Indirect detection method and device for underwater vehicles based on wake vortex characteristics

Abstract

The present invention relates to a method and device for indirect detection of underwater vehicles based on wake vortex characteristics, belonging to the field of underwater reconnaissance and surveillance technology. The method comprises: determining an acoustic characteristic calculation model based on the theory of the perturbation of the propagation velocity of sound propagation by a moving medium, and obtaining phase change information when the sound wave passes through the wake vortex according to the acoustic characteristic calculation model; determining a relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and the phase change information; constructing a detection array and detecting underwater vehicles in the area to be detected to obtain real-time detection signal characteristics; and determining the vehicle state corresponding to the real-time detection signal characteristics based on the relationship model between the acoustic signal characteristics and the array form. The present invention solves the technical problems in the prior art that new detection technologies are difficult to implement underwater and have limited detection range.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater reconnaissance and surveillance, and in particular to a method and device for indirect detection of underwater vehicles based on wake vortex characteristics. Background Art

[0002] With the development of noise reduction technology, surface acoustic wave noise reduction technology can now make the reflected sound waves of underwater vehicles close to the background noise of the ocean itself. The traditional acoustic method of directly detecting underwater vehicles themselves can no longer meet the detection needs of modern underwater vehicles.

[0003] Wake detection technology utilizes the wakes created by underwater vehicles as they travel underwater. Wake detection allows for indirect detection of underwater vehicles. Wakes of underwater vehicles include: wakes, bubble wakes, thermal wakes, and vortexes. Different detection technologies are developed for different wakes. Infrared detection primarily uses infrared detectors to detect thermal wakes of underwater vehicles. Infrared detectors operate relatively discreetly, making them difficult to detect and usable both day and night. Synthetic aperture radar (SAR) primarily uses microwaves to detect the sea surface, detecting the wakes of shipwrecks that spread across the surface. It has the advantages of high positioning accuracy, a wide detection range, rapid target detection, and the ability to operate in harsh environments and at night.

[0004] Although some relatively mature new detection technologies currently exist, they still have certain limitations due to their principles and characteristics. Magnetic anomaly detection has limited ability to resolve magnetic anomaly sources, and the target magnetic field signal is weak and the magnetic field decays rapidly. Laser detectors have a limited range, generally effective within a hundred meters. Due to the severe attenuation of light by seawater, it is difficult to find the original direction of the laser after multiple scattering by the water. Infrared detection mainly uses the thermal trail information of underwater vehicles for detection. It can only detect whether there is a target nearby, but cannot determine the target's specific location. It is also significantly affected by bad weather. SAR operates in the microwave band, and microwaves have difficulty penetrating seawater, thus limiting its detection range. SAR can only detect the sea surface. Summary of the Invention

[0005] In view of this, it is necessary to provide an indirect detection method and device for underwater vehicles based on the wake vortex characteristics to solve the technical problem in the existing technology that the detection of new detection technologies is easily interfered by seawater, resulting in limited detection range.

[0006] In order to solve the above problems, the present invention provides an indirect detection method for underwater vehicles based on wake vortex characteristics, comprising:

[0007] Based on the theory of the perturbation of the propagation velocity of sound by a moving medium, an acoustic characteristic calculation model is determined, and the phase change information of the sound wave when it passes through the wake vortex is obtained according to the acoustic characteristic calculation model;

[0008] Based on the acoustic characteristic calculation model and phase change information, the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements is determined;

[0009] Construct a detection array and detect underwater vehicles in the area to be detected to obtain real-time detection signal characteristics;

[0010] According to the relationship model between the acoustic signal characteristics and the array form, the aircraft state corresponding to the real-time detection signal characteristics is determined.

[0011] In one possible implementation, determining an acoustic feature calculation model based on a perturbation theory of the propagation velocity of sound propagation in a moving medium, and obtaining phase change information of a sound wave when it passes through a wake vortex according to the acoustic feature calculation model, includes:

[0012] Determine the speed of sound at a certain point in the medium based on the degree to which the moving medium affects the speed of sound propagation;

[0013] Determine the propagation time of sound in the corresponding area based on the sound velocity at a certain point and the flow field data of the area;

[0014] According to the propagation time of sound, the time delay and phase difference of the receiving and transmitting signals when the sound passes through the eddy current field are determined.

