A method, device, equipment and medium for finding direction of marine mammals by ticking sound

Abstract

The present application discloses a method, device, equipment and medium for finding the direction of marine mammals by clicking sound, and relates to the field of target direction finding. The method includes: determining the time difference between multiple extracted clicking sound signals, and using the time difference as the real time delay vector; using multiple equally spaced array elements to collect the clicking sound signal of the sound source target according to the set time length; constructing a three-dimensional coordinate system, determining the three-dimensional coordinates of each array element, and determining the sound path difference of the clicking sound signal of the sound source target to each array element at every set angle within the horizontal field of view; normalizing the sound path difference of each array element to obtain the array element delay vector; performing cross-correlation calculation on the real time delay vector and the array element delay vector, performing angle compensation on the angle corresponding to the maximum value of the cross-correlation calculation to obtain the wave angle, and obtaining the direction of the marine mammal to be located. The present application can meet the demand for real-time direction finding of marine mammals by clicking sound, and solve the real-time problem of the limited computing power system in the prior art.

Description

Technical Field

[0001] The present application relates to the field of target direction finding, and in particular to a method, device, equipment and medium for finding the direction of a marine mammal using click sound. Background Art

[0002] The echolocation signals of marine mammals such as cetaceans, also known as clicks, are short-duration, broadband pulse signals that last for tens of microseconds and have a frequency range of 10kHz to 150kHz. Such signals often appear in the form of continuous pulse trains. This signal is mainly used to detect and distinguish targets, and is used for marine mammals’ positioning, foraging, and other activities. Using the echolocation calls of animals to conduct acoustic monitoring is the most important way to investigate the population distribution and occurrence of marine animals. Therefore, marine mammals can be located by detecting and finding the direction of their vocalizations.

[0003] Since the clicks emitted by marine mammals such as cetaceans are not continuous waves but fast, intermittent sound pulses, they are broadband high-frequency signals. The hydrophone spacing cannot achieve half-wavelength array, resulting in the failure of the phase-shift beamforming commonly used in sonar systems. In addition, in solar-powered real-time detection systems for marine mammals, low-power edge devices are often used to perform detection and direction-finding tasks. The three-element hydrophone direction-finding method has higher computational efficiency. For example, Sun Dajun et al. proposed an angle estimation method in Chinese patent CN111398902B, which is mainly divided into two steps. One step is to estimate the time difference between array elements and calculate the incident angle; the other step is to correct the incident angle based on the comparison result of the time difference. However, the existing click direction-finding method has real-time problems in systems with limited computing power. Summary of the invention

[0004] The purpose of this application is to provide a method, device, equipment and medium for marine mammal ticking direction finding, which can meet the needs of real-time marine mammal ticking direction finding, thereby solving the real-time problem of limited computing power systems in the prior art.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for finding the direction of a marine mammal using a ticking sound, the method comprising:

[0007] Multiple segments of ticking sound signals are extracted from the marine mammal sound signals of a set duration; the marine mammal sound signals are collected by using an array marine mammal passive direction finding system composed of multiple equally spaced array elements;

[0008] Determine the time difference between the multiple tick signals, and use the time difference as a real delay vector;

[0009] Taking the marine mammal to be located as the sound source target, a plurality of equally spaced array elements are used to collect the ticking sound signal of the sound source target according to a set time length; the array elements include hydrophones;

[0010] A three-dimensional coordinate system is constructed with the line connecting the two array elements as the y-axis and the midpoint of the line connecting the two array elements as the origin of the coordinate system to determine the three-dimensional coordinates of each array element.

[0011] Based on the three-dimensional coordinates of each array element, determine the sound path difference of the click sound signal of the sound source target reaching each array element at every set angle within the horizontal field of view;

[0012] Normalize the acoustic path difference of each array element to obtain the array element delay vector;

[0013] Performing cross-correlation calculation on the real time delay vector and the array element time delay vector, and obtaining an angle corresponding to a maximum value of the cross-correlation calculation;

[0014] Angle compensation is performed on the angle to obtain the angle of arrival, and the true position of the marine mammal to be located is obtained based on the angle of arrival.

