Space-time stationary method and system for underwater acoustic signal and storage medium

Abstract

The application discloses a kind of underwater acoustic signal's space-time stabilization method, system and storage medium, output space-time signal energy spectrum enters wideband stabilization module, judge its output as reverberation background part input to reverberation stabilization module, judge its output as noise background part input to narrowband stabilization module, output after processing is stabilized after space-time energy chart, finally through energy detection obtains the azimuth, distance and intensity information of target.Data verification is carried out by sea trial, the application can realize space-time signal stabilization in underwater long-distance target detection, solve the interference problem of reverberation, high-power white noise and colored noise, realize the effective detection of long-distance target echo.

Description

Technical Field

[0001] This invention relates to the field of underwater acoustic signal processing, and in particular to a method, system, and storage medium for space-time stabilization of underwater acoustic signals. Background Technology

[0002] In current underwater acoustic active detection systems, target signals in real marine environments are typically processed by conventional spatial filtering (beamforming) and temporal filtering (matched filtering) to form a two-dimensional energy image in terms of space and time. Finally, energy detection is used to obtain the location information of the target of interest.

[0003] However, for active detection systems in real marine environments, the two-dimensional spatial-temporal background of these systems generally exhibits strong non-stationarity, causing severe interference to target detection. This background containing non-stationary interference can generally be divided into two types: (1) reverberant background caused by the transmitted signal, characterized by the interference signal having a similar energy spectrum to the target signal, and the interference intensity decreasing over time; (2) noise background determined by the real marine environment, in which the interference is generally localized high-power white noise or colored noise.

[0004] Traditional spatial and temporal filtering can only improve the signal-to-noise ratio against a stable ocean noise background, but cannot suppress interference caused by non-stationarity. This results in large areas of non-target bright spots or bright bands in the spatial-temporal two-dimensional image, affecting the energy detection of the target signal. Existing methods are used to stabilize reverberant backgrounds (Guo Kaihong, Zhang Zhongbo. A reverberation modeling method based on measured data characteristics [J]. Mine Warfare and Ship Protection, 2010(2):5.) and noise backgrounds (Yang Desen, Wu Yi. Analysis of underwater target radiation noise line spectrum [J], 1996(017)001). Existing stabilization methods for reverberant backgrounds rely on short pulse width signals with high temporal resolution, which are not suitable for long pulse width signals used in long-range detection; while existing stabilization methods for noise backgrounds have good effects in passive detection scenarios, but are not suitable for long-range active detection scenarios containing platform self-noise.

[0005] In summary, in underwater acoustic active detection systems, the non-stationarity caused by the real marine environment, platform self-noise, and reverberation significantly interferes with target detection in spatiotemporal images, resulting in a high probability of missed target detection and false alarms. Existing solutions are insufficient to meet the requirements for active detection of distant targets. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method, system and storage medium for spatiotemporal stabilization of underwater acoustic signals, which addresses the shortcomings of the prior art and reduces the spatiotemporal energy of interference in a targeted manner, thereby improving the detection capability of real targets.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for spatiotemporal stabilization of underwater acoustic signals, comprising the following steps:

[0008] S1. Calculate the energy spectrum of the space-time signal;

[0009] S2. Calculate the broadband stationary space-time signal energy E(θ,t) using the energy spectrum of the space-time signal; θ and t are the spatial coordinates and time coordinates of the current frame, respectively;

[0010] S3. If the time region where the space-time unit is located is the reverberant background region, i.e., the region 0≤t≤T rev Then, the space-time energy L(θ,t) after the reverberation region is stabilized is calculated using the following formula:

[0011] L(θ,t)=E(θ,t)-ΔRL(θ,t);

[0012] If the time region where the space-time cell is located is a noisy background region, i.e., the region t≥T rev Then, the space-time energy L(θ,t) after the reverberation region is stabilized is calculated using the following formula:

[0013]

[0014] Among them, T rev It is the duration of the reverberation region, ΔRL(θ,t) is the reverberation compensation amount, and ΔNL is the reverberation compensation amount. n (θ,t) is the narrowband stabilization compensation amount, ΔNL w (θ,t) represents the broadband compensation amount, and J(θ,t) represents the criterion for whether it is colored noise.

