Three-dimensional positioning method of deep-sea underwater targets based on sequential double matching

Abstract

The present invention discloses a three-dimensional positioning method for deep-sea underwater targets based on sequential double matching. The method utilizes the characteristic that the sound wave arrival angle is insensitive to the sound source depth. By assuming a sound source depth, the sound wave arrival angle of the sound source on the array at different distances and azimuths is calculated and matched and output with the beamforming measurement angle, and the possible spatial distribution values ​​of the sound source distance and azimuth are obtained. After fitting and translation processing, a cluster of sound source distance-azimuth distribution curves is obtained. Finally, the complex sound pressure received by the array at different sound source depths at points on the sound source distance-azimuth distribution curve cluster is calculated, and matching field processing based on the sound pressure signal is performed to obtain the estimation results of the sound source depth, distance, and azimuth. Compared with the traditional three-dimensional matching field method, the method has a small amount of calculation and accurate estimation results, and can effectively avoid the uncertainty problem of the traditional beamforming method, solving the problems of large amount of calculation and inaccurate positioning in the existing deep-sea reliable sound path target positioning method.

Description

Technical Field

[0001] The invention relates to the technical field of deep-sea reliable acoustic path underwater target positioning, and in particular to a three-dimensional positioning method for deep-sea underwater targets based on sequential double matching. Background Art

[0002] At present, the methods used for underwater target positioning based on horizontal arrays mainly include the traditional three-dimensional matching field method and the method of first measuring direction and then measuring distance to determine depth. However, the former has a large amount of calculation, strong false peaks, and inaccurate positioning; the latter is mainly used in shallow waters and is not applicable in certain deep sea scenarios. For example, in the deep sea reliable acoustic path mode, the general traditional beamforming method has uncertainty.

[0003] In summary, the current deep-sea reliable acoustic path target positioning method has the problems of large computational complexity and inaccurate positioning. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a three-dimensional positioning method for deep-sea underwater targets based on sequential double matching.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A three-dimensional positioning method for deep-sea underwater targets based on sequential double matching, comprising the following steps: setting a horizontal receiving array at a reliable sound path position in the deep sea; calculating the complex sound pressure of the array receiving under the measurement field; And the cross-spectral matrix of the sound pressure of the measurement field , and calculate the beamforming measurement angle ; Assuming a sound source depth, calculate the sound wave arrival angle at different sound source distances and orientations , and perform field processing based on beamforming measurement angle and wave arrival angle matching, and output the sound source range-azimuth ambiguity function ;extract Medium strength greater than b points, and perform fitting and translation processing on these points to obtain a cluster of sound source distance-azimuth distribution curves, where b Indicates the lowest intensity value of the point to be selected in the output result based on the matching of the measurement angle and the wave arrival angle; Let the distance and azimuth of the sound source be distributed on the cluster of sound source distance-azimuth distribution curves, and configure the copy field at different sound source depths; Calculate the complex sound pressure received by the array under the copy field, and perform field matching processing based on the sound pressure signal to output the sound source depth-distance ambiguity function , by finding The position corresponding to the maximum value is the estimated position of the sound source.

[0007] The beneficial technical effect of the present invention is that the present invention utilizes the characteristic that the sound wave arrival angle is insensitive to the sound source depth, and by assuming a sound source depth, calculates the sound wave arrival angle of the sound source at different distances and azimuths on the array and matches and outputs it with the beamforming measurement angle to obtain the sound source distance. r and direction The possible values ​​of spatial distribution are fitted and translated to obtain a cluster of sound source distance-azimuth distribution curves; finally, the complex sound pressure of the array received at different sound source depths is calculated, and matching field processing based on the sound pressure signal is performed to obtain the estimation results of the sound source depth, distance, and azimuth. Compared with the traditional three-dimensional matching field method, the calculation amount is small, the estimation result is accurate, and the uncertainty problem of the traditional beamforming method can be effectively avoided, solving the problems of large calculation amount and inaccurate positioning in the existing deep-sea reliable sound path target positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a flow chart of a three-dimensional positioning method of a deep-sea underwater target based on sequential double matching of the present invention;

[0009] Figure 2 This is a schematic diagram of a horizontal receiving array deployed near the seabed;

