A method and apparatus for three-dimensional passive positioning of a target

Abstract

This invention provides a method and apparatus for three-dimensional passive target localization. The method includes: placing a vector vertical array in water to receive broadband sound pressure and vector signals radiated by a target sound source; correcting the vector channel signals using data recorded by a vector sensor attitude device; constructing a two-dimensional steering vector in the azimuth and angle of arrival domains of the sound pressure and vector channels to obtain the target's azimuth estimate, angle of arrival estimate, and broadband beam output sound field; matching the target's angle of arrival estimate with angle of arrival template values ​​under different assumed sound source distances to estimate the target's distance; obtaining a multipath arrival delay estimate to estimate the depth of the target sound source. This invention utilizes a deep-sea vector vertical array combined with two-dimensional spatial power spectrum estimation, angle of arrival matching, and arrival delay matching to achieve three-dimensional passive localization of the target's azimuth, distance, and depth. It overcomes the limitation of traditional deep-sea scalar vertical arrays that cannot provide target azimuth information.

Description

Technical Field

[0001] This invention belongs to the fields of underwater acoustic detection and sonar technology, and specifically relates to a method and device for three-dimensional passive positioning of a target. Background Technology

[0002] Passive source localization of deep-sea targets has become a hot topic in underwater acoustics research in recent years, and vertical arrays are one of the commonly used array types for deep-sea target localization. Numerous studies have utilized deep-sea scalar vertical arrays to estimate target distance and depth, such as the following: (A performance study of acoustic interference structure applications on source depth estimation in deep water, published in *J. Acoust. Soc. Am.*, Vol. 145, February 2019, starting page 903); ("Performance metrics for depth-based signal separation using deep vertical line arrays," published in *J. Acoust. Soc. Am.*, Vol. 139, January 2016, starting page 418); and ("Passive source localization based on multipatharrival angles with a vertical line array using sparse Bayesian learning," published in *J. Acoust. Soc. Am.*, Vol. 153, March 2023, starting page 773). However, deep-sea scalar vertical arrays lack the ability to estimate target orientation, and can only provide target distance and depth information but not the target's specific coordinate information, which limits their further application. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing deep-sea scalar vertical arrays, which lack the ability to estimate the target's orientation and can only provide target distance and depth information but not the target's specific coordinate information.

[0004] To achieve the above objectives, this invention proposes a three-dimensional passive target positioning method based on a vector vertical array, which includes a sound pressure channel and a vector channel; each array element is equipped with a vector sensor attitude device.

[0005] The method includes:

[0006] Step 1: Acquire the time-domain waveforms of the sound pressure channel signal emitted by the target under test and the time-domain waveforms of the three-directional vector channel signals using a vector vertical array;

[0007] Step 2: Using the pitch, roll, and azimuth angles recorded by each vector sensor attitude device, correct the three-directional vector channel signals of all array elements;

[0008] Step 3: Process the time-domain signals of the sound pressure channel and the vector channel to obtain the measured sound field spectrum data vector of the vector vertical array;

[0009] Step 4: Construct a two-dimensional steering vector in the azimuth and angle of arrival domains of the sound pressure channel and the vector channel. Use the spatial power spectrum estimation method to jointly process the sound pressure recorded by the vector vertical array and the signal spectra of the three directional vector channels to obtain the two-dimensional spatial power spectrum estimation results.

[0010] Step 5: Sum and average the two-dimensional spatial power spectrum estimation results to obtain the average result of the two-dimensional spatial power spectrum estimation;

[0011] Step 6: Combine the seawater sound speed profile to calculate the average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances. Match the estimated angle of arrival of the target to be measured with the "average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances" to estimate the distance of the target to be measured.

[0012] Step 7: Combine the seawater sound velocity profile to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at the estimated distance of the target to be measured;

[0013] Step 8: Perform double spectrum analysis of the broadband acoustic field intensity of the beam output at the estimated angle of arrival and estimated azimuth of the target along the frequency axis to obtain the arrival delay spectrum and the estimated multipath arrival delay.

[0014] Step 9: Match the multipath arrival delay estimate with the multipath arrival delay template values ​​under different assumed sound source depths at the estimated distance of the target to obtain the target depth estimate.

[0015] As an improvement to the above method, a three-dimensional coordinate system is established with the intersection of the vector vertical array axis and the sea level as the origin. The Z-axis is a square perpendicular to the sea level and pointing downwards, and the plane formed by the X and Y axes coincides with the sea level.

[0016] The three directional vector channel signals are X, Y, and Z directional vector channel signals, with X, Y, and Z being the positive directions of the X, Y, and Z coordinate axes, respectively.

[0017] As an improvement to the above method, step 2 specifically involves: the corrected X, Y, and Z direction vector channel signals are as follows:

[0018]

[0019] The meanings of each element in the matrix are as follows:

[0020]

[0021] Indicates the element number of the vector vertical array. N Indicates the number of elements in the vector vertical array; Indicates the sequence number of the signal snapshot. Indicates the total number of signal snapshots; t Indicates time;

[0022] This represents the corrected X-direction vector channel signal; This represents the corrected Y-direction vector channel signal; This represents the corrected Z-direction vector channel signal; This represents the time-domain waveform of the X-direction vector channel signal received by the vector vertical array; This represents the time-domain waveform of the Y-direction vector channel signal received by the vector vertical array; This represents the time-domain waveform of the Z-direction vector channel signal received by the vector vertical array;

[0023] This represents the pitch angle recorded by the vector sensor attitude sensor; This represents the roll angle recorded by the vector sensor attitude sensor; This represents the azimuth angle recorded by the vector sensor attitude sensor.

