A water depth value calculation method, device, equipment and storage medium

Abstract

The application provides a water depth value calculation method, device and equipment and a storage medium. The water depth value calculation method obtains historical frame data including a preset number of historical measurement frames and a current measurement frame, performs fitting processing on first sampling indexes of the historical measurement frames, determines an index estimation value, filters a second sampling index of the current measurement frame through the index estimation value, determines a target sampling index, filters an abnormal point and a corresponding abnormal second sampling index, and then calculates a target water depth value of the current measurement frame according to the target sampling index, thereby improving the accuracy of water depth calculation.

Description

Technical Field

[0001] This application relates to the field of signal processing, and in particular to a method, apparatus, device and storage medium for calculating water depth. Background Technology

[0002] Single-beam echo sounders are widely used in underwater acoustic detection, offering advantages such as low cost and ease of use in engineering applications. A single-beam echo sounder emits a single-frequency pulse sound wave. The sound wave propagates and reflects in the water, and the echo signal is received and collected by the sounder. The echo signal is processed to obtain a measurement frame, and the measurement frame is further processed to obtain the water depth value. Currently, single-beam bottom detection commonly uses the maximum peak echo detection method, which uses the index of the sampling time of the maximum value of the echo envelope signal (i.e., the measurement frame) as the echo delay to calculate the water depth. However, due to the complex and variable underwater environment, echo signals are easily affected by noise. Conventional bottom detection methods rely solely on the maximum value of the echo signal to determine the echo time for depth calculation, making it difficult to handle environments with high noise levels and undulating terrain, leading to inaccurate depth calculations. Summary of the Invention

[0003] This application provides a method, apparatus, device, and storage medium for calculating water depth, to solve at least one problem existing in related technologies. The technical solution is as follows:

[0004] In a first aspect, embodiments of this application provide a method for calculating water depth, including:

[0005] Acquire historical frame data and acquire the current measurement frame. The historical frame data includes a preset number of historical measurement frames. The historical measurement frames and the current measurement frame are obtained based on the echo signal collected by transmitting a single-frequency pulse sound wave.

[0006] The first sampling index of each of the historical measurement frames is fitted to determine the index estimate;

[0007] The target sampling index is determined by filtering the second sampling index of the current measurement frame using the index estimate.

[0008] The target water depth value of the current measurement frame is calculated based on the target sampling index.

[0009] In one implementation, the step of filtering the second sampling index of the current measurement frame using the index estimate to determine the target sampling index includes:

[0010] The range of index values ​​is determined based on the preset coefficients and the estimated index values.

[0011] From the current measurement frame, determine a preset number of candidate sampling indices corresponding to the maximum intensity values;

[0012] The target candidate sampling index is determined based on the index value range and the candidate sampling index;

[0013] The target sampling index is determined by iterating based on the target candidate sampling index.

[0014] In one implementation, determining the target candidate sampling index based on the index value range and the candidate sampling index includes:

[0015] Based on the index value range, candidate sampling indices located outside the index value range are first filtered out to obtain a first filtering result;

[0016] A target historical measurement frame is determined from a preset number of historical measurement frames, and the historical maximum intensity value in the target historical measurement frame is obtained;

[0017] Determine the threshold strength value based on the historical maximum strength value and the preset threshold;

[0018] Determine the maximum intensity value corresponding to the candidate sampling index in the filtering result. When the maximum intensity value is less than the threshold intensity value, perform a second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result to obtain the second filtering result.

[0019] The smallest candidate sampling index in the second filtering result is determined as the target candidate sampling index.

[0020] In one implementation, the step of iterating based on the target candidate sampling index to determine the target sampling index includes:

[0021] When the target candidate sampling index is empty, the index estimate is used as the target sampling index;

[0022] or,

[0023] When the target candidate sampling index is not empty, subtract the first preset value from the target candidate sampling index to obtain the updated sampling index;

[0024] Obtain the historical maximum intensity value in the target historical measurement frame, determine the intensity value corresponding to the updated sampling index, and when the intensity value is less than the historical maximum intensity value, use the updated sampling index as the target sampling index;

[0025] When the intensity value is greater than or equal to the historical maximum intensity value, the sampling index is updated as a new target candidate sampling index, and the step of subtracting the first preset value from the target candidate sampling index is returned until the intensity value is less than the historical maximum intensity value.

