigabit network cable. Functions such as device working mode adjustment, parameter instruction downlink, and data storage are completed by the upper computer.

[0083] In the solution of this embodiment, this device is equivalent to integrating a communication system. After receiving an external signal, relevant instructions are generated according to the positioning result, and then the instructions are transmitted to the control circuit module in the electronic cabin 6. After signal modulation, power amplification and other processing, a communication signal is emitted by the circular tube transducer 8, and at the same time, the data is also transmitted to the upper computer for storage.

[0084] The technical features of the above - mentioned embodiments can be combined arbitrarily. For the sake of brief description, not all possible combinations of the technical features in the above - mentioned embodiments are described. However, as long as the combinations of these technical features do not conflict, they should all be considered as the scope recorded in this specification.

[0085] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as within the protection scope of the present invention.

Claims

1. An integrated underwater acoustic response and positioning sensing device, characterized in that: include: A suspension support structure, the suspension support structure comprising: a suspension positioning ring and a plurality of connecting rods; the plurality of connecting rods are parallel to each other and evenly dispersedly installed on the suspension positioning ring to form a cylindrical structure; Spherical receiving hydrophone, used to receive sound wave signals to determine the target distance; Sound absorbing parts, used to achieve the isolation of sending and receiving sound wave signals; The round tube transmitting transducer is used to transmit the sound wave signal; Double-ring receiving hydrophone, used to receive sound wave signals to determine the target's direction; The spherical receiving hydrophone, the sound absorbing member, the circular tube transmitting transducer, and the double circular ring receiving hydrophone are coaxially arranged in sequence from top to bottom along the gravity direction inside the cylindrical structure.

2. The integrated underwater acoustic response and positioning sensing device according to claim 1 is characterized in that: The sound absorbing member is in a circular ring structure, and an air cavity is arranged inside the sound absorbing member.

3. The integrated underwater acoustic response and positioning sensing device according to claim 1 is characterized in that: Also includes: Pressure-resistant electronic cabin; The pressure-resistant electronic cabin contains a main control circuit; The main control circuit is used to receive the ranging signal received by the receiving hydrophone, and / or receive the positioning signal of the double-ring receiving hydrophone, and / or control the transmitting transducer to transmit a communication control signal; In the gravity direction, the pressure-resistant electronic cabin is located between the receiving hydrophone and the sound absorbing member.

4. The underwater acoustic response and positioning integrated sensing device according to claim 1 is characterized in that: The double-ring receiving hydrophone comprises: A sound-transmitting support structure, comprising a sound-transmitting support seat and a sound-transmitting protective sleeve, wherein a through hole penetrating along the axial direction is provided between the sound-transmitting support seat and the sound-transmitting protective sleeve; The upper annular hydrophone array includes a plurality of first hydrophone array elements; the lower annular hydrophone array includes a plurality of second hydrophone array elements; The first hydrophone array element and the second hydrophone array element are connected to the sound-transmitting support seat through an axially extending support column; a plurality of the first hydrophone array elements and a plurality of the second hydrophone array elements are arranged in an annular staggered manner; the upper annular hydrophone array and the lower annular hydrophone array have different heights in the axial direction; The sound-transmitting sheath wraps the upper annular hydrophone array and the lower annular hydrophone array and is fixed on the sound-transmitting supporting seat.

5. The integrated underwater acoustic response and positioning sensing device according to claim 4 is characterized in that: The double-circular receiving hydrophone further comprises an acoustic impedance conversion filling column, wherein the acoustic impedance conversion filling column is located in the middle of the upper circular hydrophone array and the lower circular hydrophone array; The acoustic impedance conversion filling column is inserted into the through holes of the sound-transmitting support seat and the sound-transmitting sheath; the acoustic impedance conversion filling column is made of sound-absorbing material or sound-reflecting material.

6. The underwater acoustic response and positioning integrated sensing device according to claim 5 is characterized in that: The double-ring receiving hydrophone further comprises a preamplifier control circuit, which is installed in the sound-transparent support seat, and the first hydrophone array element and the second hydrophone array element are both electrically connected to the preamplifier control circuit.

7. A positioning method, applied to the underwater acoustic response and positioning integrated sensing device as claimed in any one of claims 1 to 6, characterized in that: Using the circular tube transducer to transmit a positioning request signal, wherein the positioning request signal is a fixed pulse sound wave signal; Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: a sound wave signal emitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained; After processing and calculating the response signal using the double-circular receiving hydrophone, the azimuth of the target to be measured relative to the double-circular receiving hydrophone is obtained; The three-dimensional spatial positioning of the target to be measured is determined based on the distance and the orientation.

8. The positioning method according to claim 7, characterized in that: The method of obtaining the distance between the target to be measured and the spherical receiving hydrophone after processing and calculating the response signal by the spherical receiving hydrophone specifically includes: Obtaining the signal to be detected in the response signal ; Setting a reference signal based on the parameters of the response signal ; Using the reference signal The signal to be detected Perform pulse compression to generate narrow pulse signals ; The time point corresponding to the maximum copy correlation output is determined in the narrow pulse signal, and the distance between the target to be measured and the spherical receiving hydrophone is determined based on the time point and the sound speed.

9. The positioning method according to claim 7, characterized in that: After the response signal is processed and calculated by the dual-circular receiving hydrophone, the position of the target to be measured relative to the dual-circular receiving hydrophone is obtained, which specifically includes: The double-ring receiving hydrophone is used to receive the effective response signal, and the response signal is decomposed into multiple sound sources; according to the position of each array element and the angle of each sound source , construct the steering vector matrix ; Based on the construction of the steering vector matrix , and the signals received by each array element in the double ring receiving hydrophone , combined to obtain the array observation vector ; Based on the array observation vector Constructing the covariance matrix ; Using the covariance matrix , the steering vector matrix Calculate the beam response output for conventional beamforming ; The beam response output Perform deconvolution and combine with RL iterative algorithm to get beam response output The azimuth spectrum , based on the azimuth spectrum Determine the position of the target to be detected.

10. A control method, applied to the underwater acoustic response and positioning integrated sensing device as claimed in any one of claims 1 to 6, characterized in that: Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: a sound wave signal emitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained; After processing and calculating the response signal using the double-circular receiving hydrophone, the azimuth of the target to be measured relative to the double-circular receiving hydrophone is obtained; Calculate and determine the three-dimensional spatial location of the target to be measured based on the distance and the orientation; The circular tube transducer is used to transmit a coded control signal, and the coded control signal is used to control the movement of the target to be measured.

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