[0010] Figure 3 is the deep sea sound speed profile;

[0011] Figure 4 Schematic diagram of the geometric relationship between the receiving array and the sound source in the deep sea reliable sound path mode;

[0012] Figure 5 It is a schematic diagram of the change of the sound wave grazing angle with the sound source position;

[0013] Figure 6 Schematic diagram of the sound source range-azimuth ambiguity function based on the matching output of the beamforming measurement angle and the wave arrival angle;

[0014] Figure 7 It is the sound source distance-azimuth distribution curve;

[0015] Figure 8a It is a sound source distance-azimuth distribution curve diagram when the curve deviates from the true position of the sound source;

[0016] Figure 8b It is a cluster diagram of the sound source distance-azimuth distribution curve;

[0017] Figure 9a This is the depth-range (azimuth) ambiguity function diagram obtained based on the Bartlett processor;

[0018] Figure 9bThis is the depth-range (azimuth) ambiguity function diagram obtained based on the minimum variance processor;

[0019] Figures 10a-10d The sound source estimation results at different sound source depths;

[0020] Figures 11a-11d This is the sound source estimation result diagram under different sound source receiving and transmitting distances;

[0021] Fig.12a is the sound source azimuth-lateral error diagram; Figure 12b is the sound source azimuth-lateral distance error diagram; Fig.12c is the sound source azimuth-lateral depth error diagram;

[0022] Fig.13a is the signal-to-noise ratio-lateral error diagram; Fig.13b is the signal-to-noise ratio-side distance error diagram; Fig.13c is the signal-to-noise ratio-side depth error map;

[0023] Figures 14a-14c This is the result diagram of sound source estimation at different seabed sound speeds;

[0024] Figures 15a-15c A schematic diagram showing the impact of seabed sound velocity mismatch on sound source estimation results. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to more clearly understand the objectives, technical solutions and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] The present invention provides a three-dimensional positioning method for deep-sea underwater targets based on sequential double matching, which is mainly used for accurately positioning a sound source in a deep-sea reliable sound path mode.

[0027] like Figure 1 As shown, in one embodiment of the present invention, a three-dimensional positioning method for a deep-sea underwater target based on sequential dual matching includes steps S1-S6:

[0028] S1. Set up a horizontal receiving array at a reliable sound path location in the deep sea.

[0029] Assume that the true depth of the sound source is , the true distance is , the true position is In this embodiment, an N-element horizontal uniform linear array is set at the deep sea reliable acoustic path position, such as Figure 2 As shown, the uniform linear array is horizontally deployed near the seabed to receive target signals.

[0030] S2. Calculate the complex sound pressure received by the array under the measurement field And the cross-spectral matrix of the sound pressure of the measurement field , and calculate the beamforming measurement angle .

[0031] 2.1 In this step, the array receiving complex sound pressure under the measurement field is calculated based on the actual received signal of the array Specifically, the first n Complex sound pressure of array element:

[0032] ;

[0033] in, For the m The eigenfunction of the simple normal wave, , For the m The horizontal wave number of the simple normal wave is M is the total number of simple normal waves, , f is the sound wave frequency, is the simple normal wave grazing angle, c is the medium sound speed, Is the sound source to n The horizontal distance of the array element, , d is the array element spacing, is the horizontal distance from the sound source to the first array element, and the true depth of the sound source is , the true position is , r Indicates distance, z Indicates depth, represents the complex sound pressure at distance r and depth z, represents the seawater density related to depth, Represents an imaginary unit.

[0034] Consider the far-field reception situation, that is, the array length hour, The expression can be approximated as:

[0035] ;

[0036] ;

[0037] in It can represent the first m The strength of the simple normal wave.

[0038] The complex sound pressure received by each array element is expressed by a vector, and the complex sound pressure received by the array under the measurement field can be obtained:

[0039] .

[0040] 2.2 The sound pressure cross-spectrum matrix of the measurement field is calculated by the following formula: and beamforming measurement angle :

[0041] ;

[0042] in,

[0043] ;

[0044]

[0045] Without considering the noise, the array receiving signal can be written as:

[0046] ;

[0047] in, is the spectrum of the sound source signal.

[0048] Then we can get the cross-spectrum matrix of the sound pressure in the measurement field: for:

[0049] ;

[0050] in, is the pure signal power.