[0015] Optionally, in the process of determining the time difference between multiple segments of tick signals, a tick signal whose time difference is less than a time difference threshold is taken as a segment of tick signal; the time difference threshold is determined based on the array element spacing and the speed of sound in water.

[0016] Optionally, when the array marine mammal passive direction finding system is composed of three equally spaced array elements, the acoustic path difference of the click signal of the sound source target reaching each array element is expressed as:

[0017] ;

[0018] ;

[0019] In the formula, The acoustic path difference between the click signal of the sound source target and the first array element and the second array element; Indicates the sound path of the tick signal from the sound source target to the first array element. , Indicates the sound path of the click signal from the sound source target to the second array element. ; Indicates the acoustic path difference between the first array element and the third array element; The sound path of the ticking signal from the sound source target to the third array element, ; The azimuth of the click signal representing the sound source target, .

[0020] Optionally, normalizing the acoustic path difference of each array element to obtain an array element delay vector specifically includes:

[0021] Using formula Normalize the sound path difference of each array element to obtain a normalized result;

[0022] Based on the normalized results and the speed of sound in water, the formula Determine array element delay vector;

[0023] In the formula, represents the normalized result, represents the array element delay vector, Represents the speed of sound in water.

[0024] In a second aspect, the present application provides a device for finding direction of marine mammals by clicking sound, the device comprising:

[0025] An array marine mammal passive direction finding system consisting of multiple equally spaced array elements, used to collect marine mammal acoustic signals and ticking signals of marine mammals to be located;

[0026] The processing system is connected to the array marine mammal passive direction finding system and is used to implement the marine mammal tick direction finding method provided above based on the marine mammal acoustic signal and the tick signal of the marine mammal to be located, so as to obtain the true position of the marine mammal to be located.

[0027] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the above-described methods for marine mammal direction finding by clicking.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described methods for marine mammal click direction finding.

[0029] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0030] The present application provides a method, device, equipment and medium for finding the direction of marine mammals by using ticking sound. By obtaining a real delay vector and an array element delay vector and performing cross-correlation calculation on the real delay vector and the array element delay vector, real-time direction finding of marine mammals can be achieved on a low-power device to meet the demand for real-time direction finding of marine mammals by using ticking sound, thereby solving the real-time problem of systems with limited computing power existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is a diagram of the application environment of a method for finding the direction of a marine mammal using ticking sounds in one embodiment of the present application.

[0033] Figure 2 A schematic flow chart of a method for finding the direction of a marine mammal using ticking sounds provided in one embodiment of the present application.

[0034] Figure 3 A schematic diagram of a process for extracting multiple segments of ticking sound signals from a marine mammal sound signal of a set duration provided in an embodiment of the present application.

[0035] Figure 4 The first tick signal provided in an embodiment of the present application Time domain waveform diagram.

[0036] Figure 5 The second tick signal provided in an embodiment of the present application Time domain waveform diagram.

[0037] Figure 6 The third tick signal provided in an embodiment of the present application Time domain waveform diagram.

[0038] Figure 7 A schematic diagram of a three-dimensional coordinate system provided in accordance with an embodiment of the present application.

[0039] Figure 8 This is a functional schematic diagram of a marine mammal ticking direction-finding device provided in one embodiment of the present application.

[0040] Fig. 9 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0043] The method for finding the direction of a marine mammal by clicking sound provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, Figure 1 The Chinese finless porpoise represents marine mammals. The processing system in the ship obtains the true position of the marine mammal to be located based on the marine mammal sound signal and the ticking sound signal of the marine mammal to be located. The processing system can be implemented by an independent server or a server cluster composed of multiple servers, or a cloud server. Figure 1 In the process, the receiving hydrophone array is arranged underwater, and the processing system is arranged on the monitoring platform on the water surface. The hydrophone array (or array element) receives clicks signals from underwater marine mammals, performs data processing and identification, and sends the monitoring information to the cloud software platform in real time, calculates the target position of underwater marine mammals, and transmits the results to the human-computer interaction display terminal. Among them, the terminal can be but not limited to various desktop computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0044] In an exemplary embodiment, Figure 2 As shown, a method for finding the direction of marine mammals by clicking sound is provided. The method is executed by a computer device, and can be executed by a computer device such as a ship terminal or a server alone, or can be executed by a ship terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server in the example is used to illustrate, including the following steps 200 to 207. Among them:

[0045] Step 200: extract multiple segments of ticking sound signals from the marine mammal sound signal of the set duration. The marine mammal sound signal is collected by an array marine mammal passive direction finding system composed of multiple equally spaced array elements. The method for extracting the ticking sound signal can be found in Chinese patent application CN118173123A, but is not limited thereto.

[0046] Step 201: Determine the time difference between multiple segments of tick signals, and use the time difference as the real delay vector. In the process of determining the time difference between multiple segments of tick signals, the tick signal with a time difference less than a time difference threshold is used as a tick signal. The time difference threshold is determined based on the array element spacing and the speed of sound in water, for example, , where is the time difference threshold, represents the array element spacing, Represents the speed of sound in water.

[0047] For example, to calculate the first tick signal , Second tick signal and the third tick signal At this time, the time difference of all matches is recorded as the delay vector and , which is the real time delay vector .

[0048] Step 202: Taking the marine mammal to be located as the sound source target, a plurality of equally spaced array elements are used to collect the ticking sound signal of the sound source target according to a set time duration. The array elements include hydrophones.

[0049] Step 203: construct a three-dimensional coordinate system with the line connecting the two array elements as the y-axis and the midpoint of the line connecting the two array elements as the coordinate origin, and determine the three-dimensional coordinates of each array element.

[0050] Step 204: Based on the three-dimensional coordinates of each array element, determine the sound path difference of the click sound signal of the sound source target reaching each array element at every set angle within the horizontal field of view.

[0051] Step 205: normalize the acoustic path difference of each array element to obtain an array element delay vector.

[0052] Step 206: perform cross-correlation calculation on the real delay vector and the array element delay vector, and obtain the angle corresponding to the maximum value of the cross-correlation calculation.

[0053] Step 207: Perform angle compensation on the angle (convert it to the geographic north direction as a reference) to obtain the angle of arrival, and obtain the true position of the marine mammal to be located based on the angle of arrival.

[0054] By implementing the above steps 200 to 207, real-time direction finding of marine mammals can be realized on low-power devices to meet the demand for real-time direction finding of marine mammals by ticking sounds, thereby solving the real-time problem of limited computing power systems in the prior art.

[0055] In another exemplary embodiment of the present application, taking the processing of a 60-second click signal of a finless porpoise as an example, the implementation process of step 201 provided above in the present application is described in detail.

[0056] The 60-second clicks signal of the finless porpoise is segmented, and the data is processed once every 1 second and the processing results are output every second. For these data, the processing steps of this embodiment are shown in Figure 3 As shown, including:

[0057] (1) Filtering and anti-interference processing of clicks signals.

[0058] First, extract a three-channel click signal with a total length of 1 second , and the signal Three signals of the same length: the first signal , the second signal And the third signal The three signals of the same length are subjected to tick detection (see Chinese patent application CN118173123A for the specific extraction method) to obtain three tick signals, which are the first tick signal , Second tick signal and the third tick signal After filtering and anti-interference processing, the time domain waveforms of the three clicks signals are as follows: Figure 4-Figure 6 shown.

[0059] If the number of detected peaks is less than 5, continuous clicks detection is directly performed on the array locs to remove non-continuous clicks signals. The final clicks signal is the clicks signal with strong interference removed.

[0060] For the second tick signal and the third tick signal Also perform the above operations to get multiple tick signals.

[0061] In another exemplary embodiment of the present application, the implementation process of step 203 to step 207 provided above in the present application is described by taking the array marine mammal passive direction finding system composed of three equally spaced array elements as an example. Specifically:

[0062] Set marine mammals (such as finless porpoises) as point sound source targets , three equally spaced array elements are respectively The clicks signal is collected, and the collection time is .