[0026] In one embodiment, the method further includes:

[0027] Remove the earliest historical measurement frame from the historical frame data, and generate new historical frame data based on the remaining historical measurement frames and the current measurement frame;

[0028] The current measurement frame is used as a new target historical measurement frame. A preset number of maximum intensity values ​​are arranged from largest to smallest. The maximum intensity value at the top of the arrangement is used as the new historical maximum intensity value. The target sampling index is used as the first sampling index of the current measurement frame.

[0029] Return to the step of obtaining the current measurement frame.

[0030] In one implementation, calculating the target water depth value of the current measurement frame based on the target sampling index includes:

[0031] Determine the sampling rate and the speed of sound;

[0032] Determine a first ratio of the target sampling index to the sampling rate, and determine a second ratio of the speed of sound to a second preset value;

[0033] The target water depth value of the current measurement frame is obtained by multiplying the first ratio and the second ratio.

[0034] In one implementation, fitting the first sampling index of each of the historical measurement frames to determine the index estimate includes:

[0035] The first sampling index of each of the historical measurement frames is fitted using the least squares method to obtain the index estimate.

[0036] Secondly, embodiments of this application provide a water depth calculation device, comprising:

[0037] The acquisition module is used to acquire historical frame data and the current measurement frame. The historical frame data includes a preset number of historical measurement frames. The historical measurement frames and the current measurement frame are obtained based on the echo signal collected by transmitting a single-frequency pulse sound wave.

[0038] The processing module is used to perform fitting processing on the first sampling index of each of the historical measurement frames to determine the index estimate;

[0039] The filtering module is used to filter the second sampling index of the current measurement frame using the index estimate to determine the target sampling index;

[0040] The calculation module is used to calculate the target water depth value of the current measurement frame based on the target sampling index.

[0041] In one embodiment, the computing module is further configured to:

[0042] Remove the earliest historical measurement frame from the historical frame data, and generate new historical frame data based on the remaining historical measurement frames and the current measurement frame;

[0043] The current measurement frame is used as a new target historical measurement frame. A preset number of maximum intensity values ​​are arranged from largest to smallest. The maximum intensity value at the top of the arrangement is used as the new historical maximum intensity value. The target sampling index is used as the first sampling index of the current measurement frame.

[0044] Return to the step of obtaining the current measurement frame.

[0045] Thirdly, embodiments of this application provide an electronic device, including: a processor and a memory, wherein the memory stores instructions that are loaded and executed by the processor to implement the methods in any of the above-described embodiments.

[0046] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed, implements the methods in any of the above-described embodiments.

[0047] The beneficial effects of the above technical solution include at least the following:

[0048] By acquiring historical frame data including a preset number of historical measurement frames and acquiring the current measurement frame, the first sampling index of each historical measurement frame is fitted to determine the index estimate. The second sampling index of the current measurement frame is then filtered using the index estimate to determine the target sampling index. This helps to filter out anomalies and their corresponding anomaly second sampling indices. Then, based on the target sampling index, the target water depth value of the current measurement frame is calculated, which helps to improve the accuracy of water depth calculation.

[0049] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0050] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0051] Figure 1 This is a schematic flowchart illustrating the steps of a water depth calculation method according to an embodiment of this application;

[0052] Figure 2(a) is a schematic diagram of single-beam echo signal depth measurement using conventional methods, and Figure 2(b) is a schematic diagram of single-beam echo signal depth measurement using the method of the embodiment of this application.

[0053] Figure 3 This is a structural block diagram of a water depth calculation device according to an embodiment of this application;

[0054] Figure 4 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0055] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0056] Reference Figure 1 The flowchart illustrates a water depth calculation method according to an embodiment of this application. The water depth calculation method may include at least steps S100-S400:

[0057] S100: Obtain historical frame data and obtain the current measurement frame.

[0058] Optionally, the historical frame data includes a preset number of historical measurement frames. These historical and current measurement frames are obtained based on the echo signals acquired from the transmitted single-frequency pulse acoustic waves. It should be noted that the preset number of frames can be adjusted based on actual conditions. For example, with a preset number of 5 frames, the historical frame data includes 5 historical measurement frames. Each measurement frame is obtained by transmitting a single-frequency pulse acoustic wave, acquiring the echo signal, and then digitally down-converting the echo signal using a common method to obtain the envelope signal data of the echo. The horizontal axis of the measurement frame represents the sampling point index, and the vertical axis represents the intensity value. For example, by transmitting 6 single-frequency pulse acoustic waves in chronological order and performing the above processing, 5 historical measurement frames and 1 current measurement frame can be obtained. These 5 historical measurement frames are then buffered.