[0015] In one possible implementation, determining the propagation time of sound in a corresponding area based on the sound velocity at a certain point and flow field data of the area includes:

[0016] Perform interpolation processing on the flow field data to obtain the interpolation result;

[0017] Divide the sound propagation path of the area into a number of equally spaced sound propagation points;

[0018] Based on the interpolation results and multiple equally spaced sound propagation points, the sound propagation time in the corresponding area is determined.

[0019] In one possible implementation, determining the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information includes:

[0020] A preset computational fluid dynamics method is used to obtain a preset wake vortex shape of the underwater vehicle;

[0021] Through different acoustic signal propagation paths and based on the acoustic characteristic calculation model, the acoustic signal characteristics corresponding to different detection arrays under the preset wake vortex shape are determined;

[0022] The relationship model is determined according to the acoustic signal characteristics corresponding to different arrays.

[0023] In a possible implementation, the preset tail vortex shape includes a first-state tail vortex and a second-state tail vortex; the relationship model includes:

[0024] When the preset tail vortex shape is a first-state tail vortex, the phase change amplitude of the sound wave obtained by the vertical array when passing through the tail vortex is greater than the phase change amplitude of the sound wave obtained by the horizontal array when passing through the tail vortex, and it is determined that the acoustic signal feature obtained by the vertical array corresponds to the first-state tail vortex;

[0025] When the preset tail vortex shape is the second-state tail vortex, the phase change amplitude of the sound wave obtained by the horizontal array when passing through the tail vortex is greater than the phase change amplitude of the sound wave obtained by the vertical array when passing through the tail vortex, and it is determined that the acoustic signal characteristics obtained by the horizontal array correspond to the second-state tail vortex.

[0026] In one possible implementation, determining the aircraft state corresponding to the real-time detection signal feature based on the relationship model between the acoustic signal feature and the array form includes:

[0027] When the real-time detection signal feature is obtained through a horizontal detection array, determining that the aircraft state corresponding to the real-time detection signal feature is a second-state tail vortex;

[0028] When the real-time detection signal feature is obtained through a vertical detection array, it is determined that the aircraft state corresponding to the real-time detection signal feature is a first state tail vortex.

[0029] In a possible implementation, determining the aircraft state corresponding to the real-time detection signal feature further includes:

[0030] Based on the constructed detection array, the sensor position corresponding to the real-time detection signal characteristics is determined;

[0031] Determine the tail vortex position based on the sensor position;

[0032] The position of the aircraft is determined based on the position of the tail vortex.

[0033] In a second aspect, the present invention further provides an indirect detection device for underwater vehicles based on wake vortex characteristics, comprising:

[0034] A phase change information determination module is used to determine an acoustic feature calculation model based on the perturbation theory of the propagation velocity of sound propagation by a moving medium, and obtain phase change information when the sound wave passes through the wake vortex according to the acoustic feature calculation model;

[0035] A relationship model determination module is used to determine the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information;

[0036] A real-time signal acquisition module is used to construct a detection array and detect underwater vehicles in the area to be detected to obtain real-time detection signal characteristics;

[0037] The state determination module is used to determine the aircraft state corresponding to the real-time detection signal characteristics based on the relationship model between the acoustic signal characteristics and the array form.

[0038] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0039] The memory stores a computer-readable program executable by the processor;

[0040] When the processor executes the computer-readable program, the steps of the underwater vehicle indirect detection method based on wake vortex characteristics as described above are implemented.

[0041] In a fourth aspect, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the indirect detection method of underwater vehicles based on wake vortex characteristics as described above.

[0042] The present invention has the following beneficial effects: first, based on the theory of the perturbation of the propagation velocity of sound by a moving medium, an acoustic signature calculation model is determined. Then, by varying the sound propagation direction within an algorithm, information about the phase change of the sound wave as it passes through the wake vortex is obtained based on the acoustic signature calculation model. Acoustic signal characteristics of the wake vortex under different array configurations are simulated to determine the relationship model between the acoustic signal characteristics of the wake vortex field and the array configuration under different detection array configurations. Based on the relationship model, a detection array is constructed and used to detect underwater vehicles in the test area to obtain real-time detection signal characteristics. Finally, based on the relationship model between the acoustic signal characteristics and the array configuration, the corresponding vehicle state is determined. On the one hand, the present invention utilizes the low attenuation of acoustic signals underwater to indirectly detect underwater vehicles through their wake vortices, thereby increasing the detection range of underwater vehicles. On the other hand, by constructing the relationship model and the acoustic signature calculation model, the computational complexity of the detection process is reduced, thereby improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] FIG1 is a flow chart of an embodiment of an indirect detection method for underwater vehicles based on wake vortex characteristics provided by the present invention;

