A ranging method and system based on a ranging sonar, an electronic device and a medium

Abstract

The present application relates to a kind of ranging method based on ranging sonar, system, electronic equipment and medium, method includes: simultaneously emitting the first sound wave signal corresponding to first preset frequency and the second sound wave signal corresponding to second preset frequency;Receive first echo signal and second echo signal;According to the first difference frequency sound wave between first sound wave signal and second sound wave signal, determine the difference frequency transmission signal envelope function corresponding to first difference frequency sound wave;According to the second difference frequency sound wave between first echo signal and second echo signal, determine the difference frequency receiving signal envelope function corresponding to second difference frequency sound wave;According to the linear relationship between difference frequency transmission signal envelope function and difference frequency receiving signal envelope function, determine the time difference variation of first difference frequency sound wave and second difference frequency sound wave in propagation process;According to time difference variation, determine detection distance.Solve the problem that when salt cavity distance sonar is far, echo signal cannot be acquired, so that sonar ranging cannot be carried out.

Description

Technical Field

[0001] This invention relates to the field of ranging sonar technology, and in particular to a ranging method, system, electronic device and medium based on ranging sonar. Background Technology

[0002] Salt chambers are typically built thousands of meters underground and are primarily used for storing strategic resources such as natural gas and oil. During gas injection and routine maintenance, it is essential to accurately obtain information about the salt chamber's three-dimensional shape and volume to promptly detect changes within the chamber and ensure the safe and stable operation of the storage facility.

[0003] Sonar measurement technology is the only effective method for measuring the morphology of underground gas storage cavities in salt caverns. Current salt cavern ranging sonars typically employ high-frequency single-beam transducer arrays to achieve high resolution and small size. This approach allows for clear differentiation of different targets and is lightweight and easily deployed to deeper underground locations. During operation, it acquires distance information from different points within the cavity to the sonar, thereby obtaining three-dimensional structural information about the cavity.

[0004] However, the drawback of using a high-frequency single-beam transducer array to measure the distance of the salt cavity is that the high-frequency single-beam signal has a high frequency and a short detection distance. When the salt cavity is far from the sonar, the echo signal cannot be obtained. Summary of the Invention

[0005] To overcome the problem that echo signals cannot be obtained when the salt cavity is far from the sonar, thus making sonar ranging impossible, this invention provides a ranging method, system, electronic device, and medium based on ranging sonar.

[0006] In a first aspect, to solve the above-mentioned technical problems, the present invention provides a ranging method based on ranging sonar, comprising the following steps:

[0007] S1. Simultaneously transmit a first sound wave signal corresponding to a first preset frequency and a second sound wave signal corresponding to a second preset frequency.

[0008] S2. Receive the first echo signal corresponding to the first acoustic signal and the second echo signal corresponding to the second acoustic signal;

[0009] S3. Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, determine the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave. The envelope function of the difference frequency transmission signal characterizes the frequency change of the first difference frequency sound wave during propagation.

[0010] S4. Based on the second difference frequency sound wave between the first echo signal and the second echo signal, determine the envelope function of the difference frequency received signal corresponding to the second difference frequency sound wave. The envelope function of the difference frequency received signal characterizes the frequency change of the second difference frequency sound wave during propagation.

[0011] S5. Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, determine the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process;

[0012] S6. Determine the detection distance based on the change in time difference.

[0013] The beneficial effects of the ranging method based on ranging sonar provided by this invention are as follows: By simultaneously transmitting first and second acoustic wave signals of different frequencies and receiving first and second echo signals, first and second difference frequency acoustic waves are generated in the salt cavity. The difference frequency acoustic waves (first or second difference frequency acoustic waves) have a lower frequency and a longer wavelength, which extends the detection range of the sonar. Finally, the time difference change is obtained through the difference frequency received signal envelope function and the difference frequency transmitted signal envelope function, and the detection range can be obtained through the time difference change. This solves the problem that when the salt cavity is far from the sonar, the echo signal cannot be obtained, thus making sonar ranging impossible.