[0015] This invention performs energy spectrum stabilization processing on spatiotemporal signals. Taking into account the different time regions in which interferences such as high-power white noise, colored noise, and reverberation occur, it distinguishes between reverberation background and noise background according to time and performs different stabilization processing on each. This can effectively reduce the spatiotemporal energy of interference and improve the detection capability of real targets.

[0016] In step S1, the energy spectrum P of the space-time signal θ,t (k) is calculated using the following formula: Among them, Y θ,t (k) represents the spectrum of the space-time signal. x θ,t (n) represents the current frame space-time signal output by the conventional spatial filter, f s Where k is the sampling frequency, k is the spectrum number, and N is the number of sampling points in the current time frame.

[0017] Step S1, through the calculation of the energy spectrum, can effectively utilize the energy of different spectral lines in the spatiotemporal signal energy spectrum, which is beneficial for subsequent steps to utilize the average energy of signals or noise in different frequency bands and to calculate the compensation amount for different types of interference.

[0018] In step S2, the formula for calculating the space-time signal energy E(θ,t) after broadband stabilization is: E(θ,t)=10·lg[P θ,t (k0)]-G-ΔNL w (θ,t); where, f0 represents the center frequency of the signal after Doppler compensation, and G is the sum of the receiver sensitivity and the gain of the conditioning circuit. K w Let k represent the set of broadband spectral lines. F w F is the set of frequencies in a wide frequency range. w =[f0-f w ,f0-f rev ]∪[f0+f rev ,f0+f w ], f rev N represents the maximum broadening radius of the reverberation energy spectrum. w Describe set K w The number of elements, This represents an estimate of the steady ocean background noise level.

[0019] The calculation in step S2 excludes the energy in the reverberation band and uses wideband space-time energy to calculate the compensation amount, which can effectively stabilize high-power white noise interference with full time domain and wide bandwidth characteristics.

[0020] In step S3, T rev The value is set to 4 times the signal pulse width;

[0021] The formula for calculating the reverberation compensation amount ΔRL is: This represents an estimate of the steady-state ocean background noise level. Θ represents the target angle broadening, T represents the transmitted signal pulse width, RL1 is the broadband smoothed total energy in the region (θ±Θ, t±T), and RL2 is the broadband smoothed total energy in the region (θ±Θ / 2, t±T / 2). The calculation of the reverberation compensation uses the average energy of adjacent angles and time intervals of the space-time unit as the energy estimate of the reverberation, which can effectively smooth out reverberation interference.

[0022] The formula for calculating reverberation energy at adjacent angles and times is:

[0023] Δθ and Δt represent the summation variables in the spatial and temporal domains, respectively. The formula for calculating reverberation energy takes into account the broadening of the target in terms of angle and time. In the calculation of the neighborhood energy of the reverberation compensation, the energy that may be caused by the spatial and temporal broadening of the target energy is subtracted, which can more accurately calculate the energy caused by reverberation interference.

[0024] The formula for calculating the criterion for colored noise is: K n Let k represent the set of narrowband spectral lines. F n F is the set of frequencies within a narrow frequency range. n =[f0-f n ,f0-f sig ]∪[f0+f sig ,f0+f n ], f n f represents the energy spectral broadening radius of the colored noise causing the interference. sig N represents the energy spectral broadening radius of the target echo. n Describe set K n The number of elements, P θ,t (k) represents the energy spectrum of the space-time signal, N w Describe set K w The number of elements, K w Let J(θ,t) represent the set of k corresponding to broadband spectral lines. If J(θ,t) ≤ 0 dB, the current space-time cell is determined to be non-colored noise; if J(θ,t) > 0 dB, the current space-time cell is determined to be colored noise. This criterion excludes the frequency band containing the target signal and utilizes the non-uniformity of the space-time energy spectrum of colored noise. The uniformity of the space-time energy spectrum is measured by the ratio of the narrowband average energy to the broadband average energy, thus accurately determining whether any space-time cell is colored noise.