[0051] The output power of the beamformer is expressed in the frequency domain as:

[0052] ;

[0053] in, is the beamforming weight vector. For example, the weight vector for conventional beamforming is:

[0054] ;

[0055] in, is the reference sound speed for beamforming (here ).

[0056] Consider the parameters , whose expression is:

[0057] ;

[0058] in, ,

[0059] Further, the horizontal array beam output in deep sea environment can be obtained:

[0060] ;

[0061] After calculation, we can get m The normalized directivity function of the array corresponding to the first-order simple normal wave is:

[0062] .

[0063] Therefore, the array output azimuth spectrum under full-order simple normal wave is:

[0064] ;

[0065] in is the angle corresponding to the maximum value of the azimuth spectrum, Indicates when hour, The maximum value taken is the beamforming measurement angle.

[0066] S3. Assuming a sound source depth, calculate the sound wave arrival angle at different sound source distances and orientations , and perform field processing based on beamforming measurement angle and wave arrival angle matching, and output the sound source range-azimuth ambiguity function .

[0067] 3.1 Calculate the sound wave arrival angle. First, the calculation formula of the arrival angle is given as:

[0068] ;

[0069] in, , Corresponding to the sound source distance and depth respectively The pitch and grazing angles of the sound waves.

[0070] Assume that the sound source depth used to calculate the angle of arrival is Any value in r and direction Respectively and The upper value, where and You can set it according to the actual situation, for example Set to 300m, Set it as 30km, and according to the angle of arrival formula, we can get the sound wave arrival angle of the sound sources at these distances and azimuths on the array.

[0071] 3.2 Perform field processing based on beamforming measurement angle and arrival angle matching: The sound source distance-azimuth ambiguity function is calculated by the following formula: :

[0072] .

[0073] S4. Extraction Medium strength greater thanb points, and perform fitting and translation processing on these points to obtain a cluster of sound source distance-azimuth distribution curves.

[0074] 4.1 Extraction Medium strength greater than b of points, among which, b It indicates the lowest intensity value of the point to be selected in the output result based on the matching of the measurement angle and the wave arrival angle, and the fitting process is performed on these points, so that the sound source distance-azimuth distribution curve can be obtained. , so far a rough estimate of the distance and direction of the sound source has been completed.

[0075] 4.2 The distance-azimuth distribution curve of the sound source in certain environments The sound source distance-azimuth distribution curve may deviate slightly from the true position of the sound source. Perform translation to obtain a cluster of sound source distance-azimuth distribution curves , to ensure that the real position of the sound source coincides with the curve. The functional relationship is given as follows:

[0076] ;

[0077] in, It is understandable that the actual position of the sound source and the distance-azimuth distribution curve of the sound source When overlapped, is 0.

[0078] S5. The distance and azimuth of the sound source are distributed on the sound source distance-azimuth distribution curve cluster, and the copy field is configured at different sound source depths.

[0079] Specifically, take the sound source distance-azimuth distribution curve cluster At different sound source depths ( ) on the configuration copy farm.

[0080] S6. Calculate the complex sound pressure received by the array under the copy field, perform field matching processing based on the sound pressure signal, and output the sound source depth-distance ambiguity function , by finding The position corresponding to the maximum value is the estimated position of the sound source.

[0081] 6.1 Obtain different sound source depths (range) through the simple normal wave sound field model ), different distances / directions (following The array receives the complex sound pressure under the copy field distribution) .

[0082] 6.2 Perform field matching processing based on sound pressure signal:

[0083] The depth-range (azimuth) ambiguity function obtained based on the Bartlett processor is:

[0084] .

[0085] The depth-range (azimuth) ambiguity function obtained based on the minimum variance processor is:

[0086] .

[0087] After normalization and logarithmization, we get:

[0088] .

[0089] Finally found The position corresponding to the maximum value in can be used to obtain the estimated position of the sound source.