[0044] Figure 2In the underwater vehicle indirect detection method based on the wake vortex characteristics provided by the present invention, the orthogonal grid Figure 1 A schematic structural diagram of an embodiment;

[0045] Figure 3 This is a flowchart of an embodiment of step S102 in the underwater vehicle indirect detection method based on wake vortex characteristics provided by the present invention;

[0046] Figure 4 A schematic diagram of the first-state tail vortex structure in the underwater vehicle indirect detection method based on tail vortex characteristics provided by the present invention;

[0047] Figure 5 A schematic diagram of the tail vortex structure in the second state in the underwater vehicle indirect detection method based on the tail vortex characteristics provided by the present invention;

[0048] Figure 6 A schematic diagram of the arrangement of the detection array in the underwater vehicle indirect detection method based on wake vortex characteristics provided by the present invention;

[0049] Figure 7 1 is a schematic diagram of an embodiment of an underwater vehicle indirect detection device based on wake vortex characteristics provided by the present invention;

[0050] Figure 8 It is a schematic diagram of the operating environment of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0052] Currently, there are two main factors limiting the detection of new detection technologies: the persistence and intensity of non-acoustic features, and the attenuation of the detection medium in water. This method selects the wake vortex within the wake feature for detection. The wake vortex has the advantages of long duration, difficulty in elimination, and large size, which are conducive to detection. The detection medium is sound, which has low attenuation when propagating in water. It is one of the few detection media that can be used for long-distance underwater detection, and existing underwater acoustic equipment can be used. The distortion of the acoustic signal when it passes through the wake vortex, also known as the vortex-acoustic coupling effect, is utilized. The intensity and size of the wake vortex are detected to achieve an indirect detection method that can detect over long distances.

[0053] A specific embodiment of the present invention discloses an indirect detection method for underwater vehicles based on the wake vortex characteristics. Figure 1 ,include:

[0054] S101. Determine an acoustic characteristic calculation model based on the perturbation theory of the propagation velocity of sound propagation by a moving medium, and obtain phase change information of the sound wave when it passes through the wake vortex according to the acoustic characteristic calculation model;

[0055] S102, determining a relationship model between acoustic signal characteristics of the wake vortex field and array configuration under different detection array configurations based on the acoustic characteristic calculation model and phase change information;

[0056] S103, constructing a detection array and detecting underwater vehicles in the area to be detected to obtain real-time detection signal characteristics;

[0057] S104: Determine the aircraft state corresponding to the real-time detection signal characteristics according to the relationship model between the acoustic signal characteristics and the array form.

[0058] In this embodiment, an acoustic signature calculation model is first determined based on the theory of the perturbation of the propagation velocity of sound by a moving medium. Then, based on the acoustic signature calculation model, the algorithm modifies the sound propagation direction and, according to the acoustic signature calculation model, obtains information on the phase change of the sound wave as it passes through the wake vortex. The acoustic signal characteristics of the wake vortex under different array configurations are simulated to determine the relationship between the acoustic signal characteristics of the wake vortex field and the array configuration under different detection array configurations. Based on the relationship model, a detection array is constructed and used to detect underwater vehicles in the target area, obtaining real-time detection signal characteristics. Finally, based on the relationship model between the acoustic signal characteristics and the array configuration, the corresponding vehicle state is determined. This invention, on the one hand, utilizes the low attenuation of acoustic signals underwater to indirectly detect underwater vehicles through their wake vortices, thereby increasing the detection range of underwater vehicles. On the other hand, by constructing the relationship model and the acoustic signature calculation model, the computational complexity of the detection process is reduced, improving detection efficiency.

[0059] In step S101, since the existing methods for calculating the changes in the acoustic signal passing through the wake vortex field include perturbation acoustics, ray acoustics and other methods, which require a large amount of calculation, the embodiment of the present invention constructs an acoustic feature calculation model simulation algorithm to obtain the time delay and phase difference of the acoustic signal passing through the wake vortex field. The simulation to obtain the wake vortex acoustic signal characteristics utilizes the disturbance of the propagation speed of sound propagation caused by the moving medium.

[0060] It should be noted that the perturbation of the propagation velocity of sound by a moving medium refers to the phenomenon in which the propagation velocity of a sound wave changes due to the influence of the medium's own motion when the sound wave propagates through the medium. This perturbation usually causes fluctuations or changes in the propagation velocity of the sound wave, because the motion of the medium can affect the propagation characteristics of the sound wave.