[0024] As an improvement to the above method, step 3 specifically includes:

[0025] The sound pressure level and vector channel time-domain signals acquired by the vector vertical array are subjected to Fast Fourier Transform to obtain the sound pressure level channel signal spectrum. And the vector channel signal spectrum of the X, Y, and Z channels. , and , , and These are the upper and lower bounds of the signal processing frequency band, respectively. To handle the number of frequency points contained within a frequency band, Indicates the first l Each signal processing frequency band; combining the vector channel and sound pressure channel data to obtain the measured sound field spectrum data vector of the entire vector vertical array. for:

[0026]

[0027] Among them, superscript Represents the transpose of a matrix or vector.

[0028] As an improvement to the above method, step 4 specifically includes:

[0029] A two-dimensional steering vector in the azimuth and angle-of-arrival domains, combining the sound pressure and vector channels, is constructed. The spatial power spectrum estimation method is then used to jointly process the sound pressure and vector three-channel signal spectra recorded by the vector vertical array, respectively, to obtain the two-dimensional spatial power spectrum estimation results. ,in Search for the target arrival angle value. The target azimuth angle search value; frequency is The formula for estimating the spatial power spectrum at a given location is:

[0030]

[0031] in, A two-dimensional steering vector combining the azimuth and arrival angle domains of the sound pressure and vector channels:

[0032]

[0033] The difference in signal amplitude introduced by the difference in sensitivity between the sound pressure channel and the vector channel; The phase difference between the sound pressure channel and the vector channel is 0 when the vector channel is used to measure particle velocity; and 0 when the vector channel is used to measure particle acceleration. ; , is the guide vector for a single channel of the vertical array. For the vertical matrix The distance between each array element and the first array element; e Represents the natural constant;

[0034] It is estimated jointly by the sound pressure levels of the entire vector vertical array and the three vector channels. Cross-spectral density matrix:

[0035]

[0036] Among them, superscript This represents the conjugate transpose of a matrix.

[0037] As an improvement to the above method, step 5 specifically includes:

[0038] The average of the two-dimensional spatial power spectrum estimation results at multiple frequency points is summed to obtain the broadband two-dimensional spatial power spectrum estimation average result. :

[0039]

[0040] Pick The angle of arrival at the peak corresponding to the target is the estimated angle of arrival of the target. The azimuth angle at the peak corresponding to the target is the estimated azimuth angle of the target. ; To output the sound field intensity of the broadband beam at the target's angle of arrival and azimuth.

[0041] As an improvement to the above method, step 6 specifically includes:

[0042] By combining the sound velocity profile of seawater, the average template value of the angle of arrival of the direct wave and the reflected wave from the sea surface under different assumed sound source distances was calculated using the Bellhop sound field calculation model. The estimated angle of arrival of the target The distance to the target is estimated by matching the average angle of arrival template values ​​of the direct wave and the sea surface reflected wave under different assumed sound source distances. The distance estimation cost function is defined as follows:

[0043]

[0044] The distance corresponding to the maximum value of the substitution valence function is the estimated distance to the sound source, i.e. .

[0045] As an improvement to the above method, step 7 specifically includes:

[0046] Obtain the estimated distance to the target Subsequently, combining the seawater sound velocity profile, the Bellhop sound field calculation model was used to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at that distance. .

[0047] As an improvement to the above method, step 8 specifically includes:

[0048] Broadband acoustic field intensity of beam output at target angle of arrival and azimuth angle is estimated using spectral analysis methods such as inverse Fourier transform or MUSIC. The arrival time delay spectrum is obtained by performing double spectrum analysis along the frequency axis. , This represents the arrival delay; the delay corresponding to the second largest peak in the arrival delay spectrum, excluding the zero-delay peak, is taken as the multipath arrival delay estimate. .

[0049] As an improvement to the above method, step 9 specifically includes:

[0050] Multipath arrival delay estimate Estimated distance to target Template values ​​under different assumed sound source depths To perform matching, the depth estimation cost function is defined as follows:

[0051]

[0052] The depth corresponding to the maximum value of the substitution valence function is the estimated depth of the sound source, i.e. .

[0053] This application also provides a target three-dimensional passive positioning device, implemented based on the above method, the device comprising: a vector vertical array and a three-dimensional positioning system;

[0054] The vector vertical array includes a sound pressure channel and a vector channel; each array element is equipped with a vector sensor attitude device; the vector vertical array acquires the time-domain waveform of the sound pressure channel signal emitted by the target under test and the time-domain waveforms of the three-directional vector channel signals;

[0055] The three-dimensional positioning system includes:

[0056] An angle correction module is used to correct the three-directional vector channel signals of all array elements using the pitch, roll and azimuth angles recorded by each vector sensor attitude instrument.

[0057] The sound pressure channel and vector channel signal spectrum calculation module is used to process the time-domain signals of the sound pressure channel and the vector channel to obtain the signal spectrum of the sound pressure channel and the signal spectrum of the vector channel.