[0014] Secondly, the present invention provides a ranging system based on ranging sonar, including an acoustic transceiver, a data transmission module and a ground control console, wherein the ground control console is connected to the data transmission module and the data transmission module is connected to the acoustic transceiver.

[0015] The data transmission module is used to control the acoustic transceiver to transmit the first acoustic signal and the second acoustic signal according to the commands and parameters of the ground control console, and to receive the first echo signal and the second echo signal.

[0016] The ground control console is specifically used for:

[0017] Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave is determined, and the envelope function of the difference frequency transmission signal characterizes the frequency change of the first difference frequency sound wave during propagation.

[0018] Based on the second difference frequency sound wave between the first echo signal and the second echo signal, the difference frequency received signal envelope function corresponding to the second difference frequency sound wave is determined. The difference frequency received signal envelope function characterizes the frequency change of the second difference frequency sound wave during propagation.

[0019] Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process is determined;

[0020] The detection distance is determined based on the change in the time difference.

[0021] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of a ranging method based on ranging sonar as described above.

[0022] Fourthly, the present invention also provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform steps of a ranging method based on ranging sonar. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 This is a flowchart illustrating a ranging method based on ranging sonar according to an embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of a ranging system based on ranging sonar according to an embodiment of the present invention;

[0026] Figure 3 This is a diagram showing the directivity of difference-frequency sound waves in air.

[0027] Figure 4 This is a diagram showing the directivity of difference frequency sound waves in water. Detailed Implementation

[0028] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation on the present invention.

[0029] The following describes, with reference to the accompanying drawings, a ranging method, system, electronic device, and medium based on ranging sonar according to embodiments of the present invention.

[0030] like Figure 1 As shown, this embodiment of the invention provides a ranging method based on ranging sonar, including the following steps:

[0031] S1. Simultaneously transmit a first acoustic signal corresponding to a first preset frequency and a second acoustic signal corresponding to a second preset frequency.

[0032] It should be noted that in the embodiments of the present invention, both the first preset frequency and the second preset frequency are high frequencies. The high frequency signals used in the embodiments of the present invention have higher resolution and can accurately distinguish different targets.

[0033] In this embodiment, simultaneously transmitting a first acoustic signal corresponding to a first preset frequency and a second acoustic signal corresponding to a second preset frequency includes:

[0034] A first original signal corresponding to a first preset frequency and a second original signal corresponding to a second preset frequency are generated by a generation circuit. Based on the first original signal and the second original signal, the first original signal and the second original signal are sequentially input into an amplitude modulation circuit and an amplification circuit to generate a first acoustic wave signal corresponding to the first modulation signal and a second acoustic wave signal corresponding to the second modulation signal.

[0035] An amplitude modulation circuit can combine the original signal generated by the generator circuit with the carrier signal to generate a modulated signal. Then, an amplifier circuit can amplify the power of the modulated signal to obtain an acoustic signal, making the transmitted acoustic signal stronger.

[0036] S2. Receive the first echo signal corresponding to the first acoustic signal and the second echo signal corresponding to the second acoustic signal.

[0037] The first echo signal is the echo signal generated when the first acoustic signal is sent to the detection point and encounters an obstacle, and the second echo signal is the echo signal generated when the second acoustic signal is sent to the detection point and encounters an obstacle.

[0038] In this embodiment, since the echo signal is an analog signal, the data transmission module cannot directly receive the analog signal. Therefore, it needs to be converted into a digital signal by an AD converter for reception. Before the conversion, the noise of the echo signal needs to be filtered out by a filter circuit, and then the echo signal is optimized and amplified by a signal amplifier. Finally, the optimized and amplified echo signal is converted into a digital signal by an AD converter.

[0039] Based on the above, the method also includes:

[0040] The first echo signal and the second echo signal are sequentially input into a filter circuit, a signal amplifier, and an AD converter to obtain a first digital signal corresponding to the first echo signal and a second digital signal corresponding to the second echo signal.

[0041] S3. Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, determine the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave. The envelope function of the difference frequency transmission signal characterizes the frequency change of the first difference frequency sound wave during propagation.