[0061] Specifically, when sound waves propagate in a moving medium, they are affected by the movement of the medium. The speed of sound at a point in the medium is: ,in, The flow velocity at this point is is the direction vector of the sound wave, is the speed of sound propagation in the medium. x 0 propagates to x The propagation time of a point can be expressed by formula (1):

[0062] (1)

[0063] Obtain flow field data through computational fluid dynamics simulation, experiments, etc. u ( x ), because the flow field data are often discrete, it cannot be directly calculated using formula (1). It needs to be interpolated into an orthogonal grid form, such as Figure 2 shown.

[0064] Set the sound from the area x 0 propagates to x The propagation path of a point is discretized into m parts with intervals of Δ x The point (1) can be rewritten as:

[0065] (2)

[0066] The time delay of the received and transmitted signals passing through the eddy current field can be calculated using equation (2). The phase difference of the signals can be calculated to obtain the acoustic signal characteristics of the wake vortex.

[0067] For detection arrays with different layout types, their sound propagation directions are also different. In actual calculations, by changing the direction vector and propagation path of the sound wave, the signal changes caused by the sound wave passing through the wake vortex field under a certain layout form and the acoustic signal characteristics of the wake vortex field are calculated. Therefore, the embodiments of the present application realize the calculation of the acoustic signal changes passing through the wake vortex field through a simplified simulation algorithm. According to the wake vortex acoustic signal characteristics under different array layouts, the appropriate array layout is selected to detect the wake vortex field of the underwater vehicle, thereby indirectly detecting the underwater vehicle.

[0068] In some embodiments, the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements is determined based on the acoustic characteristic calculation model and phase change information. Figure 3 ,include:

[0069] S301, using a preset computational fluid dynamics method to obtain a preset wake vortex shape of the underwater vehicle;

[0070] S302, determining acoustic signal characteristics corresponding to different detection arrays under preset wake vortex shapes through different acoustic signal propagation paths based on an acoustic characteristic calculation model;

[0071] S303: Determine a relationship model according to acoustic signal features corresponding to different arrays.

[0072] Since the wake vortex is affected by factors such as the geometric characteristics and navigation status of the vehicle, the following is a detailed description of the process of establishing an array based on the wake vortex acoustic signal characteristics to detect underwater vehicles, in conjunction with a specific embodiment. However, the present invention is not limited to the following implementation methods. For a certain type of underwater vehicle, the wake vortex in the first state and the wake vortex in the second state can be obtained by computational fluid dynamics methods, such as Figure 4 and 5 As shown. Based on the above simulation algorithm, by changing the propagation direction of the sound wave, the acoustic signal characteristics of the sound signal passing through its wake vortex when different array configurations are adopted can be simulated. The above simulation is used to obtain the wake vortex acoustic signal characteristics in advance. For the first state wake vortex, the vertical array detection can detect a significant phase jump, while the horizontal array has a weak phase jump. For the second state wake vortex, the horizontal array detection can detect a significant phase jump, while the vertical array has no significant phase jump.

[0073] Based on this, Figure 6 As shown, one vertical array and one horizontal array are selected for detection. Under this arrangement, if the detection result shows a significant phase jump in the vertical array's received signal, while a weak phase jump is detected in the horizontal array's received signal, it can be determined that the underwater vehicle's wake vortex is in the first state in the test area. If the detection result shows no significant phase jump in the vertical array's received signal, while a significant phase jump is detected in the horizontal array's received signal, it can be determined that the underwater vehicle's wake vortex is in the second state in the test area. If the detection result shows no phase jump in either array, there is no wake vortex in the test area. Therefore, using both vertical and horizontal arrays for detection can detect and identify wake vortices in this operating condition.

[0074] It should be noted that the hardware required for vertical and horizontal array detection is as follows:

[0075] A signal generator for generating an acoustic signal of the required frequency, period, and emission interval;

[0076] Two sets of signal transmitting sensor arrays, each array element of the sensor array should be directional, and the distance between the sensor elements should ensure that the elements do not interfere with each other, and are used to transmit a predetermined acoustic signal through the area to be measured;

[0077] Two groups of signal receiving sensor arrays are used to receive the acoustic signals transmitted by the corresponding transmitting sensor elements and passing through the area to be measured;

[0078] a data collector for collecting acoustic signals received by the signal receiving sensor array;

[0079] A processor that calculates the phase difference between the received and transmitted signals.