[0059] S200. Fit the first sampling index of each historical measurement frame to determine the index estimate.

[0060] S300. Filter the second sampling index of the current measurement frame using the index estimate to determine the target sampling index.

[0061] S400. Calculate the target water depth value of the current measurement frame based on the target sampling index.

[0062] The water depth calculation method of this application embodiment can be executed by electronic control units, controllers, processors, etc. of terminals such as computers, mobile phones, tablets, and vehicle terminals, or it can be executed by a cloud server.

[0063] The technical solution of this application embodiment obtains historical frame data including a preset number of historical measurement frames and obtains the current measurement frame. It then performs fitting processing on the first sampling index of each historical measurement frame to determine the index estimate. Using the index estimate, it filters the second sampling index of the current measurement frame to determine the target sampling index. This helps to filter out anomalies and the corresponding anomaly second sampling index. Then, based on the target sampling index, it calculates the target water depth value of the current measurement frame, which helps to improve the accuracy of water depth calculation.

[0064] In one implementation, in step S200, the first sampling indices of the five historical measurement frames form a sampling point index array denoted as h = h1, h2, ..., h5, where h1 represents the first sampling index of the first historical measurement frame. The first sampling index of each historical measurement frame is fitted using the least squares method to obtain the index estimate h. est It should be noted that since there is no cached historical data before the first 5 historical measurement frames, the first 5 historical measurement frames are determined in a conventional manner, and the processing is carried out using the method of the embodiments of this application starting from the 6th frame, which is the current measurement frame.

[0065] In one implementation, step S300 includes steps S310-S340:

[0066] S310. Determine the range of index values ​​based on the preset coefficients and the index estimate.

[0067] For example, the preset coefficients may include 0.9 and 1.1, and the index estimate h is calculated. est The product of ' and 0.9 and the index estimate h est The product of ' and 1.1 determines the range of index values ​​(0.9h). est ',1.1h est ').

[0068] S320. Determine the candidate sampling indexes corresponding to a preset number of maximum intensity values ​​from the current measurement frame.

[0069] Optionally, the preset quantity is adjusted based on actual conditions; for example, a preset quantity of 3 can be used. For instance, the current measurement frame S (S = s1, s2, ..., s...) L ), LLet s be the frame length, and s1 be the intensity value of the first second sampling index. Assuming that the intensity values ​​of s6, s7, and s8 are the largest, the second sampling indices corresponding to the three largest intensity values ​​are 6, 7, and 8. These three second sampling indices corresponding to the three largest intensity values ​​are the candidate sampling indices.

[0070] S330. Determine the target candidate sampling index based on the index value range and the candidate sampling index.

[0071] Optionally, step S330 includes steps S3301-S3305:

[0072] S3301. Based on the index value range, perform a first filtering on candidate sampling indices that are outside the index value range to obtain the first filtering result.

[0073] Optionally, the index value range (0.9h) can be used. est ',1.1h est '), for values ​​within the index range (0.9h) est ',1.1h est Candidate sampling indices outside the range of ') are subjected to a first filtering, resulting in a first filtering result. The first filtering result retains the samples within the index value range (0.9h). est ',1.1h est The candidate sampling index within ').

[0074] S3302. Determine the target historical measurement frame from the preset number of historical measurement frames, and obtain the historical maximum intensity value in the target historical measurement frame.

[0075] Optionally, the last historical measurement frame (i.e., the fifth frame) in chronological order is selected as the target historical measurement frame. In other embodiments, other historical measurement frames can be used as the target historical measurement frame. Then, the historical maximum intensity value A in the target historical measurement frame is obtained. max .

[0076] S3303. Determine the threshold strength value based on the historical maximum strength value and the preset threshold.

[0077] Optionally, the preset threshold can be adjusted based on the signal-to-noise ratio, for example, it can be set to 30%. Therefore, the threshold strength value of 30%A is determined based on the product of the historical maximum intensity value and the preset threshold. max .

[0078] S3304. Determine the maximum intensity value corresponding to the candidate sampling index in the filtering result. When the maximum intensity value is less than the threshold intensity value, perform a second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result to obtain the second filtering result.