[0058] The two-dimensional spatial power spectrum estimation module is used to construct a two-dimensional steering vector in the azimuth and angle of arrival domains of the sound pressure channel and the vector channel. The spatial power spectrum estimation method is used to jointly process the sound pressure recorded by the vector vertical array and the signal spectra of the three directional vector channels to obtain the two-dimensional spatial power spectrum estimation results.

[0059] The module for calculating the average result of two-dimensional spatial power spectrum estimation is used to sum and average the two-dimensional spatial power spectrum estimation results to obtain the average result of two-dimensional spatial power spectrum estimation.

[0060] The target distance estimation module is used to combine the seawater sound speed profile to calculate the average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances. The estimated angle of arrival of the target is then matched with the "average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances" to estimate the distance of the target.

[0061] The multipath arrival time delay template value calculation module is used to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at the estimated distance of the target under test by combining the seawater sound speed profile.

[0062] The arrival delay spectrum and multipath arrival delay estimation module is used to perform double spectrum analysis along the frequency axis on the beam output broadband sound field intensity at the estimated angle of arrival and estimated azimuth of the target to obtain the arrival delay spectrum and multipath arrival delay estimation.

[0063] The sound source depth estimation module is used to match the multipath arrival delay estimate with the multipath arrival delay template value under different assumed sound source depths at the estimated distance of the target to obtain the target depth estimate.

[0064] Compared with the prior art, the advantages of the present invention are:

[0065] This invention provides a three-dimensional passive target positioning method and apparatus. By constructing a two-dimensional steering vector in the azimuth and arrival domains for joint processing of sound pressure and vector channels, a two-dimensional spatial power spectrum estimation is performed on the received signal of the vector vertical array. This fully utilizes the joint processing gain of sound pressure and vector channels to achieve estimation of target azimuth, distance, and depth, solving the problem that existing scalar vertical arrays lack target azimuth estimation capabilities. Attached Figure Description

[0066] Figure 1 The diagram shown is a flowchart of the target three-dimensional passive localization method.

[0067] Figure 2 The image shows a three-dimensional schematic diagram of the sound field multipath arrival structure for a vector vertical array receiving system in a deep-sea deep-sea receiving environment.

[0068] Figure 3 The image shows the sound velocity profile used in the simulation experiment in this embodiment of the invention;

[0069] Figure 4 The figure shows the two-dimensional spatial power spectrum estimation results obtained by simulation experiments using the sound pressure of the vector vertical array and the vector channel signal in an embodiment of the present invention;

[0070] Figure 5 The figure shows the target angle of arrival template values ​​corresponding to different assumed sound source distances calculated using the BELLHOP sound field calculation model in an embodiment of the present invention.

[0071] Figure 6 The figure shows the target distance estimation cost function in the simulation experiment of this invention;

[0072] Figure 7 The figure shows the multipath arrival delay template values ​​calculated using the BELLHOP sound field calculation model when the sound source distance is 6.22 km in an embodiment of the present invention;

[0073] Figure 8The figure shows the multipath arrival delay spectrum of the broadband sound field intensity of the two-dimensional beam output estimated by inverse Fourier transform in a simulation experiment in an embodiment of the present invention.

[0074] Figure 9 The figure shows the target depth estimation cost function in the simulation experiment of this invention. Detailed Implementation

[0075] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0076] This invention provides a three-dimensional passive target positioning method and apparatus, which is a passive target positioning method and apparatus based on two-dimensional spatial power spectrum estimation. A vector vertical array receiving system is deployed in the deep sea, including a sound pressure channel and a vector channel (measuring particle velocity or particle acceleration). The method includes: receiving broadband sound pressure and vector (particle velocity or particle acceleration) signals radiated by the target sound source using a vector vertical array; correcting the vector channel signals using data recorded by the attitude sensors on each array element; constructing a two-dimensional steering vector in the azimuth and angle of arrival domains of the combined sound pressure and vector channels; performing two-dimensional spatial power spectrum estimation on the sound pressure channel and the corrected vector channel signals to obtain the target's azimuth estimate, angle of arrival estimate, and broadband beam output sound field; and estimating the target's distance and depth by matching the angle of arrival and matching the multipath arrival delay, respectively.

[0077] The specific steps of the target three-dimensional passive localization method are as follows:

[0078] Step 1: Deploy a vector vertical hydrophone linear array near the seabed to acquire the time-domain waveform of the sound pressure channel signal emitted by the target. and the time-domain waveforms of the vector channels in the X, Y, and Z directions. , and ,in, The vector vertical array element numbering, The number of elements in the vector vertical array. This is the sequence number of the signal snapshot. The total number of snapshots of the signal is given by t, where t represents time; the sampling rate of the signal is... Its value ranges from 100 Hz to 10 kHz.

[0079] A three-dimensional coordinate system is established with the intersection of the vertical vector array axis and the sea level as the origin. The Z-axis is a square perpendicular to the sea level and pointing downwards. The plane formed by the X and Y axes coincides with the sea level. The X, Y, and Z directions are the positive directions of the X, Y, and Z coordinate axes of the three-dimensional coordinate system.