[0080] Furthermore, determining the aircraft state corresponding to the real-time detection signal feature based on the relationship model between the acoustic signal feature and the array form includes:

[0081] When the real-time detection signal feature is obtained through a horizontal detection array, determining that the aircraft state corresponding to the real-time detection signal feature is a second-state tail vortex;

[0082] When the real-time detection signal feature is obtained through a vertical detection array, it is determined that the aircraft state corresponding to the real-time detection signal feature is a first state tail vortex.

[0083] Therefore, based on the correspondence between the first-state tail vortex and the second-state tail vortex and the underwater vehicle, the navigation state of the underwater vehicle can be determined, and the position of the tail vortex can also be determined based on the position of the receiving sensor where the phase jump occurs, thereby indirectly locating the underwater vehicle.

[0084] Based on the above-mentioned underwater vehicle indirect detection method based on wake vortex characteristics, the embodiment of the present invention also provides an underwater vehicle indirect detection device based on wake vortex characteristics. Figure 7 , including: a phase change information determination module 710, a relationship model determination module 720, a real-time signal acquisition module 730 and a state determination module 740.

[0085] Phase change information determination module 710, for determining an acoustic feature calculation model based on the perturbation theory of the propagation velocity of sound propagation in a moving medium, and obtaining phase change information of the sound wave when it passes through the wake vortex according to the acoustic feature calculation model;

[0086] The relationship model determination module 720 is used to determine the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information;

[0087] A real-time signal acquisition module 730 is used to construct a detection array and detect underwater vehicles in the area to be detected to obtain real-time detection signal characteristics;

[0088] The state determination module 740 is used to determine the aircraft state corresponding to the real-time detection signal characteristics based on the relationship model between the acoustic signal characteristics and the array form.

[0089] like Figure 8As shown, based on the above-mentioned indirect detection method of underwater vehicles based on wake vortex characteristics, the present invention also provides an electronic device. The electronic device can be a computing electronic device such as a mobile terminal, desktop computer, notebook, PDA, and server. The electronic device includes a processor 810, a memory 820, and a display 830. Figure 8 Only some of the components of the electronic device are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0090] In some embodiments, the memory 820 may be an internal storage unit of the electronic device, such as a hard drive or memory of the electronic device. In other embodiments, the memory 820 may also be an external storage device of the electronic device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 820 may include both an internal storage unit of the electronic device and an external storage device. The memory 820 is used to store application software installed in the electronic device and various types of data, such as program code installed in the electronic device. The memory 820 may also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 820 stores an underwater vehicle indirect detection program 840 based on wake vortex characteristics. The underwater vehicle indirect detection program 840 based on wake vortex characteristics can be executed by the processor 810, thereby implementing the underwater vehicle indirect detection method based on wake vortex characteristics according to various embodiments of the present application.

[0091] In some embodiments, the processor 810 can be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program codes or process data stored in the memory 820, such as executing an indirect detection method for underwater vehicles based on wake vortex characteristics.

[0092] In some embodiments, display 830 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 830 is used to display information from the underwater vehicle's indirect detection electronic device based on wake vortex characteristics and to display a visual user interface. Electronic device components 810-830 communicate with each other via a system bus.

[0093] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0094] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for indirect detection of underwater vehicles based on wake vortex characteristics, characterized in that: include: Based on the theory of the perturbation of the propagation velocity of sound by a moving medium, an acoustic characteristic calculation model is determined, and the phase change information of the sound wave when it passes through the wake vortex is obtained according to the acoustic characteristic calculation model; Based on the acoustic characteristic calculation model and phase change information, the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements is determined; Construct a detection array and detect underwater vehicles in the area to be detected to obtain real-time detection signal characteristics; Determine the aircraft state corresponding to the real-time detection signal characteristics based on the relationship model between the acoustic signal characteristics and the array form; The method of determining an acoustic characteristic calculation model based on the perturbation theory of the propagation velocity of sound propagation by a moving medium, and obtaining phase change information of a sound wave when passing through a wake vortex according to the acoustic characteristic calculation model, includes: Determine the speed of sound at a certain point in the medium based on the degree to which the moving medium affects the speed of sound propagation; Determine the propagation time of sound in the corresponding area based on the sound velocity at a certain point and the flow field data of the area; According to the propagation time of sound, the time delay and phase difference of the receiving and transmitting signals when the sound passes through the eddy current field are determined; The method of determining the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information includes: A preset computational fluid dynamics method is used to obtain a preset wake vortex shape of the underwater vehicle; Through different acoustic signal propagation paths and based on the acoustic characteristic calculation model, the acoustic signal characteristics corresponding to different detection arrays under the preset wake vortex shape are determined; The relationship model is determined according to the acoustic signal characteristics corresponding to different arrays.