[0079] Optionally, the maximum intensity value corresponding to the candidate sampling index in the filtering results is determined, and when the maximum intensity value is less than 30% of the threshold intensity value, the maximum intensity value is determined. max At that time, the candidate sampling index corresponding to the maximum intensity value in the filtering result is subjected to a second filtering, resulting in a second filtering result. Therefore, the second filtering result retains the maximum intensity value that is greater than or equal to 30% of the threshold intensity value. max The corresponding candidate sampling index.

[0080] S3305. The smallest candidate sampling index in the second filtering result is determined as the target candidate sampling index.

[0081] Optionally, the smallest candidate sampling index in the second filtering result is determined as the target candidate sampling index. For example, if the second filtering result contains candidate sampling indices 6 and 7, then candidate sampling index 6 is used as the target candidate sampling index h. now' .

[0082] S340. Iterate according to the target candidate sampling index to determine the target sampling index.

[0083] Optionally, step S340 includes steps S3401 or S3402, where S3402 includes steps S34021-S34023:

[0084] S3401. When the target candidate sampling index is empty, the index estimate is used as the target sampling index.

[0085] Optionally, when the target candidate sampling index h now' If it is empty, the index estimate h will be... est 'As the target sampling index h' now .

[0086] S34021. When the target candidate sampling index is not empty, subtract the first preset value from the target candidate sampling index to obtain the updated sampling index.

[0087] Optionally, taking a first preset value of 1 as an example, when the target candidate sampling index h now' If the value is not empty, subtract the first preset value from the target candidate sampling index to obtain the updated sampling index, i.e., updated sampling index = h. now' -1.

[0088] S34022. Obtain the historical maximum intensity value in the target historical measurement frame, determine the intensity value corresponding to the updated sampling index, and when the intensity value is less than the historical maximum intensity value, use the updated sampling index as the target sampling index.

[0089] Optionally, obtain the historical maximum intensity value A from the target's historical measurement frames. maxDetermine the intensity value corresponding to the updated sampling index in the current measurement frame. When the intensity value is less than the historical maximum intensity value, use the updated sampling index as the target sampling index h. now .

[0090] S34023. When the intensity value is greater than or equal to the historical maximum intensity value, the sampling index will be updated as the new target candidate sampling index, and the step of subtracting the first preset value from the target candidate sampling index will be returned until the intensity value is less than the historical maximum intensity value.

[0091] Optionally, if the strength value is greater than or equal to the historical maximum strength value A max The updated sampling index is used as the new target candidate sampling index. The process of subtracting a first preset value from the target candidate sampling index is repeated until the intensity value is less than the historical maximum intensity value. At this point, the calculation stops, and the updated sampling index at this point is used as the target sampling index h. now .

[0092] In one implementation, step S400 includes steps S410-S430:

[0093] S410, determine the sampling rate and the speed of sound.

[0094] The sampling rate is determined based on the cutoff frequency of the low-pass filter in the digital downconversion, and it can satisfy the Nyquist sampling theorem.

[0095] S420, determine a first ratio of the target sampling index to the sampling rate, and determine a second ratio of the speed of sound to a second preset value.

[0096] S430. The target water depth value of the current measurement frame is obtained by multiplying the first ratio and the second ratio. Specifically, the formula for calculating the target water depth value H of the current measurement frame is:

[0097] H = h now / sampling rate × speed of sound / 2

[0098] In one embodiment, the water depth calculation method of this application may further include steps S510-S530:

[0099] S510. Remove the earliest historical measurement frame from the historical frame data, and generate new historical frame data based on the remaining historical measurement frames and the current measurement frame.

[0100] Optionally, the earliest historical measurement frame in the historical frame data can be removed, that is, the first historical measurement frame can be removed, and the remaining four historical measurement frames can be combined with the current measurement frame to form new historical frame data.

[0101] S520. Take the current measurement frame as the new target historical measurement frame, arrange the preset number of maximum intensity values ​​from largest to smallest, take the first maximum intensity value as the new historical maximum intensity value, and take the target sampling index as the first sampling index of the current measurement frame.

[0102] In this embodiment, since the 5th historical measurement frame is used as the target historical measurement frame, it is equivalent to using the current measurement frame as the new target historical measurement frame. A preset number of maximum intensity values ​​are arranged from largest to smallest, and the largest intensity value at the top of the arrangement is taken as the new historical maximum intensity value. For example, the preset number of maximum intensity values ​​are arranged from largest to smallest as s6, s7, s8, and the largest intensity value at the top of the arrangement is taken as the new historical maximum intensity value. max 'As the new historical maximum intensity value Amax, the target sampling index h is set...' now As the first sampling index of the current measurement frame.