[0042] The first difference frequency sound wave can be represented as f1-f2, where f1 represents the first sound wave signal and f2 represents the second sound wave signal. The first difference frequency sound wave has a smaller frequency but a longer wavelength, which overcomes the problem of using high-frequency single-beam signals with a large frequency but a small wavelength and a short detection distance. Similarly, the second difference frequency sound wave can also be represented as f1-f2, where f1 represents the first echo signal and f2 represents the second echo signal.

[0043] In this embodiment, according to the Westerveld model, when two sound wave signals of different frequencies propagate parallel to a plane and propagate with their respective corresponding sound pressures, a difference frequency sound pressure is formed. At the same time, the difference frequency sound wave generated by the interaction of the two sound wave signals propagates in a linear manner, and there is a mapping relationship between the difference frequency sound wave and the difference frequency sound pressure.

[0044] Based on the above principle, the absorption coefficient and first sound pressure of the first original frequency wave corresponding to the first sound wave signal, the absorption coefficient and second sound pressure of the second original frequency wave corresponding to the second sound wave signal, the angular frequency, wave number and propagation time of the first difference frequency sound wave, and the sound field cross-sectional distance between the first sound wave and the second sound wave are obtained.

[0045] Based on the absorption coefficient and sound pressure of the first original frequency wave corresponding to the first sound wave signal, the absorption coefficient and sound pressure of the second original frequency wave corresponding to the second sound wave signal, the angular frequency, wave number, and propagation time of the first difference frequency sound wave, and the sound field cross-sectional distance between the first and second sound waves, the sound pressure of the difference frequency wave corresponding to the first difference frequency sound wave is determined by the first formula, wherein the first formula is:

[0046]

[0047] Where, p d Representing the difference frequency wave sound pressure, α1, α2, p 10 p 20 ω represents the absorption coefficient of the first original frequency wave, the absorption coefficient of the second original frequency wave, the first sound pressure level, and the second sound pressure level, respectively. d k d t and t represent angular frequency, wavenumber, and propagation time, respectively; x represents the distance across the sound field cross section; and J is a preset Bessel function.

[0048] Based on the difference frequency wave sound pressure and the preset acoustic-to-electrical conversion coefficient, the envelope function of the difference frequency transmitted signal is determined using the second formula, whereby:

[0049] Y d1 =b×p d ;

[0050] Y d1 Let represent the envelope function of the difference frequency transmitted signal, and b represent the acoustic-to-electrical conversion coefficient. S4. Based on the second difference frequency sound wave between the first echo signal and the second echo signal, determine the envelope function of the difference frequency received signal corresponding to the second difference frequency sound wave. The envelope function of the difference frequency received signal characterizes the frequency change of the second difference frequency sound wave during propagation.

[0051] In this embodiment, since the data transmission module cannot directly receive the echo signal and the ground control console cannot directly process the analog signal, the echo signal is converted into a digital signal. Based on the above, the difference frequency received signal envelope function corresponding to the second difference frequency sound wave is determined according to the second difference frequency sound wave between the first echo signal and the second echo signal. This includes: determining the difference frequency received signal envelope function corresponding to the second difference frequency sound wave according to the second difference frequency sound wave between the first digital signal and the second digital signal.

[0052] In addition, the envelope function of the difference frequency received signal can be directly obtained from the first digital signal and the second digital signal.

[0053] S5. Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, determine the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process.

[0054] In this embodiment, the time difference change is determined by a third formula based on the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal. The third formula is as follows:

[0055] [T] = corr(Y) d1 ,Y d2 );

[0056] Where [T] represents the change in time difference, corr() represents the autocorrelation function, and Y d1 ,Y d2 These represent the envelope functions of the difference frequency transmitted signal and the difference frequency received signal, respectively.

[0057] Additionally, corr(Y) d1 ,Y d2 ) is Y d1 With Y d2 The direct correlation function between the two, where [T] is the change in time difference, corr(Y) d1 ,Y d2 The larger the value of the function, the better Y is. d1 With Y d2 The greater the correlation between them, the more important it is for corr(Y) to be. d1 ,Y d2 When the value is at its maximum, the target value, which is the closest to the most accurate time difference between the first and second difference frequency sound waves during propagation, can be obtained. This is denoted by T0.