[0063] The three equally spaced array elements are located at , and Coordinates. and The center point is the coordinate origin . The direction is the y-axis direction, The direction is the z-axis direction, the x-axis is perpendicular to the yz plane, and the construction is as follows Figure 7 The three-dimensional coordinate system shown, Figure 7 middle Represents the spatial azimuth. Based on the constructed three-dimensional coordinate system, first calculate the relative position of each array element to the origin of the coordinate system. The direction and distance of the array element are obtained to obtain the three-dimensional coordinates of the array element.

[0064] In horizontal field of view Within the range, the acoustic path difference between the clicks signal reaching the first array element and the second array element and between the first array element and the third array element is calculated at every set angle (for example, 1°). The calculation process of the acoustic path difference between the clicks signal reaching the first array element and the second array element and between the first array element and the third array element is expressed as:

[0065] .

[0066] .

[0067] .

[0068] , .

[0069] In the formula, The acoustic path difference between the tick signal of the sound source target reaching the first array element and the second array element, Indicates the sound path of the tick signal from the sound source target to the first array element. Indicates the sound path of the click signal from the sound source target to the second array element. Indicates the acoustic path difference between the first array element and the third array element. Indicates the acoustic path of the click signal from the sound source target to the third array element.

[0070] In another exemplary embodiment of the present application, the implementation process of step 205 can be described as follows:

[0071] Step 1: Use the formula The sound path difference of each array element is normalized to obtain a normalized result.

[0072] Step 2: Based on the normalized result and the speed of sound in water, use the formula Determine the array element delay vector.

[0073] In the formula, represents the normalized result, Represents the array element delay vector.

[0074] Step 3: Record all the obtained time differences as the array manifold matrix of the array to obtain the array element delay vector. The array element delay vector is expressed as , It means that the time difference between the click signal reaching the first array element and the second array element is calculated after the sound path difference is normalized. It means that the time difference between the clicks signal reaching the first array element and the third array element is calculated after the sound path difference is normalized.

[0075] In another exemplary embodiment of the present application, in order to implement cross-correlation processing and peak detection, the real delay vector of the clicks signal can be and array element delay vector Perform cross-correlation calculation and find the angle corresponding to the maximum value of the cross-correlation calculation. Based on this, the specific process of cross-correlation calculation can be:

[0076] (1) Prepare the real delay vector of the click signal and array element delay vector .

[0077] (2) Using xcorr( , ) function calculates the real delay vector and array element delay vector The cross-correlation between them. Among them, xcorr() is the cross-correlation operation.

[0078] The basic principles and implementation scheme of the method provided above in the present application have been verified by computer numerical simulation and have been verified by actual application in a real-time acoustic monitoring system for marine mammals. The results show that the marine mammal click direction finding method proposed in the present application is an efficient direction finding method, which can be used to find the direction and locate the clicks signals emitted by the finless porpoise, and during the implementation process, there is no need to store the weights of the algorithm's orientation matching in the hardware system, which not only saves limited hardware resources, but also can realize rapid direction finding and positioning of the finless porpoise, and facilitates the real-time direction finding of marine mammals on low-power devices.

[0079] Based on the same inventive concept, the embodiment of the present application also provides a marine mammal ticking direction finding device for implementing the marine mammal ticking direction finding method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more marine mammal ticking direction finding device embodiments provided below can refer to the limitations of the marine mammal ticking direction finding method above, and will not be repeated here.

[0080] In an exemplary embodiment, a marine mammal click direction finding device is provided, the device comprising:

[0081] An array marine mammal passive direction finding system composed of multiple equally spaced array elements is used to collect marine mammal acoustic signals and ticking signals of marine mammals to be located.

[0082] The processing system is connected to the array marine mammal passive direction finding system and is used to implement the marine mammal tick direction finding method provided above based on the marine mammal acoustic signal and the tick signal of the marine mammal to be located, so as to obtain the real position of the marine mammal to be located.