[0090] The following computer numerical simulation is used to verify the three-dimensional positioning method of deep-sea underwater targets based on sequential double matching of the present invention, and to evaluate whether it can achieve accurate estimation of the depth, distance, and direction of the sound source in the deep-sea reliable sound path. The specific steps of the simulation are as follows:

[0091] Step 1: The simulation standard environment parameters are as follows: sound source frequency 100Hz, sound source depth 50m, sound source distance 1km, and the azimuth angle of the sound source to the array is -60°. Figure 4 As shown, the uniform linear array has an element spacing of 7.5 m, an array element number of 35, an array depth of 4950 m, a signal-to-noise ratio of 30 dB, a seafloor longitudinal wave velocity of 1650 m / s, and a seafloor density of 1.6 , seafloor longitudinal wave attenuation 0.25 , translation , deep sea sound velocity profile Figure 3 First, the measurement field is set according to the standard environmental parameters, and the sound pressure of each array element is calculated using the sound field simulation software KRAKENC. , the measurement angle is obtained by beamforming method Finally, the sound pressure cross-spectrum matrix is ​​calculated .

[0092] Step 2: Assuming that the sound source depth is any value between 0 and 300m, with 100m as the distance scanning interval and 1° as the azimuth scanning interval, calculate the sound wave arrival angle at different sound source distances and azimuths between 0km and 30km and -90° and 90°. , Figure 5 The variation of the sound wave grazing angle at the receiving position with the position of the sound source is demonstrated. Combined with the calculation formula of the bode angle, it can be obtained that the bode angle hardly changes with the depth of the sound source. This also provides a theoretical basis for assuming the sound source depth when processing the matching field based on the bode angle.

[0093] The sound source distance-azimuth ambiguity function is obtained by the following formula , the output is as follows Figure 6 As shown, it can be seen that the sound source distance and direction are approximately distributed on a curve, and the "○" position indicates the actual position of the sound source:

[0094] .

[0095] Step 3: Extraction For the points with medium intensity greater than 0, these points are fitted with a fitting order of 20. In this way, the sound source distance-azimuth distribution curve can be obtained. ,like Figure 7 In some scenarios, the curve may slightly deviate from the actual position of the sound source, such as Figure 8a As shown, translation processing is required to obtain the sound source distance-azimuth distribution curve cluster ,like Figure 8b shown.

[0096] Step 4: Create a copy field and complete the matching field processing based on the sound pressure signal. Let the distance and direction of the sound source in the copy field be distributed in The sound source depth scanning range is 10m to 300m, with an interval of 10m, and the complex sound pressure received by each array element is obtained. .

[0097] Taking the Bartlett processor as an example, the depth-range (azimuth) ambiguity function is obtained by the following formula: , the output is as follows Figure 9a As shown (“○” indicates the real position, “×” indicates the estimated position).

[0098] ;

[0099] .

[0100] Taking the minimum variance processor as an example, the depth-distance (azimuth) ambiguity function is obtained by the following formula: , the output is as follows Figure 9b As shown (“○” indicates the real position, “×” indicates the estimated position).

[0101] ;

[0102] .

[0103] Finally found The position corresponding to the maximum value is the estimated position of the sound source, and the estimated depth of the sound source is 50m, the estimated distance of the sound source is 1km, and the estimated direction of the sound source is -60.6°.

[0104] Step 5: The following discusses the influence of sound source depth, transmission and reception interval, sound source orientation, signal-to-noise ratio, seabed sound speed, and seabed sound speed mismatch on this method to evaluate its robustness. Define the calculation formula of the estimation error, assuming that the depth measurement error, direction measurement error, and distance measurement error are:

[0105] ;

[0106] in, They are the estimated values ​​of the sound source depth, direction, and distance. They are the true values ​​of the sound source depth, direction, and distance. They are depth estimation error, orientation estimation error, and distance estimation error respectively.

[0107] Figures 10a-10d The sound source estimation results at different sound source depths are shown (“○” indicates the true position, “×” indicates the estimated position). Fig.10a The figure shows the sound source estimation result when the real depth of the sound source is 1m (there is a small deviation between the real position and the estimated position). Fig.10b The figure shows the sound source estimation result when the real depth of the sound source is 5m. Fig.10c The figure shows the sound source estimation result when the true depth of the sound source is 100m. Fig.10d The figure shows the sound source estimation result when the true depth of the sound source is 200m. Figures 10a-10d It can be seen that by using the present invention to estimate the position of the sound source at different sound source depths, the estimated result obtained basically coincides with the actual position, the estimation error is small, and accurate estimation of the depth, distance and azimuth of the sound source in the deep-sea reliable sound path is achieved.