[0058] S6. Determine the detection distance based on the change in time difference.

[0059] In this embodiment, the detection distance is determined based on the target value and the speed of sound in the time difference change using a fourth formula, wherein the fourth formula is:

[0060] r = c × T0 / 2;

[0061] r represents the detection distance, c represents the speed of sound, and T0 represents the target value in the time difference change.

[0062] In the above embodiments of the present invention, by simultaneously transmitting first and second acoustic wave signals of different frequencies and receiving first and second echo signals, a first difference frequency acoustic wave and a second difference frequency acoustic wave are generated in the salt cavity. The difference frequency acoustic wave (first or second difference frequency acoustic wave) has a lower frequency and a longer wavelength, which extends the detection range of the sonar. Finally, the time difference change is obtained by passing the difference frequency received signal envelope function and the difference frequency transmitted signal envelope function, and the detection range can be obtained by the time difference change. This solves the problem that when the salt cavity is far from the sonar, the echo signal cannot be obtained, and sonar ranging cannot be performed.

[0063] like Figure 2 As shown in the figure, this embodiment of the invention also provides a ranging system based on ranging sonar, including an acoustic transceiver device, a data transmission module and a ground control console. The ground control console is connected to the data transmission module, and the data transmission module is connected to the acoustic transceiver device. The acoustic transceiver device includes a transmitter, a receiver and a transmitting / receiving transducer array.

[0064] In this embodiment, the data transmission module is used to control the acoustic transceiver to transmit the first acoustic signal and the second acoustic signal according to the commands and parameters of the ground control console, and to receive the first echo signal and the second echo signal.

[0065] The data transmission module serves as both the central controller and data acquisition unit for the acoustic transceiver device, collecting various data. Additionally, it receives commands and parameters from the ground control console. Commands include transmitting acoustic signals, while parameters include the transmission pulse width, transmission frequency, and transmission period.

[0066] In this embodiment, the acoustic transceiver is used to simultaneously transmit a first acoustic signal corresponding to a first preset frequency and a second acoustic signal corresponding to a second preset frequency, and to receive a first echo signal corresponding to the first acoustic signal and a second echo signal corresponding to the second acoustic signal.

[0067] The acoustic transceiver includes a transmitter, a receiver, and a transmitting / receiving transducer array. The transmitter and receiver are connected to the transmitting / receiving transducer array, respectively. The transmitter includes a generation circuit, an amplitude modulation circuit, and an amplification circuit. The generation circuit generates the original signals y1(t) = cos(f1t) and y2(t) = cos(f2t), where y1(t) and y2(t) represent original signal 1 and original signal 2, f1 and f2 represent the frequencies of original signal 1 and original signal 2, and t is time. The amplitude modulation circuit converts y1(t) and y2(t) into modulated signals Y1(t) = y1(t)cos(f0t) and Y2(t) = y2(t)cos(f0t), where Y1(t) = y1(t)cos(f0t). Y1(t) and Y2(t) are modulation signal 1 and modulation signal 2, cos(f0t) is the carrier signal, and f0 is the frequency of the carrier signal. The amplifier circuit is used to amplify the power of the modulation signal. Finally, the transmitter uses the amplified modulation signal as excitation and sends it to the transmitting transducer array for signal transmission. The receiver includes a filter circuit, a signal amplifier, and an AD converter. The filter circuit is used to filter out noise from the echo signal. The signal amplifier is used to increase and amplify the echo signal. The AD converter is used to convert the echo signal into a digital signal. The receiver sends the received and converted digital signal to the receiving transducer array. The transducer array then sends the digital signal to the data transmission module. The data transmission module then sends the received digital signal to the ground control console.