2. The indirect detection method for underwater vehicles based on wake vortex characteristics according to claim 1, characterized in that: Determining the propagation time of sound in a corresponding area based on the sound velocity at a certain point and the flow field data of the area includes: Perform interpolation processing on the flow field data to obtain the interpolation result; Divide the sound propagation path of the area into a number of equally spaced sound propagation points; Based on the interpolation results and multiple equally spaced sound propagation points, the sound propagation time in the corresponding area is determined.

3. The indirect detection method for underwater vehicles based on wake vortex characteristics according to claim 1, characterized in that: The preset tail vortex shape includes a first state tail vortex and a second state tail vortex; the relationship model includes: When the preset tail vortex shape is a first-state tail vortex, the phase change amplitude of the sound wave obtained by the vertical array when passing through the tail vortex is greater than the phase change amplitude of the sound wave obtained by the horizontal array when passing through the tail vortex, and it is determined that the acoustic signal feature obtained by the vertical array corresponds to the first-state tail vortex; When the preset tail vortex shape is the second-state tail vortex, the phase change amplitude of the sound wave obtained by the horizontal array when passing through the tail vortex is greater than the phase change amplitude of the sound wave obtained by the vertical array when passing through the tail vortex, and it is determined that the acoustic signal characteristics obtained by the horizontal array correspond to the second-state tail vortex.

4. The indirect detection method for underwater vehicles based on wake vortex characteristics according to claim 3 is characterized in that: Determining the aircraft state corresponding to the real-time detection signal feature based on the relationship model between the acoustic signal feature and the array form includes: When the real-time detection signal feature is obtained through a horizontal detection array, determining that the aircraft state corresponding to the real-time detection signal feature is a second-state tail vortex; When the real-time detection signal feature is obtained through a vertical detection array, it is determined that the aircraft state corresponding to the real-time detection signal feature is a first state tail vortex.

5. The indirect detection method for underwater vehicles based on wake vortex characteristics according to claim 4 is characterized in that: The determining of the aircraft state corresponding to the real-time detection signal feature further includes: Based on the constructed detection array, the sensor position corresponding to the real-time detection signal characteristics is determined; Determine the tail vortex position based on the sensor position; The position of the aircraft is determined based on the position of the tail vortex.

6. An indirect detection device for underwater vehicles based on wake vortex characteristics, characterized in that: include: A phase change information determination module is used to determine an acoustic feature calculation model based on the perturbation theory of the propagation velocity of sound propagation in a moving medium, and obtain phase change information when the sound wave passes through the wake vortex according to the acoustic feature calculation model; A relationship model determination module is used to determine the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information; A real-time signal acquisition module is used to construct a detection array and detect underwater vehicles in the area to be detected to obtain real-time detection signal characteristics; A state determination module is used to determine the state of the aircraft corresponding to the real-time detection signal characteristics based on the relationship model between the acoustic signal characteristics and the array form; The method of determining an acoustic characteristic calculation model based on the perturbation theory of the propagation velocity of sound propagation by a moving medium, and obtaining phase change information of a sound wave when passing through a wake vortex according to the acoustic characteristic calculation model, includes: Determine the speed of sound at a certain point in the medium based on the degree to which the moving medium affects the speed of sound propagation; Determine the propagation time of sound in the corresponding area based on the sound velocity at a certain point and the flow field data of the area; According to the propagation time of sound, the time delay and phase difference of the receiving and transmitting signals when the sound passes through the eddy current field are determined; The method of determining the relationship model between the acoustic signal characteristics of the wake vortex field and the array form under different detection array arrangements based on the acoustic characteristic calculation model and phase change information includes: A preset computational fluid dynamics method is used to obtain a preset wake vortex shape of the underwater vehicle; Through different acoustic signal propagation paths and based on the acoustic characteristic calculation model, the acoustic signal characteristics corresponding to different detection arrays under the preset wake vortex shape are determined; The relationship model is determined according to the acoustic signal characteristics corresponding to different arrays.

7. An electronic device, characterized in that: include: processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps of the indirect detection method of underwater vehicles based on wake vortex characteristics as described in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the indirect detection method of underwater vehicles based on wake vortex characteristics as described in any one of claims 1 to 5.

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