[0025] As an inventive concept, the present invention also provides a space-time stabilization system for underwater acoustic signals, comprising:

[0026] One or more processors;

[0027] A memory having stored one or more programs that, when executed by one or more processors, cause the one or more processors to implement the steps of the method described above.

[0028] As an inventive concept, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] (1) By making full use of the high frequency resolution of long pulse width signals and taking advantage of the difference in frequency bandwidth between the target signal and different types of interference, the energy spectrum levels of the target signal, reverberation, ocean background noise, high-power white noise and colored noise in the space-time signal can be accurately estimated.

[0031] (2) Broadband stabilization was performed on the space-time signal throughout the entire time period, ensuring the global observability of the space-time energy map and effectively solving the interference problem caused by high-power white noise.

[0032] (3) The space-time signal with reverberation background was stabilized to improve the target detection capability under reverberation background and effectively solve the interference problem caused by reverberation.

[0033] (4) Narrowband stabilization was performed on the space-time signal with noise background, which effectively solved the interference problem caused by colored noise while ensuring that the signal is not distorted. Attached Figure Description

[0034] Figure 1 This is a topological block diagram of the space-time signal stabilization method according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram illustrating the specific calculation process of the space-time signal stabilization method according to an embodiment of the present invention;

[0036] Figure 3 These are energy spectrum diagrams of four typical spatiotemporal signals according to embodiments of the present invention;

[0037] Figures 4(a) to 4(d) This is a time-domain effect diagram of the stabilization in an embodiment of the present invention;

[0038] Figures 5(a) and 5(b) are diagrams of the space-time energy effect of stabilization according to an embodiment of the present invention;

[0039] Figures 6(a) to 6(d) This is a diagram illustrating the space-time energy stabilization effect of an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] This invention provides a method for spatiotemporal stabilization of underwater acoustic signals, the framework of which is as follows: Figure 1As shown, the system includes a signal energy spectrum calculation module, a broadband stabilization module, a narrowband stabilization module, and a reverberation stabilization module. The underwater acoustic signal received by the array undergoes spatial filtering (beamforming) to obtain a space-time signal, which then enters the energy spectrum calculation module. The output space-time signal energy spectrum enters the broadband stabilization module; the portion of the output deemed to be reverberant background is input to the reverberation stabilization module, and the portion deemed to be noise background is input to the narrowband stabilization module. After processing, the stabilized space-time energy map is output. Finally, energy detection is used to obtain the target's azimuth, distance, and intensity information. Sea trial data verification shows that this embodiment of the invention can achieve space-time signal stabilization in underwater long-range target detection, solving the interference problems of reverberation, high-power white noise, and colored noise, and achieving effective detection of long-range target echoes.

[0042] Figure 2 The calculation process for the space-time signal is as follows:

[0043] S1: Calculate the space-time signal energy spectrum:

[0044] S11: The spectrum of the space-time signal is calculated as follows:

[0045]

[0046] Where, x θ,t (n) represents a frame of space-time signal output by a conventional spatial filter, with a sampling frequency f. s It conforms to the Nyquist theorem, where k is the spectrum number, θ and t are the spatial and temporal coordinates of the current frame, respectively, and N is the number of sampling points within the time frame.

