A low-power underwater target detection system and detection method thereof

Abstract

The invention discloses a low-power underwater target detection system, and relates to the technical field of underwater detection equipment. The system is composed of a transducer array, a single array element unit, a full array element unit and a data terminal. The single array element unit is formed by a first receiving circuit, a first ADC acquisition circuit, and a first control and signal processing module being electrically connected in sequence, and is provided with a power module and a power switch module; the power module supplies power to a single-channel transducer, a first receiving circuit, a first ADC acquisition circuit, a first control and signal processing module, and a power switch module, and the first control and signal processing module is signal-connected to the power switch module; the full array element unit is formed by a second receiving circuit, a second ADC acquisition circuit, and a second control and signal processing module being electrically connected in sequence; the power switch module is electrically connected to the second receiving circuit, the second ADC acquisition circuit, and the second control and signal processing module respectively; the first control and signal processing module and the second control and signal processing module are both signal-connected to the data terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater detection equipment, and in particular to a low-power consumption underwater target detection system and a detection method thereof. Background Art

[0002] Sonar is an electronic device that uses the propagation characteristics of sound waves underwater to complete underwater target detection, positioning and communication tasks through electroacoustic conversion and information processing. It has two types: active and passive. It belongs to the category of acoustic positioning and is the most widely used and important device in hydroacoustics.

[0003] In the prior art, sonar is often mounted on a carrier (UUV / AUV) for use. At the same time, in order to pursue the accuracy of detection, the real-time processing and analysis of the underwater acoustic signal is often performed directly on the transducer array. In this case, the entire transducer array is in a working state, and the energy consumption is high. Therefore, high requirements are placed on the power system of its carrier, which is not conducive to the long-term working mode of the underwater autonomous detection carrier. Moreover, in actual operations, most of the time, the target is found first, that is, the existence of the target is detected, and then the target is accurately detected to confirm the target. It can be seen that underwater target detection is spent on finding the target most of the time, and at this time, the full-on mode of the transducer array has no more benefits except accelerating energy consumption. Summary of the invention

[0004] The purpose of the present invention is to provide a low-power underwater target detection system and a detection method thereof, so as to solve the problem that the existing underwater target detection system has high energy consumption and is not conducive to long-term underwater operation of the carrier.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a low-power underwater target detection system, characterized in that it is composed of a transducer array, a single array element unit, a full array element unit and a data terminal, the transducer array is composed of a plurality of single-channel transducers connected in series, one of the single-channel transducers is connected to the single array element unit through an electrical signal, and the transducer array is connected to the full array element unit through an electrical signal;

[0006] The single array element unit is formed by electrically connecting a first receiving circuit, a first ADC acquisition circuit, and a first control and signal processing module in sequence, and the single array element unit is also provided with a power supply module and a power switch module;

[0007] The power supply module supplies power to one of the single-channel transducers, the first receiving circuit, the first ADC acquisition circuit and the first control and signal processing module. The power supply module is connected to the power switch module by electrical signals, and the first control and signal processing module is connected to the power switch module by signals.

[0008] The full array element unit is formed by electrically connecting the second receiving circuit, the second ADC acquisition circuit and the second control and signal processing module in sequence; the power switch module is electrically connected to the second receiving circuit, the second ADC acquisition circuit and the second control and signal processing module respectively;

[0009] The first control and signal processing module and the second control and signal processing module are both connected to the data terminal signal.

[0010] A further technical solution is that the first receiving circuit and the second receiving circuit are both composed of a power amplifier circuit and a filter circuit electrically connected in sequence.

[0011] A further technical solution is that the data terminal is composed of a display module, a control platform and a storage module.

[0012] The present invention may also be a detection method of a low-power underwater target detection system, characterized in that it comprises the following steps:

[0013] 1) When the system is powered on, a single array element unit and a single-channel transducer are powered on, all array element units and the transducer array are powered off, and the system enters a low power consumption mode;

[0014] 2) Under the instruction of the data terminal, the signal received by the single-channel transducer is processed by the single array element unit, the first receiving circuit amplifies and filters the signal, and the first ADC acquisition circuit performs A / D digital high-speed sampling on the signal;

[0015] 3) Based on step 2), the first control and signal processing module processes the signal for target existence;

[0016] 4) If it is determined in step 3) that there is no target, the power switch module does not operate, and the process goes to step 2) to continue detection;

[0017] 5) If it is determined in step 4) that a target exists, the power module switches to supply power to the transducer array and the full array element unit, and the system enters the full power consumption mode; under the instruction of the data terminal, the transducer array receives the signal and the full array element unit processes it, the second receiving circuit amplifies and filters the signal, and the second ADC acquisition circuit performs A / D digital high-speed sampling on the signal;

[0018] 6) Based on step 5), the second control and signal processing module processes the signal for target existence;

[0019] 7) If it is determined in step 6) that there is no target, turn off the power switch module and go to step 2) to continue detection;

[0020] If it is determined in step 6) that a target exists, the target existence, orientation and motion information data obtained by the second control and signal processing module are uploaded to the data terminal for display, warning and storage, and the process goes to step 6) to continue detection.