[0108] Figures 11a-11d The sound source estimation results under different sound source receiving and transmitting distances are shown (“○” indicates the real position, “×” indicates the estimated position). Fig.11a The figure shows the sound source estimation result when the distance between the sound source and the receiver is 1 km. Fig.11b The figure shows the sound source estimation result when the distance between the sound source and the receiver is 3 km. Fig.11c The figure shows the sound source estimation result when the distance between the sound source and the receiver is 10 km. Fig.11d The figure shows the sound source estimation result when the distance between the sound source and the receiver is 20 km. Figures 11a-11d It can be seen that by using the present invention to estimate the position of the sound source at different sound source receiving and transmitting distances, the estimated result basically coincides with the actual position, the estimation error is small, and accurate estimation of the depth, distance and direction of the sound source in the deep-sea reliable sound path is achieved.

[0109] Fig.12a The sound source azimuth-lateral error is shown. Although the lateral error fluctuates with the sound source azimuth, the fluctuation range is small. Figure 12bThe sound source azimuth-side distance error is shown, and the side distance error is 0 at different sound source azimuths; Fig.12c The figure shows the sound source orientation-lateral depth error, and the lateral depth error is 0 at different sound source orientations. Figure 12a-12c It can be seen that the present invention can be used to estimate the position of the sound source at different sound source orientations, with a small estimation error, thereby achieving accurate estimation of the depth, distance and orientation of the sound source in a reliable deep-sea sound path.

[0110] Fig.13a The signal-to-noise ratio-lateral error is shown. When the signal-to-noise ratio is above 5db, the lateral error is basically 0; Fig.13b The signal-to-noise ratio-side distance error is shown. When the signal-to-noise ratio is above 0db, the side distance error is basically 0; Fig.13c The signal-to-noise ratio-side depth error is shown. When the signal-to-noise ratio is above 5db, the side depth error is basically 0. Figures 13a-13c It can be seen that the present invention can be used to estimate the position of the sound source at different sound source orientations, with a small estimation error, thereby achieving accurate estimation of the depth, distance and orientation of the sound source in a reliable deep-sea sound path.

[0111] Figures 14a-14c The sound source estimation results at different seabed sound speeds are shown (“○” indicates the actual position, “×” indicates the estimated position). Fig.14a The figure shows the sound source estimation result when the seabed sound speed is 1550m / s. Fig.14b The sound source estimation result when the seabed sound speed is 1650m / s is shown. Fig.14c The figure shows the sound source estimation result when the seabed sound speed is 1750m / s. Figures 14a-14c It can be seen that by using the present invention to estimate the position of the sound source at different seabed sound speeds, the estimated result obtained basically coincides with the actual position, the estimation error is small, and accurate estimation of the depth, distance and azimuth of the sound source in the deep-sea reliable sound path is achieved.

[0112] Figures 15a-15c The effect of the seabed sound velocity mismatch on the sound source estimation result is shown (“○” indicates the real position, “×” indicates the estimated position), where the seabed sound velocity in the measurement field is 1650m / s. Fig.15a The sound source estimation result when the seabed sound speed is not mismatched is shown. Fig.15b The results of the sound source estimation when the seabed sound velocity in the copy field is 1550m / s and the seabed sound velocity is mismatched are shown. Fig.15c The figure shows the sound source estimation results when the seabed sound speed in the copy field is 1750m / s and the seabed sound speed is mismatched. Figures 15a-15c It can be seen that the present invention is used to estimate the position of the sound source at different sound source orientations, and the sound source estimation result is not affected by the seabed sound speed mismatch, thereby achieving accurate estimation of the depth, distance and orientation of the sound source in the deep-sea reliable sound path.

[0113] The simulation results show that the three-dimensional positioning method of deep-sea underwater targets based on sequential double matching proposed in the present invention can achieve accurate estimation of the depth, distance and orientation of the sound source in the deep-sea reliable sound path.