[0047] S12: The one-sided energy spectrum of the space-time signal is calculated as follows:

[0048]

[0049] S2: Perform broadband stabilization of the space-time signal:

[0050] S21: Calculating broadband noise power of space-time signals using broadband energy spectrum:

[0051]

[0052] Among them, K w N represents the set of k corresponding to broadband spectral lines. w Describe set K w The number of elements, G is the sum of receiver sensitivity and conditioning circuit gain. K w Represented as:

[0053]

[0054] in, F is the floor symbol. w The set of frequencies within a wide frequency range is represented as:

[0055] F w =[f0-f w ,f0-f rev ]∪[f0+f rev ,f0+f w (5)

[0056] Where f0 represents the center frequency of the signal after Doppler compensation, which is generally taken as the P frequency within ±1Hz of the original signal frequency. θ,t The frequency corresponding to the maximum value of (k); f rev The radius of curvature of the reverberant energy spectrum is represented by 4 Hz, which has been experimentally verified. w The calculated frequency radius is 10Hz, as verified by experiments.

[0057] S22: The energy of the space-time signal after broadband stabilization is calculated as follows:

[0058] E(θ,t)=10·lg[P θ,t (k0)]-G-ΔNL w (θ,t) (6)

[0059] in, ΔNL w The broadband compensation amount is represented as:

[0060]

[0061] in, To estimate the level of stationary ocean background noise, we can take the value NL, taking advantage of the fact that the non-stationarity of the ocean background is only reflected in a local and limited area. w The mode of (θ,t) over the entire range of (θ,t) is used as In engineering, empirical values ​​can be used.

[0062] S3: Determine the time region attribute. If 0 ≤ t ≤ T rev If the region is determined to be the reverberant background region, proceed to S4; if t ≥ T rev If the region is determined to be a noisy background region, proceed to S5. (T) rev This refers to the duration of the reverberation region. To ensure that the true reverberation duration is fully included, it is generally taken as T. rev (4 times the signal pulse width)

[0063] S4: Perform reverberation stabilization.

[0064] The space-time energy of the reverberant region after stabilization is calculated as follows:

[0065] L(θ,t)=E(θ,t)-ΔRL(θ,t) (8)

[0066] Where ΔRL is the reverberation compensation amount, expressed as:

[0067]

[0068] Where RL is the reverberant mean energy estimate at (θ,t), expressed as:

[0069]

[0070] Where Θ represents the target angular broadening, taking the number of angular resolution cells within 1°, and T represents the transmitted signal pulse width. RL1 is the broadband stationary total energy in the region (θ±Θ, t±T), and RL2 is the broadband stationary total energy in the region (θ±Θ / 2, t±T / 2). These are expressed as follows:

[0071]

[0072] Here, Δθ and Δt represent the summation variables in the spatial and temporal domains, respectively.

[0073] S5: Perform narrowband stabilization:

[0074] S51: Determine whether the space-time signal of the current frame is colored noise:

[0075] The calculation criterion is:

[0076]

[0077] Among them, K n N represents the set of k corresponding to narrowband spectral lines. n Describe set K n The number of elements. K n Represented as:

[0078]

[0079] Among them, F n The set of frequencies within a narrow frequency range is represented as:

[0080] F n =[f0-f n ,f0-f sig ]∪[f0+f sig ,f0+f n (14)

[0081] Among them, f n This represents the energy spectral broadening radius of the colored noise causing the interference, which was verified by testing and was taken as f. n=1Hz, f sig This represents the energy spectrum broadening radius of the target echo, which was verified by testing to be f. sig =0.2Hz.

[0082] If J(θ,t)≤0dB, then the current space-time cell is determined to be non-colored noise; if J(θ,t)>0dB, then the current space-time cell is determined to be colored noise.

[0083] S52: The space-time energy after narrowband stabilization under noise background is calculated as follows:

[0084]

[0085] Where, ΔNL n The narrowband stabilization compensation amount is expressed as:

[0086]

[0087] Among them, NL n (θ,t) represents the narrowband noise power, expressed as:

[0088]

[0089] Figure 3 This is a schematic diagram illustrating the selection of the neighborhood of the current spatiotemporal cell as the computational domain in reverberation stabilization. The RL2 region represents the potential broadening of the target in time and angle; cells in this region are not included in the calculation. The RL1-RL2 region represents the cells involved in the reverberation spectral level estimation calculation.