[0068] In this embodiment, the transmitting transducer array and the receiving transducer array are a shared array, internally composed of multiple piezoelectric ceramic longitudinal oscillators. The surface is made of explosion-proof material to withstand the high temperature and pressure environment of the salt chamber. The detection range of the transmitting / receiving transducer array in air is approximately 80m, and in water it is approximately 250m. Directivity tests are conducted by emitting 5kHz difference-frequency sound waves using the transmitting / receiving transducer array in both air and water. Directivity refers to the accuracy with which the emitted sound waves from the transmitting / receiving transducer array reach a designated point. Figure 3 and Figure 4 As shown, the horizontal axis represents the offset angle of the sound wave relative to a specified point when it reaches its destination in air and water, respectively, and the vertical axis represents the deflection interval corresponding to the offset angle of the sound wave in air and water, respectively. Figure 3 and Figure 4 It can be seen that the air directivity is about 1.8°@difference frequency 5kHz, and the water directivity is about 2.2°@difference frequency 5kHz. Therefore, it can be concluded that the transmitting / receiving transducer array has good directivity in both water and air media.

[0069] In this embodiment, the ground control console is specifically used for:

[0070] Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave is determined, and the envelope function of the difference frequency transmission signal characterizes the frequency change of the first difference frequency sound wave during propagation.

[0071] Based on the second difference frequency sound wave between the first echo signal and the second echo signal, the difference frequency received signal envelope function corresponding to the second difference frequency sound wave is determined. The difference frequency received signal envelope function characterizes the frequency change of the second difference frequency sound wave during propagation.

[0072] Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process is determined;

[0073] The detection distance is determined based on the change in the time difference.

[0074] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements some or all of the steps of the ranging method based on ranging sonar described above.

[0075] The electronic device can be a computer, and the corresponding program is computer software. The parameters and steps of the electronic device of the present invention can be referred to the parameters and steps in the above embodiment of the ranging method based on ranging sonar, and will not be repeated here.

[0076] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure can be embodied in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to—electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A ranging method based on ranging sonar, characterized in that, Includes the following steps: S1. Simultaneously transmit a first sound wave signal corresponding to a first preset frequency and a second sound wave signal corresponding to a second preset frequency. S2. Receive the first echo signal corresponding to the first acoustic signal and the second echo signal corresponding to the second acoustic signal; S3. Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, determine the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave, wherein the difference frequency transmission signal envelope function characterizes the frequency change of the first difference frequency sound wave during propagation. S4. Based on the second difference frequency sound wave between the first echo signal and the second echo signal, determine the difference frequency received signal envelope function corresponding to the second difference frequency sound wave, wherein the difference frequency received signal envelope function characterizes the frequency change of the second difference frequency sound wave during propagation. S5. Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, determine the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process; S6. Determine the detection distance based on the change in time difference.

2. The method according to claim 1, characterized in that, The simultaneous transmission of a first acoustic signal corresponding to a first preset frequency and a second acoustic signal corresponding to a second preset frequency includes: A first original signal corresponding to a first preset frequency and a second original signal corresponding to a second preset frequency are generated by the generation circuit. Based on the first original signal and the second original signal, the first original signal and the second original signal are sequentially input into the amplitude modulation circuit and the amplification circuit to generate a first acoustic wave signal corresponding to the first modulation signal and a second acoustic wave signal corresponding to the second modulation signal.

3. The method according to claim 1, characterized in that, Also includes: The first echo signal and the second echo signal are sequentially input into a filter circuit, a signal amplifier, and an AD converter to obtain a first digital signal corresponding to the first echo signal and a second digital signal corresponding to the second echo signal. The step of determining the envelope function of the difference frequency received signal corresponding to the second difference frequency acoustic wave based on the second difference frequency acoustic wave between the first echo signal and the second echo signal includes: Based on the second difference frequency acoustic wave between the first digital signal and the second digital signal, determine the envelope function of the difference frequency received signal corresponding to the second difference frequency acoustic wave.