[0103] S530, Return to the step of obtaining the current measurement frame.

[0104] Optionally, the first sampling index of the current measurement frame and the first sampling indices of the other four historical measurement frames form a new sampling point index array. After obtaining the new historical frame data, the process returns to the step of obtaining the current measurement frame, i.e., the step of obtaining the current measurement frame in step S100. A similar process is then performed to determine the new current measurement frame, resulting in a new target water depth value corresponding to the new current measurement frame. Therefore, each current measurement frame can ultimately determine a final target water depth value, i.e., the final water depth result corresponding to each current measurement frame.

[0105] As shown in Figures 2(a) and 2(b), the waveform of the signal is displayed. It is composed of multiple frames of single-beam echo signals arranged in columns. The strength of each frame of signal corresponds to the depth of the color. Each frame of signal calculates a black dot representing the target water depth value. In the display and control software, the signal is displayed from right to left according to the frame rate. The vertical axis represents the water depth value. The water depth black dot of the method in this embodiment of the application is closer to the leading edge of the red echo, indicating that the calculation is more accurate.

[0106] In summary, the method of this application embodiment, in the signal processing process, retrieves the peak value (maximum intensity value) of the current measurement frame, and then performs conditional filtering based on the index value range, the historical maximum intensity value, and the threshold intensity value determined by the preset threshold, thereby realizing the judgment and elimination of abnormal points. Compared with the existing maximum peak detection method, it effectively improves the stability of acoustic bottom tracking, that is, improves the stability and accuracy of target water depth value calculation, and can adapt to echo signal processing in complex underwater environments.

[0107] Reference Figure 3 The diagram shows a structural block diagram of a water depth calculation device according to an embodiment of this application. The device may include:

[0108] The acquisition module is used to acquire historical frame data and the current measurement frame. The historical frame data includes a preset number of historical measurement frames. The historical measurement frames and the current measurement frame are obtained based on the echo signal collected by transmitting a single-frequency pulse sound wave.

[0109] The processing module is used to fit the first sampling index of each historical measurement frame and determine the index estimate.

[0110] The filtering module is used to filter the second sampling index of the current measurement frame using the index estimate to determine the target sampling index;

[0111] The calculation module is used to calculate the target water depth value of the current measurement frame based on the target sampling index.

[0112] In one implementation, the computing module is further configured to:

[0113] Remove the earliest historical measurement frame from the historical frame data, and generate new historical frame data based on the remaining historical measurement frames and the current measurement frame.

[0114] The current measurement frame is used as the new target historical measurement frame. A preset number of maximum intensity values ​​are arranged from largest to smallest. The maximum intensity value at the top of the arrangement is used as the new historical maximum intensity value. The target sampling index is used as the first sampling index of the current measurement frame.

[0115] Return to the step that retrieved the current measurement frame.

[0116] The functions of each module in the devices of this application embodiment can be found in the corresponding descriptions in the above methods, and will not be repeated here.

[0117] Reference Figure 4 The diagram illustrates a structural block diagram of an electronic device according to an embodiment of this application. The electronic device includes a memory 310 and a processor 320. The memory 310 stores instructions that can be executed on the processor 320. The processor 320 loads and executes these instructions to implement the water depth calculation method described in the above embodiment. The number of memories 310 and processors 320 can be one or more.

[0118] In one embodiment, the electronic device further includes a communication interface 330 for communicating with external devices and exchanging data. If the memory 310, processor 320, and communication interface 330 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0119] Optionally, in a specific implementation, if the memory 310, processor 320 and communication interface 330 are integrated on a single chip, the memory 310, processor 320 and communication interface 330 can communicate with each other through an internal interface.

[0120] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the water depth calculation method provided in the above embodiments.

[0121] This application also provides a chip, which includes a processor for calling and executing instructions stored in a memory, causing a communication device on which the chip is installed to perform the method provided in this application.

[0122] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0123] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting the Advanced Reduced Instruction Set Computing (RISC) machine (ARM) architecture.

[0124] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include 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. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0125] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0126] 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 this application. 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 those different embodiments or examples.