[0021] A further technical solution is that the first control and signal processing module in step 3) uses broadband energy detection technology to process the signal. First, the signal is transformed by FFT to obtain a frequency domain signal Y(t,f); then, Y(t,f) is squared and integrated to obtain the accumulated energy E; finally, E is compared with the threshold value DT of the power switch module. If E>DT, it is judged that a target exists; if E≤DT, it is judged that no target exists.

[0022] A further technical solution is that the second control and signal processing module in step 6) processes the signal by combining spatial beamforming with broadband energy detection technology, and the specific steps are as follows:

[0023] (a) Perform FFT transformation on each array element signal to obtain the frequency domain signal Y of the i-th channel i (t,f);

[0024] (b) For Y i (t,f) performs broadband beamforming to obtain the beamforming result in the lth direction

[0025] (c) Yes Perform background equalization to obtain background equalization results And the cumulative energy is obtained by square integration

[0026] (d) Compared with the threshold DT, It is judged that there is a goal; It is determined that the target does not exist.

[0027] Working principle: After the system is powered on, the power module supplies power to one of the transducers and the components in the single array element unit. The single-channel transducer and the single array element unit are in the powered state, the full array unit and the transducer array are in the powered-off state, and the system enters the low power consumption mode.

[0028] Under the command of the control platform, the single-channel transducer receives the underwater sound signal, which is amplified and filtered by the first receiving circuit, and then A / D digital high-speed sampling is performed by the first ADC acquisition circuit. The result is transmitted to the first control and signal processing module for processing, and the processed data is transmitted to the data terminal for display and storage.

[0029] The processed data is synchronously transmitted to the power switch module. If the power switch module threshold is not reached, the power switch module will not operate, and it is judged that there is no target, and the single array unit continues to operate; after the power switch module threshold is reached, the power switch module will operate, and it is judged that there is a target, all array units will be powered, and the system will enter full power consumption mode.

[0030] The transducer array receives underwater acoustic signals, which are amplified and filtered by the second receiving circuit, and then subjected to A / D digital high-speed sampling by the second ADC acquisition circuit. The results are transmitted to the second control and signal processing module for processing, and the processed data are transmitted to the data terminal for display and storage.

[0031] The processed data is synchronously transmitted to the power switch module. When the power switch module threshold is not reached, it is judged that the target does not exist, the power switch module is disconnected, and the system continues to perform single array unit operation detection; when the power switch module threshold is reached, the power switch module remains connected, and all array unit units continue to operate, and the target's location and movement information are transmitted to the data terminal for display and storage.

[0032] Compared with the prior art, the beneficial effects of the present invention are: providing a low-power underwater target detection system and a detection method with a simple structure and easy operation, by adding a single array element unit to perform single-channel transducer detection, and waking up the entire array element unit through the action of the power switch module after confirming the target; the single array element unit cyclically detects whether the target exists, and after the target exists, the entire array element unit further detects the target, and uploads the target existence, orientation and motion information to the data terminal; the system is divided into two operating modes: low energy consumption and full energy consumption. The single-channel transducer has low energy consumption when operating, which greatly reduces the energy consumption of the detection system during the target search process, and also reduces the energy consumption requirements for the power system of the carrier, prolongs the time for the carrier to operate underwater at one time, and improves the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural block diagram of the present invention.

[0034] Figure 2 It is the work flow chart of the present invention.

[0035] Figure 3 This is a flow chart of signal processing by the first control and signal processing module in the present invention.

[0036] Figure 4 This is a flow chart of signal processing by the second control and signal processing module in the present invention.

[0037] In the figure: 1-transducer array, 2-single array element unit, 3-full array element unit, 4-data terminal, 11-single-channel transducer, 21-first receiving circuit, 22-first ADC acquisition circuit, 23-first control and signal processing module, 24-power module, 25-power switch module, 31-second receiving circuit, 32-second ADC acquisition circuit, 33-second control and signal processing module. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] Example

[0040] Figure 1 A low-power underwater target detection system is shown, which consists of a transducer array 1, a single array element unit 2, a full array element unit 3 and a data terminal 4. The transducer array 1 is composed of multiple transducers 11 connected in series, one of the transducers 11 is connected to the single array element unit 2 through an electrical signal, and the transducer array 1 is electrically connected to the full array element unit 3.