[0080] Step 2: Use the pitch angle recorded by each vector sensor attitude sensor Roll angle and azimuth Based on the definitions and installation methods of the X, Y, and Z axes of the vector sensors and the attitude sensor's three axes, the X, Y, and Z channel signals of all array element vector sensors are corrected. Taking an example where the X, Y, and Z axes are defined in the same direction as the attitude sensor's three axes and are installed in the same orientation, the corrected three-channel vector signals are as follows:

[0081]

[0082] The meanings of each element in the matrix are as follows:

[0083]

[0084] Step 3: Perform Fast Fourier Transform on the sound pressure and vector channel time-domain signals acquired by the vector vertical hydrophone array to obtain the sound pressure channel signal spectrum. and vector channel signal spectrum , and , , and These are the upper and lower bounds of the signal processing frequency band, respectively. To handle the number of frequency points contained within a frequency band, Indicates the first l Each signal processing frequency band is used. The vector channel and sound pressure channel data are combined to obtain the measured sound field spectrum data vector of the entire vector vertical array. for:

[0085] In the above formula, the superscript Represents the transpose of a matrix or vector.

[0086] Step 4: Construct a two-dimensional steering vector in the azimuth and angle-of-arrival domains, combining the sound pressure and vector channels. Then, use spatial power spectrum estimation methods to jointly process the sound pressure and three-channel vector signal spectra recorded by the vector vertical array to obtain the two-dimensional spatial power spectrum estimation results. ,in Search for the target arrival angle value. The value ranges from 0° to 90°. The target azimuth angle search value. The value ranges from 0° to 360°. Taking conventional beamforming, a classic spatial power spectrum estimation method, as an example, the frequency is... The formula for estimating the spatial power spectrum at a given location is:

[0087]

[0088] in, This is a two-dimensional steering vector combining the sound pressure channel and the vector channel in the azimuth and angle of arrival domains. , The signal amplitude difference is introduced by the difference in sensitivity between the sound pressure channel and the vector channel. The phase difference between the sound pressure channel and the vector channel is 0 when the vector channel is used to measure particle velocity; and 0 when the vector channel is used to measure particle acceleration. . , is the guide vector for a single channel of the vertical array. For the vertical matrix The distance between each array element and the first array element. c Speed ​​of sound; e Represents the natural constant. It is estimated jointly by the sound pressure levels of the entire vector vertical array and the three vector channels. Cross-spectral density matrix (CSDM).

[0089]

[0090] Among them, superscript This represents the conjugate transpose of a matrix.

[0091] Step 5: Sum and average the two-dimensional spatial power spectrum estimation results at multiple frequency points to obtain the average result of the broadband two-dimensional spatial power spectrum estimation. .Pick The angle of arrival at the peak corresponding to the target is the estimated angle of arrival of the target. The azimuth angle at the peak corresponding to the target is the estimated azimuth angle of the target. , To output the sound field intensity of the broadband beam at the target's angle of arrival and azimuth.

[0092] Step 6: Combining the seawater sound velocity profile, use the Bellhop sound field calculation model to calculate the template value of the average angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances. The estimated angle of arrival of the target The distance to the target is estimated by matching the average angle of arrival template values ​​of the direct wave and the sea surface reflected wave under different assumed sound source distances. The distance estimation cost function is defined as follows:

[0093]

[0094] The distance corresponding to the maximum value of the cost function is the estimated distance to the sound source, i.e. .

[0095] Step 7: Obtain the estimated distance to the target Subsequently, combining the seawater sound velocity profile, the Bellhop sound field calculation model was used to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at that distance. .

[0096] Step 8: Use inverse Fourier transform or MUSIC spectral analysis methods to estimate the beam output broadband sound field intensity at the target's angle of arrival and azimuth. The arrival time delay spectrum is obtained by performing double spectrum analysis along the frequency axis. , This represents the arrival delay; the second largest peak in the arrival delay spectrum, excluding the zero-delay peak, corresponds to the estimated multipath arrival delay. .

[0097] Step 9: Estimate the multipath arrival time delay. Estimated distance to target Template values ​​under different assumed sound source depths To perform matching, the depth estimation cost function is defined as follows:

[0098]

[0099] The depth corresponding to the maximum value of the cost function is the estimated depth of the sound source, i.e. .

[0100] An example of a target three-dimensional passive positioning method according to the present invention: First, a vector vertical hydrophone array capable of measuring sound pressure and vector (particle velocity or particle acceleration) information is deployed at a deep-sea location. It receives broadband sound pressure and vector channel signals emitted by the target. The target's azimuth, distance, and depth are estimated through spatial power spectrum estimation, complex sound intensity estimation, mean angle-of-arrival matching of direct waves and sea-surface reflected waves, and multipath arrival delay matching. Specifically, the target sound source depth ranges from 1 to 1000 m, the vertical array deployment depth ranges from 500 to 6000 m, and the horizontal distance between the sound source and the vertical array is less than 5 times the difference between the center depth of the vertical array and the sound source depth. The process consists of the following steps:

[0101] Step 1: The target sound source enters the receiving range of the vector vertical hydrophone linear array, and the time-domain waveforms of the sound pressure channel and the vector channels in the X, Y, and Z directions emitted by the target are acquired. , , and ,in, The vector vertical array element numbering, The number of elements in the vector vertical array. This is the sequence number of the signal snapshot. This represents the total number of signal snapshots. t Indicates time; the signal sampling rate is Its value ranges from 100 Hz to 10 kHz. The target sound source and receiver vector vertical array configuration is as follows: Figure 2 . Figure 3 The seawater sound velocity profile used in the simulation experiment of this embodiment is given, with a sea depth of 4000m. In the simulation experiment, a 20-element vector vertical array with a spacing of 7.5m is placed near the seabed to receive the signal emitted by the sound source. The center depth of the vertical array is 3900m, and the sampling rate of the vertical array is set to 10 kHz. The sound field simulation program BELLHOP is used to calculate the simulated sound field in the experiment, and Gaussian white noise is added to simulate the actual sound field received by the vertical array. In this embodiment, the sound source depth is 35m, 6.24 km away from the receiving array, and located at the 180° azimuth of the vector vertical array.