[0127] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0128] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0129] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0130] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0131] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0132] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A water depth value calculation method characterized by, include: Acquire historical frame data and acquire the current measurement frame. The historical frame data includes a preset number of historical measurement frames. The historical measurement frames and the current measurement frame are obtained based on the echo signal collected by transmitting a single-frequency pulse sound wave. The first sampling index of each of the historical measurement frames is fitted to determine the index estimate; The target sampling index is determined by filtering the second sampling index of the current measurement frame using the index estimate. The target water depth value of the current measurement frame is calculated based on the target sampling index.

2. The water depth value calculation method according to claim 1, characterized by: The step of filtering the second sampling index of the current measurement frame using the index estimate to determine the target sampling index includes: The range of index values ​​is determined based on the preset coefficients and the estimated index values. From the current measurement frame, determine a preset number of candidate sampling indices corresponding to the maximum intensity values; The target candidate sampling index is determined based on the index value range and the candidate sampling index; The target sampling index is determined by iterating based on the target candidate sampling index.

3. The water depth value calculation method according to claim 2, characterized by: The step of determining the target candidate sampling index based on the index value range and the candidate sampling index includes: Based on the index value range, candidate sampling indices located outside the index value range are first filtered out to obtain a first filtering result; A target historical measurement frame is determined from a preset number of historical measurement frames, and the historical maximum intensity value in the target historical measurement frame is obtained; Determine the threshold strength value based on the historical maximum strength value and the preset threshold; Determine the maximum intensity value corresponding to the candidate sampling index in the filtering result. When the maximum intensity value is less than the threshold intensity value, perform a second filtering on the candidate sampling index corresponding to the maximum intensity value in the filtering result to obtain the second filtering result. The smallest candidate sampling index in the second filtering result is determined as the target candidate sampling index.

4. The method for calculating water depth according to claim 2, characterized in that: The step of iterating based on the target candidate sampling index to determine the target sampling index includes: When the target candidate sampling index is empty, the index estimate is used as the target sampling index; or, When the target candidate sampling index is not empty, subtract the first preset value from the target candidate sampling index to obtain the updated sampling index; Obtain the historical maximum intensity value in the target historical measurement frame, determine the intensity value corresponding to the updated sampling index, and when the intensity value is less than the historical maximum intensity value, use the updated sampling index as the target sampling index; When the intensity value is greater than or equal to the historical maximum intensity value, the sampling index is updated as a new target candidate sampling index, and the step of subtracting the first preset value from the target candidate sampling index is returned until the intensity value is less than the historical maximum intensity value.

5. The method for calculating water depth according to claim 3 or 4, characterized in that: The method further includes: Remove the earliest historical measurement frame from the historical frame data, and generate new historical frame data based on the remaining historical measurement frames and the current measurement frame; The current measurement frame is used as a new target historical measurement frame. A preset number of maximum intensity values ​​are arranged from largest to smallest. The maximum intensity value at the top of the arrangement is used as the new historical maximum intensity value. The target sampling index is used as the first sampling index of the current measurement frame. Return to the step of obtaining the current measurement frame.

6. The method for calculating water depth according to any one of claims 1-4, characterized in that: The step of calculating the target water depth value of the current measurement frame based on the target sampling index includes: Determine the sampling rate and the speed of sound; Determine a first ratio of the target sampling index to the sampling rate, and determine a second ratio of the speed of sound to a second preset value; The target water depth value of the current measurement frame is obtained by multiplying the first ratio and the second ratio.

7. The method for calculating water depth according to any one of claims 1-4, characterized in that: The process of fitting the first sampling index of each of the historical measurement frames to determine the index estimate includes: The first sampling index of each of the historical measurement frames is fitted using the least squares method to obtain the index estimate.

8. A water depth calculation device, characterized in that, include: The acquisition module is used to acquire historical frame data and the current measurement frame. The historical frame data includes a preset number of historical measurement frames. The historical measurement frames and the current measurement frame are obtained based on the echo signal collected by transmitting a single-frequency pulse sound wave. The processing module is used to perform fitting processing on the first sampling index of each of the historical measurement frames to determine the index estimate; The filtering module is used to filter the second sampling index of the current measurement frame using the index estimate to determine the target sampling index; The calculation module is used to calculate the target water depth value of the current measurement frame based on the target sampling index.

9. An electronic device, characterized in that, include: A processor and a memory, wherein instructions are stored in the memory and loaded and executed by the processor to implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program therein, which, when executed, implements the method as described in any one of claims 1-7.

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