4. The method according to claim 1, characterized in that, Also includes: The absorption coefficient and first sound pressure of the first original frequency wave corresponding to the first sound wave signal are obtained, as well as the absorption coefficient and second sound pressure of the second original frequency wave corresponding to the second sound wave signal, the angular frequency, wave number and propagation time of the first difference frequency sound wave, and the sound field cross-sectional distance between the first sound wave and the second sound wave are obtained. The step of determining the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal includes: Based on the first original frequency absorption coefficient and first sound pressure corresponding to the first sound wave signal, the second original frequency absorption coefficient and second sound pressure corresponding to the second sound wave signal, the angular frequency, wave number, and propagation time corresponding to the first difference frequency sound wave, and the sound field cross-sectional distance between the first sound wave and the second sound wave, the difference frequency sound pressure corresponding to the first difference frequency sound wave is determined by a first formula, wherein the first formula is: ； in, Indicates the difference frequency wave sound pressure. , They represent the first original frequency absorption coefficient, the second original frequency absorption coefficient, the first sound pressure level, and the second sound pressure level, respectively. , t and t represent angular frequency, wave number, and propagation time, respectively. Indicates the distance between the sound field cross sections. This is a preset Bessel function; Based on the difference frequency wave sound pressure and the preset acoustic-to-electrical conversion coefficient, the envelope function of the difference frequency transmission signal is determined using the second formula, wherein the second formula is: ； denoted as the envelope function of the difference frequency transmitted signal, and b represents the acoustic-to-electric conversion coefficient.

5. The method according to claim 4, characterized in that, Determining the change in time difference between the first and second difference frequency sound waves during propagation based on the linear relationship between the envelope function of the transmitted difference frequency signal and the envelope function of the received difference frequency signal includes: Based on the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, the change in time difference is determined by a third formula, wherein the third formula is: ； in, Indicates the change in time difference. Represents the autocorrelation function. These represent the envelope functions of the difference frequency transmitted signal and the difference frequency received signal, respectively.

6. The method according to any one of claims 1-5, characterized in that, Determining the detection distance based on the change in time difference includes: Based on the change in time difference, determine the target value in the change in time difference; Based on the target value and sound speed in the time difference change, the detection distance is determined using the fourth formula, wherein the fourth formula is: ； r represents the detection distance, and c represents the speed of sound. This represents the target value in the change of time difference.

7. A ranging system based on ranging sonar, characterized in that, It includes an acoustic transceiver, a data transmission module, and a ground control console, wherein the ground control console is connected to the data transmission module, and the data transmission module is connected to the acoustic transceiver. The data transmission module is used to control the acoustic transceiver to transmit the first acoustic signal and the second acoustic signal according to the commands and parameters of the ground control console, and to receive the first echo signal and the second echo signal. The acoustic transceiver is used to simultaneously transmit a first acoustic signal corresponding to a first preset frequency and a second acoustic signal corresponding to a second preset frequency, and to receive a first echo signal corresponding to the first acoustic signal and a second echo signal corresponding to the second acoustic signal. The ground control console is specifically used for: Based on the first difference frequency sound wave between the first sound wave signal and the second sound wave signal, the envelope function of the difference frequency transmission signal corresponding to the first difference frequency sound wave is determined, and the envelope function of the difference frequency transmission signal characterizes the frequency change of the first difference frequency sound wave during propagation. Based on the second difference frequency sound wave between the first echo signal and the second echo signal, the difference frequency received signal envelope function corresponding to the second difference frequency sound wave is determined. The difference frequency received signal envelope function characterizes the frequency change of the second difference frequency sound wave during propagation. Based on the linear relationship between the envelope function of the difference frequency transmitted signal and the envelope function of the difference frequency received signal, the change in time difference between the first difference frequency sound wave and the second difference frequency sound wave during the propagation process is determined; The detection distance is determined based on the change in the time difference.

8. The system according to claim 7, characterized in that, The acoustic transceiver includes a transmitter, a receiver, and a transmitting / receiving transducer array, wherein the transmitting / receiving transducer array is connected to the transmitter and the receiver, respectively. The transmitter is used to transmit the first acoustic signal and the second acoustic signal to the transmitting / receiving transducer array, and to transmit the first acoustic signal and the second acoustic signal to the detection point through the transmitting / receiving transducer array; The receiver is used to receive the first echo signal and the second echo signal received by the transmitting / receiving transducer array, and to send the first echo signal and the second echo signal to the data transmission module.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of a ranging method based on ranging sonar as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a terminal device, cause the terminal device to perform the steps of a ranging method based on ranging sonar as described in any one of claims 1 to 6.

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