[0083] As an optional implementation, Figure 8 As shown, taking the finless porpoise as an example, the implementation process of the marine mammal click direction finding device provided by the present application can be summarized as follows: First, the hydrophone (i.e., array element) array receives and collects the clicks signal of the underwater finless porpoise. Then, the clicks signal is processed and identified, and the processed clicks signal is sent to the cloud software platform in real time to locate the finless porpoise, and finally the result is displayed on the human-computer interaction terminal.

[0084] As an optional implementation, the marine mammal ticking direction-finding device provided in the present application utilizes solar panels to generate electricity, and then powers the entire system through voltage step-down and voltage stabilization, thereby saving energy.

[0085] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig. 9As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the direction-finding data of marine mammals. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for finding the direction of marine mammals by clicking is implemented.

[0086] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0087] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0088] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0089] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0090] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0091] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0092] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for finding the direction of a marine mammal by using ticking sound, characterized in that: The marine mammal tick direction finding method comprises: Multiple segments of ticking sound signals are extracted from the marine mammal sound signals of a set duration; the marine mammal sound signals are collected by using an array marine mammal passive direction finding system composed of multiple equally spaced array elements; Determine the time difference between the multiple tick signals, and use the time difference as a real delay vector; Taking the marine mammal to be located as the sound source target, a plurality of equally spaced array elements are used to collect the ticking sound signal of the sound source target according to a set time length; the array elements include a hydrophone; The three equally spaced array elements are located at , and Coordinates; and The center point is the coordinate origin ; Coordinate origin arrive The direction is the positive direction of the y-axis, and the coordinate origin arrive The direction is the positive direction of the z-axis, the x-axis is perpendicular to the y-axis and the yz plane formed by the x-axis, and a three-dimensional coordinate system is constructed; Based on the three-dimensional coordinates of each array element, determine the sound path difference of the click sound signal of the sound source target reaching each array element at every set angle within the horizontal field of view; Normalize the acoustic path difference of each array element to obtain the array element delay vector; Performing cross-correlation calculation on the real time delay vector and the array element time delay vector, and obtaining an angle corresponding to a maximum value of the cross-correlation calculation; Performing angle compensation on the angle to obtain an angle of arrival, and obtaining the true position of the marine mammal to be located based on the angle of arrival; The acoustic path difference of each array element is normalized to obtain the array element delay vector, which specifically includes: Using formula Normalize the sound path difference of each array element to obtain a normalized result; Based on the normalized results and the speed of sound in water, the formula Determine array element delay vector; In the formula, The acoustic path difference between the click signal of the sound source target reaching the first array element and the second array element; Indicates the acoustic path difference between the first array element and the third array element; represents the normalized result, represents the array element delay vector, Represents the speed of sound in water.

2. The method for finding the direction of marine mammals by ticking sound according to claim 1, characterized in that: In the process of determining the time difference between multiple segments of tick signals, a tick signal whose time difference is less than a time difference threshold is regarded as a segment of tick signal; the time difference threshold is determined based on the array element spacing and the speed of sound in water.

3. The method for finding the direction of marine mammals by ticking sound according to claim 2, characterized in that: When the array marine mammal passive direction finding system is composed of three equally spaced array elements, the acoustic path difference of the click signal of the sound source target reaching each array element is expressed as: ； ； In the formula, Indicates the sound path of the tick signal from the sound source target to the first array element. , Indicates the sound path of the click signal from the sound source target to the second array element. ; The sound path of the ticking signal from the sound source target to the third array element, ; The azimuth of the click signal representing the sound source target is the angle between the x-axis and the sound source target. .

4. A marine mammal ticking direction finding device, characterized in that: The device comprises: An array marine mammal passive direction finding system consisting of multiple equally spaced array elements, used to collect marine mammal acoustic signals and ticking signals of marine mammals to be located; A processing system is connected to the array marine mammal passive direction finding system, and is used to implement the marine mammal tick direction finding method as described in any one of claims 1 to 3 based on the marine mammal acoustic signal and the tick signal of the marine mammal to be located, so as to obtain the true position of the marine mammal to be located.

5. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the marine mammal tick direction finding method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for finding the direction of a marine mammal by clicking sound according to any one of claims 1 to 3 is implemented.

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