[0102] Step 2: Use the pitch angle recorded by each vector sensor attitude sensor Roll angle and azimuth Based on the definitions and installation methods of the X, Y, and Z axes of the vector sensors and the attitude sensor's three axes, the X, Y, and Z channel signals of all array element vector sensors are corrected. Taking an example where the X, Y, and Z axes are defined in the same direction as the attitude sensor's three axes and are installed in the same orientation, the corrected three-channel vector signals are as follows:

[0103]

[0104] The meanings of each element in the matrix are as follows:

[0105]

[0106] Step 3: Perform Fast Fourier Transform on the sound pressure and vector channel time-domain signals acquired by the vector vertical hydrophone array to obtain the signal spectra of the sound pressure channel and the three vector channels. , , and , , and These are the upper and lower bounds of the signal processing frequency band, respectively. To handle the number of frequency points within the processing band, the signal processing band in this embodiment is 300-400 Hz. The vector channel and sound pressure channel data are combined to obtain the measured sound field spectrum data vector of the entire vector vertical array.

[0107] In the above formula, the superscript Represents the transpose of a matrix or vector.

[0108] Step 4: Construct a two-dimensional steering vector in the azimuth and angle-of-arrival domains, combining the sound pressure and vector channels. Then, use spatial power spectrum estimation methods to jointly process the sound pressure and three-channel vector signal spectra recorded by the vector vertical array to obtain the two-dimensional spatial power spectrum estimation results. ,in Search for the target arrival angle value. The value ranges from 0° to 90°, with intervals of 0.1°. The target azimuth angle search value. The value ranges from 0° to 360°, with 1° increments. Taking conventional beamforming, a classic spatial power spectrum estimation method, as an example, the frequency is... The formula for estimating the spatial power spectrum at a given location is:

[0109]

[0110] in, This is a two-dimensional steering vector combining the sound pressure channel and the vector channel in the azimuth and angle of arrival domains. , The signal amplitude difference is introduced by the difference in sensitivity between the sound pressure channel and the vector channel. The phase difference between the sound pressure channel and the vector channel is 0 when the vector channel is used to measure particle velocity; and 0 when the vector channel is used to measure particle acceleration. . , is the guide vector for a single channel of the vertical array. For the vertical matrix The distance between each array element and the first array element. It is estimated jointly by the sound pressure levels of the entire vector vertical array and the three vector channels. Cross-spectral density matrix (CSDM):

[0111]

[0112] Among them, superscript This represents the conjugate transpose of a matrix.

[0113] Step 5: Sum and average the two-dimensional spatial power spectrum estimation results at multiple frequency points to obtain the average result of the broadband two-dimensional spatial power spectrum estimation. The results are shown Figure 4 .Pick The angle of arrival at the peak corresponding to the target is the estimated angle of arrival of the target. The azimuth angle at the peak corresponding to the target is the estimated azimuth angle of the target. , To output the sound field intensity of the broadband beam at the target's angle of arrival and azimuth. In this embodiment, by Figure 4The two-dimensional spatial power spectrum estimation results can yield the target's angle of arrival estimate. The estimated azimuth angle of the target sound source is 31°. The angle is 182°, and the error between the estimated azimuth of the sound source and the actual azimuth is 2°.

[0114] Step 6: Combining the seawater sound velocity profile, use the Bellhop sound field calculation model to calculate the template value of the average angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances. Since the average angle of arrival of direct waves and sea surface reflected waves is basically independent of the source depth, any source depth can be assumed when calculating the template value. Figure 5 Template values ​​for the average angles of arrival (AHAs) of direct waves and reflected waves at different assumed source distances, calculated using Bellhop, are provided, with the source assumed to be at a fixed depth of 10 m. The assumed source distance ranges from 0 to 20 km, with intervals of 0.01 km. The estimated target angles of arrival are then presented. The distance to the target is estimated by matching the average angle of arrival template values ​​of the direct wave and the sea surface reflected wave under different assumed sound source distances. The distance estimation cost function is defined as follows:

[0115]

[0116] The distance corresponding to the maximum value of the cost function is the estimated distance to the sound source, i.e. . Figure 6 The estimated target angle of arrival of 31° is given. Figure 5 The target distance estimation cost function is matched with the arrival angle template value. As can be seen from the figure, the target estimated distance... The distance was 6.22 km, with an error of only 0.2 km from the actual distance of 6.24 km to the target.