[0090] Depend on Figure 3 As can be seen, the method of this invention improves the target detection capability under reverberant background by fully considering the spatiotemporal broadening characteristics of the target.

[0091] Figures 4(a) to 4(d)These are four typical different types of space-time signal energy spectra. Referring to Figure 4(a), under reverberant background, the method provided by this embodiment can effectively eliminate the interference of the reverberation spectral level and accurately calculate the ocean background noise spectral level, which is about 80dB. Referring to Figure 4(b), when encountering a space-time cell with high-power white noise, the method provided by this embodiment can accurately calculate the difference between the white noise spectral level (105dB) and the real ocean background spectral level (80dB), and then perform stabilization processing to eliminate the interference of high-power white noise. Referring to Figure 4(c), when encountering a space-time cell with colored noise similar to the target energy spectrum, the method provided by this embodiment can utilize the different energy spectrum broadening characteristics of the target and colored noise, and accurately calculate the colored noise spectral level (100dB) and the broadband noise spectral level (90dB) to effectively judge the colored noise. Referring to Figure 4(d), when encountering a space-time cell with target echo, the method provided by this embodiment can accurately calculate the signal spectral level (98dB) and the ocean background spectral level (80dB), without being affected by interference from other cells.

[0092] Depend on Figures 4(a) to 4(d) As can be seen, the method provided in the embodiments of the present invention makes full use of the differences in energy spectral bandwidth of different types, and effectively estimates the energy spectral levels of targets, reverberation, ocean background noise, high-power white noise and colored noise in space-time signals.

[0093] Figures 5(a) and 5(b) show the time-domain effects of the stabilization. Referring to Figure 5(a), in the non-target direction, the method provided by this embodiment of the invention can achieve stabilization of reverberation and noise background while preserving the peak value and contour of the original reverberation curve. Referring to Figure 5(b), in the target direction, the original reverberation curve has an excessively high reverberation spectral level, which interferes with the energy detection of the target. The method provided by this embodiment of the invention can effectively suppress the influence of reverberation, preserving the target echo without affecting the observability of the energy map in the entire time domain.

[0094] As shown in Figures 5(a) and 5(b), the method provided by the embodiments of the present invention can effectively suppress the interference of reverberation background on target energy detection, and realize target detection under reverberation background.

[0095] like Figures 6(a) to 6(d)This is a stable space-time energy graph. Referring to Figure 6(a), if only reverberation stabilization is applied to the space-time signal, the energy graph exhibits plateau self-noise (high-power white noise) interference, affecting the detection of target energy. Referring to Figure 6(b), if only broadband stabilization is applied to the space-time signal, the energy graph exhibits reverberation region interference, affecting the detection of target energy. Referring to Figure 6(c), if both reverberation and broadband stabilization are applied to the space-time signal, colored noise interference appears in the noise background region of the energy graph, affecting the detection of target energy. Referring to Figure 6(d), if reverberation, broadband, and narrowband stabilization are applied to the space-time signal, the energy graph exhibits good stability in both noise and reverberation backgrounds, and the target is clearly visible.

[0096] Depend on Figures 6(a) to 6(d) As can be seen, the embodiments of the present invention combine reverberation stabilization, broadband stabilization and narrowband stabilization methods, which can effectively suppress interference from reverberation, high-power white noise and colored noise, and achieve effective detection of target echo.

[0097] In summary, the method provided by the embodiments of the present invention utilizes the different energy spectra of different types of interference to effectively achieve background stabilization of space-time signals, solve the interference problem of non-target signals, reduce false alarms, and improve the detection capability of long-distance target echoes.