[0041] The data terminal 4 is composed of a display module, a control platform and a storage module. The display module mainly displays the existence, position and movement information of the detected target; the control platform mainly controls the operation of the system and the transmission of signals; the storage module is mainly used to store the feedback data of the single array element and the full array element unit. In actual work, a portable computer is usually selected as the data terminal 4.

[0042] The single array element unit 2 is formed by electrically connecting a first receiving circuit 21, a first ADC acquisition circuit 22, and a first control and signal processing module 23 in sequence, and the single array element unit 2 is also provided with a power supply module 24 and a power switch module 25;

[0043] The power supply module 24 supplies power to the single-channel transducer 11, the first receiving circuit 21, the first ADC acquisition circuit 22 and the first control and signal processing module 23. The power supply module 24 is electrically connected to the power switch module 25, and the first control and signal processing module 23 is signal connected to the power switch module 25. The main function of the power supply module 24 is to convert the external input voltage into the voltage required by each module circuit, and it can be selected according to the actual application scenario.

[0044] The full array element unit 3 is formed by electrically connecting the second receiving circuit 31, the second ADC acquisition circuit 32 and the second control and signal processing module 33 in sequence; the power switch module 25 is electrically connected to the second receiving circuit 31, the second ADC acquisition circuit 32 and the second control and signal processing module 33 respectively.

[0045] The first control and signal processing module 23 and the second control and signal processing module 33 are both signal-connected to the data terminal 4. The first receiving circuit 21 and the second receiving circuit 31 are both composed of a power amplifier circuit and a filter circuit electrically connected in sequence.

[0046] like Figure 2 The detection method of the low-power underwater target detection system shown comprises the following steps:

[0047] 1) The system is powered on, the single array element unit 2 and the single-channel transducer 11 are in a powered state, the full array element unit 3 and the transducer array (1) are in a powered-off state, and the system enters a low power consumption mode.

[0048] 2) Under the instruction of the data terminal 4, the signal received by the single-channel transducer 11 is handed over to the single array element unit 2 for processing, the first receiving circuit 21 amplifies and filters the signal, and the first ADC acquisition circuit 22 performs A / D digital high-speed sampling on the signal.

[0049] 3) Based on step 2), the first control and signal processing module 23 processes the signal to determine if the target exists. Figure 3 As shown, the processing adopts broadband energy detection technology. First, the signal is transformed by FFT to obtain the frequency domain signal Y(t,f); then, Y(t,f) is squared and integrated to obtain the cumulative energy E; finally, E is compared with the threshold DT of the power switch module 25. If E>DT, it is judged that the target exists; if E≤DT, it is judged that the target does not exist.

[0050] 4) If it is determined in step 3) that there is no target, the power switch module 25 does not operate, and the process goes to step 2) to continue detection;

[0051] 5) If it is determined in step 4) that a target exists, the power module switch 25 is actuated to power the transducer array 1 and the full array element unit 3, and the system enters full power consumption mode; under the instruction of the data terminal 4, the transducer array 1 receives the signal which is processed by the full array element unit 3, the second receiving circuit 31 amplifies and filters the signal, and the second ADC acquisition circuit 32 performs A / D digital high-speed sampling on the signal.

[0052] 6) Based on step 5), the second control and signal processing module 33 processes the signal to determine if the signal is target-existent. Figure 4 As shown, the processing adopts a combination of spatial beamforming and broadband energy detection technology. The specific steps are as follows:

[0053] (a) Perform FFT transformation on each array element signal to obtain the frequency domain signal Y of the i-th channel i (t,f);

[0054] (b) For Y i (t,f) performs broadband beamforming to obtain the beamforming result in the lth direction

[0055] (c) Yes Perform background equalization to obtain background equalization results And the cumulative energy is obtained by square integration

[0056] (d) Compared with the threshold DT, It is judged that there is a goal; It is determined that the target does not exist.

[0057] 7) If it is determined in step 6) that there is no target, the power switch module 25 is turned off, and the process goes to step 2) to continue detection;

[0058] If it is determined in step 6) that a target exists, the data such as the target existence, orientation and motion information obtained by the second control and signal processing module 33 are uploaded to the data terminal 4 for display, warning and storage, and the process goes to step 6) to continue detection.

[0059] In the above formula, t is time, f is signal frequency, θ l is the direction angle of the lth beam.

[0060] The system has two operating modes: low energy consumption and full energy consumption. The low energy consumption state is used to find targets, and the high energy consumption state is used to detect target positions, motion information, etc. In actual operation, more often the target is found. Using the low energy consumption mode greatly reduces the energy consumption of the detection system during the target search process, and also reduces the energy consumption requirements for the carrier's power system, prolonging the carrier's underwater operation time and improving detection efficiency.