[0117] Step 7: Obtain the estimated distance to the target Subsequently, combining the seawater sound velocity profile, the Bellhop sound field calculation model was used to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at that distance. As shown in the previous step, the estimated distance to the target is 6.22 km. Figure 7 The arrival time delays of direct waves and sea-reflected waves are presented for a sound source distance of 6.22 km, calculated using the Bellhop sound field calculation model, under different assumed sound source depths. The calculated sound source depth range is assumed to be 1-600 m, with intervals of 1 m.

[0118] Step 8: Use inverse Fourier transform or MUSIC spectral analysis methods to estimate the broadband beam output sound field intensity at the target's angle of arrival and azimuth. The arrival time delay spectrum is obtained by performing double spectrum analysis along the frequency axis. The arrival delay estimate corresponds to the second largest peak in the arrival delay spectrum, excluding the zero-delay peak. . Figure 8 The sound field intensity output by the broadband beam is given. The multipath arrival delay spectrum was estimated using the inverse Fourier transform, and the estimated multipath arrival delay was 0.0225 s.

[0119] Step 9: Estimate the multipath arrival time delay. Estimated distance to target Template values ​​under different assumed sound source depths To perform matching, the depth estimation cost function is defined as follows:

[0120]

[0121] The depth corresponding to the maximum value of the cost function is the estimated depth of the sound source, i.e. The multipath arrival delay estimate of 0.0225s obtained in the previous step is matched with the arrival delay template value in Figure 6. Figure 9 The depth estimation cost function is given. As can be seen from the figure, the estimated depth of the sound source is 34.5 m, which is only 0.5 m away from the actual depth of the sound source.

[0122] Simulation data verification shows that the method of the present invention can effectively achieve three-dimensional passive positioning of the target's orientation, distance, and depth.

[0123] This application also provides a target three-dimensional passive positioning device, implemented based on the above method, the device comprising: a vector vertical array and a three-dimensional positioning system;

[0124] The vector vertical array includes a sound pressure channel and a vector channel; each array element is equipped with a vector sensor attitude device; the vector vertical array acquires the time-domain waveform of the sound pressure channel signal emitted by the target and the time-domain waveforms of the vector channel signals in the X, Y, and Z directions;

[0125] The three-dimensional positioning system includes:

[0126] Angle correction module is used to correct the X, Y, and Z direction vector channel signals of all array elements using the pitch, roll, and azimuth angles recorded by each vector sensor attitude instrument.

[0127] The sound pressure channel and vector channel signal spectrum calculation module is used to process the sound pressure channel signal and the vector channel signal to obtain the sound pressure channel signal spectrum and the vector channel signal spectrum.

[0128] The two-dimensional spatial power spectrum estimation module is used to construct a two-dimensional steering vector in the azimuth and angle of arrival domains of the sound pressure channel and the vector channel. The spatial power spectrum estimation method is used to jointly process the sound pressure recorded by the vector vertical array and the signal spectra of the X, Y, and Z direction vector channels to obtain the two-dimensional spatial power spectrum estimation results.

[0129] The module for calculating the average result of two-dimensional spatial power spectrum estimation is used to sum and average the two-dimensional spatial power spectrum estimation results to obtain the average result of two-dimensional spatial power spectrum estimation.

[0130] The target distance estimation module is used to combine the seawater sound speed profile to calculate the average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances. The target angle of arrival estimate is matched with the "average template value of the angle of arrival of the direct wave and the sea surface reflected wave under different assumed sound source distances" to estimate the target distance.

[0131] The multipath arrival time delay template value calculation module is used to calculate the multipath arrival time delay template value corresponding to different assumed sound source depths at the estimated target distance by combining the seawater sound speed profile.

[0132] The arrival delay spectrum and multipath arrival delay estimation module is used to perform double spectrum analysis along the frequency axis on the broadband acoustic field intensity of the beam output at the estimated angle of arrival and estimated azimuth of the target to obtain the arrival delay spectrum and multipath arrival delay estimation.

[0133] The sound source depth estimation module is used to match the multipath arrival delay estimate with the multipath arrival delay template value under different assumed sound source depths at the target estimated distance to obtain the sound source depth estimate.

[0134] The present invention may also provide a computer device, comprising: at least one processor, a memory, at least one network interface, and a user interface. The various components of the device are coupled together via a bus system. It is understood that the bus system is used to enable communication between these components. In addition to a data bus, the bus system also includes a power bus, a control bus, and a status signal bus.

[0135] The user interface can include a display, keyboard, or clicking device. Examples include a mouse, trackball, touchpad, or touchscreen.

[0136] It is understood that the memory in the embodiments disclosed in this application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memories described herein are intended to include, but are not limited to, these and any other suitable types of memory.

[0137] In some implementations, the memory stores elements such as executable modules or data structures, or subsets thereof, or extended sets thereof: operating systems and applications.

[0138] The operating system includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application programs include various applications, such as media players and browsers, used to implement various application functions. Programs implementing the methods of the embodiments of this disclosure can be included in the application programs.

[0139] In the above embodiments, the processor can also invoke programs or instructions stored in memory, specifically programs or instructions stored in an application program, for the following purposes:

[0140] Follow the steps described above.

[0141] The above methods can be applied to or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above methods can be completed by integrated logic circuits in the processor's hardware or by software instructions. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the disclosed methods, steps, and logic block diagrams. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the disclosed methods can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0142] It is understood that the embodiments described in this invention can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or combinations thereof.