[0098] Example 2

[0099] Embodiment 2 of the present invention provides a space-time stabilization system for underwater acoustic signals corresponding to Embodiment 1 above. This system can be a processing device for a client, such as a mobile phone, laptop, tablet computer, desktop computer, etc., to execute the method of the above embodiments.

[0100] The system of this embodiment includes a memory, a processor, and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the method of Embodiment 1 described above.

[0101] In some implementations, the memory may be high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device.

[0102] In other implementations, the processor can be any type of general-purpose processor, such as a central processing unit (CPU) or a digital signal processor (DSP), and there is no limitation here.

[0103] Example 3

[0104] Embodiment 3 of the present invention provides a computer-readable storage medium corresponding to Embodiment 1 above, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, they implement the steps of the method of Embodiment 1 above.

[0105] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0107] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0109] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0110] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for spatiotemporal stabilization of underwater acoustic signals, characterized in that, Includes the following steps: S1. Calculate the energy spectrum of the space-time signal; S2. Calculate the energy of the broadband stabilized space-time signal using the energy spectrum of the space-time signal. θ and t are the spatial and temporal coordinates of the current frame, respectively. S3. If the time region where the space-time unit is located is the reverberant background region, i.e., the region... The spacetime energy after stabilization of the reverberation region is then calculated using the following formula. : ； If the time region where the space-time cell is located is a noisy background region, i.e., the region The space-time energy after noise region stabilization is calculated using the following formula. : ； Among them, T rev It is the duration of the reverberation zone. For reverberation compensation, For narrowband stabilization compensation, Indicates the broadband compensation amount. This indicates the criterion for whether something is colored noise. If the current spacetime cell is determined to be non-colored noise; If so, then the current space-time cell is determined to be colored noise.

2. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 1, characterized in that, In step S1, the energy spectrum of the space-time signal The calculation formula is: ;in, The spectrum of a signal when it is empty. , f is the current frame space-time signal output by a conventional spatial filter. s Where k is the sampling frequency, k is the spectrum number, and N is the number of sampling points in the current time frame.

3. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 2, characterized in that, In step S2, the space-time signal energy after broadband stabilization The calculation formula is: ;in, f0 represents the center frequency of the signal after Doppler compensation, and G is the sum of the receiver sensitivity and the conditioning circuit gain. , K w This represents the set of spectral numbers corresponding to broadband spectral lines. F w A set of frequencies within a wide frequency range. f rev N represents the maximum broadening radius of the reverberation energy spectrum. w Describe set K w The number of elements, f represents the estimate of the steady-state ocean background noise level. w This represents the calculated frequency radius.

4. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 1, characterized in that, T rev The value is set to 4 times the signal pulse width.

5. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 1, characterized in that, The formula for calculating the reverberation compensation amount ΔRL is: ; This represents an estimate of the steady-state ocean background noise level. Θ represents the target angle widening, and T represents the transmitted signal pulse width. In order to be in Total broadband stabilization energy within the region, In order to be in Total broadband stabilization energy within the region.

6. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 5, characterized in that, ; Δθ and Δt represent the summation variables in the spatial and temporal domains, respectively.

7. The method for spatiotemporal stabilization of underwater acoustic signals according to claim 1, characterized in that, The formula for calculating the criterion for colored noise is: K n This represents the set of spectral numbers corresponding to narrowband spectral lines. F n A set of frequencies within a narrow frequency range. f n f represents the energy spectral broadening radius of the colored noise causing the interference. sig N represents the energy spectral broadening radius of the target echo. n Describe set K n The number of elements, The energy spectrum of the space-time signal, N w Describe set K w The number of elements, K w This represents the set of spectral numbers corresponding to broadband spectral lines, where f0 represents the center frequency of the signal after Doppler compensation. s The sampling frequency.

8. A space-time stabilization system for underwater acoustic signals, characterized in that, include: One or more processors; A memory having stored one or more programs thereon, which, when executed by the one or more processors, cause the one or more processors to perform the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 7.

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