[0061] Although the present invention is described herein with reference to a number of illustrative embodiments of the present invention, it will be appreciated that those skilled in the art may devise numerous other modifications and implementations that will fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, drawings, and claims, a variety of variations and modifications may be made to the components and / or layouts. In addition to variations and modifications to the components and / or layouts, other uses will also be apparent to those skilled in the art.

Claims

1. A low-power underwater target detection system, characterized in that: The device is composed of a transducer array (1), a single array element unit (2), a full array element unit (3) and a data terminal (4); the transducer array (1) is composed of a plurality of single-channel transducers (11) connected in series, one of the single-channel transducers (11) is connected to the single array element via an electrical signal, and the transducer array (1) is connected to the full array element unit via an electrical signal; The single array element unit (2) is formed by electrically connecting a first receiving circuit (21), a first ADC acquisition circuit (22), and a first control and signal processing module (23) in sequence, and the single array element unit (2) is also provided with a power supply module (24) and a power switch module (25); The power supply module (24) supplies power to one of the single-channel transducers (11), the first receiving circuit (21), the first ADC acquisition circuit (22) and the first control and signal processing module (23); the power supply module (24) is electrically connected to the power switch module (25); and the first control and signal processing module (23) is signal connected to the power switch module (25); The full array element unit (3) is formed by sequentially electrically connecting a second receiving circuit (31), a second ADC acquisition circuit (32) and a second control and signal processing module (33); the power switch module (25) is electrically connected to the second receiving circuit (31), the second ADC acquisition circuit (32) and the second control and signal processing module (33) respectively; The first control and signal processing module (23) and the second control and signal processing module (33) are both signal-connected to the data terminal (4); The detection method of the low-power underwater target detection system comprises the following steps: 1) The system is powered on, the single array element unit (2) and the single-channel transducer (11) are in a powered state, the entire array element unit (3) and the transducer array (1) are in a powered-off state, and the system enters a low power consumption mode; 2) under the instruction of the data terminal (4), the signal received by the single-channel transducer (11) is handed over to the single array element unit (2) for processing, the first receiving circuit (21) amplifies and filters the signal, and the first ADC acquisition circuit (22) performs A / D digital high-speed sampling on the signal; 3) Based on step 2), the first control and signal processing module (23) processes the signal to determine the existence of the target; 4) If it is determined in step 3) that there is no target, the power switch module (25) does not operate, and the process goes to step 2) to continue detecting; 5) If it is determined in step 4) that a target exists, the power switch module (25) is activated to supply power to the transducer array (1) and the full array element unit (3), and the system enters a full power consumption mode; under the instruction of the data terminal (4), the transducer array (1) receives the signal and hands it over to the full array element unit (3) for processing, the second receiving circuit (31) amplifies and filters the signal, and the second ADC acquisition circuit (32) performs A / D digital high-speed sampling on the signal; 6) Based on step 5), the second control and signal processing module (33) processes the signal to determine the existence of the target; 7) If it is determined in step 6) that there is no target, the power switch module (25) is turned off and the process goes to step 2) to continue detecting; If it is determined in step 6) that a target exists, the target existence, orientation and movement information data obtained by the second control and signal processing module (33) are uploaded to the data terminal (4) for display, warning and storage, and the process goes to step 6) to continue detection.

2. A low-power underwater target detection system according to claim 1, characterized in that: The first receiving circuit (21) and the second receiving circuit (31) are both composed of a power amplifier circuit and a filter circuit electrically connected in sequence.

3. A low-power underwater target detection system according to claim 1 or 2, characterized in that: The data terminal (4) is composed of a display module, a control platform and a storage module.

4. A low-power underwater target detection system according to claim 1, characterized in that: In the step 3), the first control and signal processing module (23) processes the signal using a broadband energy detection technology. First, the signal is subjected to an FFT transformation to obtain a frequency domain signal Y(t, f); then, Y(t, f) is subjected to a square integration process to obtain a cumulative energy E; finally, E is compared with a threshold value DT of the power switch module (25); if E>DT, it is determined that a target exists; if E≤DT, it is determined that a target does not exist.

5. The low-power underwater target detection system according to claim 1, characterized in that: In step 6), the second control and signal processing module (33) processes the signal by combining spatial beamforming with broadband energy detection technology. The specific steps are as follows: (a) Perform FFT transformation on each array element signal to obtain the frequency domain signal Y of the i-th channel i (t,f); (b) Perform broadband beamforming on Yi(t,f) to obtain the beamforming result B in the lth direction θl (t,f); (c) To B θl (t,f) performs background equalization processing to obtain the background equalization result BN θl (t,f), and the cumulative energy Z is obtained by square integration θl ; (d) Z θl Compared with the threshold DT, Z θl >DT, judged as target exists; Z θl ≤DT, it is judged that there is no target.

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