[0143] For software implementation, the technology of this invention can be implemented by executing the functional modules (e.g., procedures, functions, etc.) of this invention. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or externally.

[0144] The present invention may also provide a non-volatile storage medium for storing a computer program. When the computer program is executed by a processor, it can implement the steps in the above method embodiments.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A target three-dimensional passive positioning method based on a vector-perpendicular array, the vector-perpendicular array comprising a sound pressure channel and a vector channel, and a vector sensor attitude instrument being arranged on each array element; the method comprising: Step 1: collecting, by the vector-perpendicular array, a sound pressure channel signal time-domain waveform and three-direction vector channel signal time-domain waveforms emitted by a target to be measured; Step 2: correcting the three-direction vector channel signals of all array elements by using the pitch angle, roll angle and azimuth angle recorded by each vector sensor attitude instrument; Step 3: processing the sound pressure channel time-domain signal and the vector channel time-domain signal to obtain measured sound field spectrum data vectors of the vector-perpendicular array; Step 4: constructing an azimuth angle domain and an arrival angle domain two-dimensional steering vector of the sound pressure channel and the vector channel, and performing joint processing on the sound pressure and the three-direction vector channel signal spectrum recorded by the vector-perpendicular array by using a spatial power spectrum estimation method to obtain a two-dimensional spatial power spectrum estimation result; Step 5: performing summation and averaging on the two-dimensional spatial power spectrum estimation result to obtain a two-dimensional spatial power spectrum estimation average result; Step 6: calculating a direct wave and sea surface reflected wave arrival angle average value template value at different assumed sound source distances in combination with a seawater sound velocity profile, and matching the arrival angle estimation value of the target to be measured with the "direct wave and sea surface reflected wave arrival angle average value template value at different assumed sound source distances" to estimate the distance of the target to be measured; Step 7: calculating a multi-path arrival time delay template value corresponding to different assumed sound source depths at the estimated distance of the target to be measured in combination with the seawater sound velocity profile; Step 8: performing two-dimensional spectrum analysis on the broadband sound field intensity along the frequency axis at the estimated arrival angle and estimated azimuth angle of the target to be measured to obtain an arrival time delay spectrum and a multi-path arrival time delay estimation value; Step 9: matching the multi-path arrival time delay estimation value with the multi-path arrival time delay template value at different assumed sound source depths at the estimated distance of the target to be measured to obtain a depth estimation value of the target to be measured; the Step 4 is specifically: 2.The target three-dimensional passive positioning method according to claim 1, characterized in that: a three-dimensional coordinate system is established with the intersection of the vector-perpendicular array axis and the sea level as the coordinate origin, the Z-axis positive square being downward perpendicular to the sea level, and the X and Y axes being coincident with the sea level; the three-direction vector channel signals are X, Y and Z three-direction vector channel signals, and the X, Y and Z three directions are the positive directions of the X, Y and Z three coordinate axes. The Step 2 is specifically: the corrected X, Y and Z three-direction vector channel signals are as follows: The Step 3 is specifically: The Step 5 is specifically: The Step 6 is specifically: The Step 7 is specifically: The Step 8 is specifically: The Step 9 is specifically: The device comprises a vector-perpendicular array and a three-dimensional positioning system; the vector-perpendicular array comprises a sound pressure channel and a vector channel, and a vector sensor attitude instrument is arranged on each array element; the vector-perpendicular array collects a sound pressure channel signal time-domain waveform and three-direction vector channel signal time-domain waveforms emitted by a target to be measured; the three-dimensional positioning system comprises: ​ ​ ​ The azimuth angle domain and the arrival angle domain two-dimensional directional vector of the combined sound pressure channel and the vector channel are constructed, the sound pressure and the vector three-channel signal spectrum recorded by the vector vertical array are jointly processed by using a spatial power spectrum estimation method, and a two-dimensional spatial power spectrum estimation result is obtained wherein is an arrival angle search value of a to-be-tested target, is a azimuth angle search value of a to-be-tested target; and the frequency is The spatial power spectrum estimation formula at the frequency is: ； wherein is the azimuth and DOA two-dimensional steering vector for the combined pressure and vector channels. ； signal amplitude difference introduced by the sensitivity difference between the sound pressure channel and the vector channel; phase difference between the sound pressure channel and the vector channel, which is 0 when the vector channel is a sensor measuring particle velocity, and which is ; steering vector of the vertical array single channel, distance between the first array element and the second array element of the vertical array; e denotes the natural constant; c denotes the sound velocity; is estimated jointly from the whole vector normal array pressure channels and the vector three-channel data dimensional cross-spectral density matrix: ； where the superscript represents the conjugate transpose of a matrix; represents the measured sound field spectrum data vector of the entire vector normal array; represents the total number of signal snapshots. ​ ​ ​ 3. The target three-dimensional passive localization method according to claim 2, characterized in that, ​ ； ​ ； Indicates the element number of the vector vertical array. N Indicates the number of elements in the vector vertical array; Indicates the sequence number of the signal snapshot. Indicates the total number of signal snapshots; t Indicates time; represents the corrected X-direction vector channel signal; represents the corrected Y-direction vector channel signal; represents the corrected Z-direction vector channel signal; represents the time-domain waveform of the X-direction vector channel signal received by the vector vertical array; represents the time-domain waveform of the Y-direction vector channel signal received by the vector vertical array; represents the time-domain waveform of the Z-direction vector channel signal received by the vector vertical array; denotes the pitch angle recorded by the vector sensor attitude instrument; denotes the roll angle recorded by the vector sensor attitude instrument; denotes the yaw angle recorded by the vector sensor attitude instrument.

4. The target three-dimensional passive localization method according to claim 3, characterized in that, ​ The sound pressure and vector channel time domain signals collected by the vector vertical array are subjected to fast Fourier transform to obtain sound pressure channel signal spectrum , and vector channel signal spectrum of X, Y, Z three channels , and , , and are respectively the upper limit and lower limit of the signal processing frequency band, is the number of frequency points contained in the processing frequency band, represents the frequency of the signal processing frequency band; the vector channel and sound pressure channel data are combined to obtain the measured sound field spectrum data vector of the entire vector vertical array is: ； where the superscript denotes the transpose of a matrix or vector.

5. The target three-dimensional passive localization method of claim 4, wherein, ​ Summing and averaging the multi-frequency point two-dimensional spatial power spectrum estimation results, a broadband two-dimensional spatial power spectrum estimation average result is obtained : ； Take The angle of arrival at the peak corresponding to the target under test is the angle of arrival estimate for the target under test The azimuth angle at the peak corresponding to the target under test is the azimuth angle estimate for the target under test ; is the beam output broadband sound field intensity at the estimated angle of arrival and estimated azimuth angle of the target under test.

6. The target three-dimensional passive localization method of claim 5, wherein, ​ Combined with the sound speed profile of seawater, the average value template of the direct wave and sea surface reflected wave reaching angle under different assumed sound source distances is calculated by using the sound field calculation model BELLHOP The estimated value of the target reaching angle to be measured The distance of the target to be measured is estimated by matching the average value template of the direct wave and sea surface reflected wave reaching angle under different assumed sound source distances, and the distance estimation cost function is defined as: ； The distance corresponding to the maximum of the cost function is the sound source distance estimate, i.e. .

7. The target three-dimensional passive localization method of claim 6, wherein, ​ Obtaining the estimated distance of the target to be detected Then, combined with the sound speed profile of seawater, the sound field calculation model BELLHOP is used to calculate the multi-path arrival time delay template values corresponding to different assumed sound source depths at the distance .

8. The target three-dimensional passive localization method of claim 7, wherein, ​ The inverse Fourier transform or the MUSIC spectrum analysis method is used to estimate the arrival angle and the beam output broadband sound field intensity at the estimated azimuth angle of the target to be measured A double spectrum analysis along the frequency axis obtains an arrival time delay spectrum , The time arrival time delay is represented; the time delay corresponding to the second largest peak value in the arrival time delay spectrum except the zero time delay peak value is the multi-path arrival time delay estimation value .

9. The target three-dimensional passive localization method of claim 8, wherein, ​ Multi-path arrival time delay estimation values Estimating distance to a target Template values at different assumed sound source depths Match, define depth estimation cost function as: ； The depth corresponding to the maximum of the cost function is the sound source depth estimate, i.e. .

10. A target three-dimensional passive location device, implemented based on the method of any one of claims 1-9, characterized by, ​ ​ ​ An angle correction module is configured to correct the three directional vector channel signals of all array elements by using the pitch angle, roll angle and azimuth angle recorded by each vector sensor attitude instrument; A sound pressure channel and vector channel signal spectrum calculation module is configured to process the sound pressure channel time domain signal and the vector channel time domain signal to obtain the sound pressure channel signal spectrum and the vector channel signal spectrum; A two-dimensional spatial power spectrum estimation module is configured to construct the azimuth angle domain and the arrival angle domain two-dimensional steering vector of the sound pressure channel and the vector channel, and to use a spatial power spectrum estimation method to jointly process the sound pressure and the three directional vector channel signal spectrum recorded by the vector vertical array to obtain a two-dimensional spatial power spectrum estimation result; A two-dimensional spatial power spectrum estimation average result calculation module is configured to sum and average the two-dimensional spatial power spectrum estimation result to obtain a two-dimensional spatial power spectrum estimation average result; A to-be-measured target distance estimation module is configured to combine the seawater sound velocity profile to calculate the direct wave and sea surface reflected wave arrival angle average value template value under different assumed sound source distances, and to match the to-be-measured target arrival angle estimation value with the "direct wave and sea surface reflected wave arrival angle average value template value under different assumed sound source distances" to estimate the distance of the to-be-measured target; A multi-path arrival time delay template value calculation module is configured to combine the seawater sound velocity profile to calculate the multi-path arrival time delay template value corresponding to different assumed sound source depths at the estimated distance of the to-be-measured target; An arrival time delay spectrum and multi-path arrival time delay estimation value calculation module is configured to perform two-dimensional spectrum analysis on the wave beam output broadband sound field intensity along the frequency axis at the estimated arrival angle and estimated azimuth angle of the to-be-measured target to obtain the arrival time delay spectrum and the multi-path arrival time delay estimation value; and A sound source depth estimation module is configured to match the multi-path arrival time delay estimation value with the multi-path arrival time delay template value under different assumed sound source depths at the estimated distance of the to-be-measured target to obtain the depth estimation value of the to-be-measured target.

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