[0114] In summary, the three-dimensional positioning method of deep-sea underwater targets based on sequential double matching of the present invention utilizes the characteristic that the sound wave arrival angle is insensitive to the sound source depth. By assuming a sound source depth, the sound wave arrival angle of the sound source on the array at different distances and azimuths is calculated and matched with the beamforming measurement angle to obtain the sound source distance. r and direction The possible values ​​of spatial distribution are fitted and translated to obtain a cluster of sound source distance-azimuth distribution curves; finally, the complex sound pressure received by the array at different sound source depths is calculated, and matching field processing based on the sound pressure signal is performed to obtain the estimated results of the sound source depth, distance, and azimuth. Compared with the traditional three-dimensional matching field method, it has a small amount of calculation and accurate estimation results, and can effectively avoid the uncertainty problem of traditional beamforming methods, solving the problems of large amount of calculation and inaccurate positioning in existing deep-sea reliable sound path target positioning methods;

[0115] parameter meaning <![CDATA[ z s ]]> True depth of sound source <![CDATA[ r s ]]> True distance of sound source <![CDATA[ θ s ]]> True direction of sound source Number of horizontal uniform line array elements Array element number <![CDATA[ p n ]]> The complex sound pressure of the array element No. distance position depth () Complex sound pressure at distance and depth Density of seawater as a function of depth Simple normal wave number <![CDATA[Ψ m ]]> The eigenfunction of the simple normal wave <![CDATA[ k rm ]]> Horizontal wave number of simple normal wave No. Wave number <![CDATA[ α m ]]> Normal wave grazing angle Total number of normal waves <![CDATA[ r n ]]> Horizontal distance from the sound source to the array element <![CDATA[ r 1]]> Horizontal distance from the sound source to the first array element <![CDATA[ z r ]]> Depth of receiving point Array length <![CDATA[ p mea ]]> Measurement of the sound pressure received by the array () Sound source signal spectrum () Array receiving signal <![CDATA[ σ 2 ( ω )]]> Pure signal power <![CDATA[ P out ( ω )]]> Array output power () Beamforming weight vector <![CDATA[ θ est ]]> Sonic wave angle <![CDATA[ θ c ]]> Beamforming measurement angle <![CDATA[ φ s ]]> Sonic pitch angle <![CDATA[ α s ]]> Grazing angle of sound wave <![CDATA[ z max ]]> Maximum scanning depth <![CDATA[ r max ]]> Maximum scanning distance Sound source circular frequency Sound source frequency Element spacing Medium sound speed <![CDATA[ c 0]]> Beamforming reference sound velocity <![CDATA[ R 1]]> Measurement field sound pressure cross spectrum matrix <![CDATA[ B 1]]> The sound source range-azimuth ambiguity function based on the matching output of beamforming measurement angle and wave arrival angle The lowest intensity value of the point to be selected in the output result based on the beamforming measurement angle and the arrival angle matching <![CDATA[ f ( r 0 ,θ 0)]]> Sound source distance-azimuth distribution curve () Sound source distance-azimuth distribution curve cluster Δ Translation <![CDATA[ p copy ]]> Array receiving sound pressure under copy field <![CDATA[ B 2]]> Sound source depth-distance ambiguity function based on sound pressure signal matching output <![CDATA[Δ z ]]> Depth estimation error <![CDATA[Δ θ ]]> Azimuth Estimation Error <![CDATA[Δ r ]]> Distance estimation error <![CDATA[ z e ]]> Estimated depth of sound source <![CDATA[ θ e ]]> Estimated distance of sound source <![CDATA[ r e ]]> Estimated direction of sound source

[0116] Table 1: The meaning of relevant parameters appearing in the text.

[0117] The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Those skilled in the art can make various equivalent changes and improvements based on the above embodiments, and all equivalent changes or modifications made within the scope of the claims should fall within the protection scope of the present invention.

Claims

1. A three-dimensional positioning method for deep-sea underwater targets based on sequential double matching, characterized in that: The steps include: S1. Set up a horizontal receiving array at a reliable sound path position in the deep sea; S2. Calculate the complex sound pressure received by the array under the measurement field And the cross-spectral matrix of the sound pressure of the measurement field , and calculate the beamforming measurement angle ; S3. Assuming a sound source depth, calculate the sound wave arrival angle at different sound source distances and orientations , and perform field processing based on beamforming measurement angle and wave arrival angle matching, and output the sound source range-azimuth ambiguity function ; S4. Extraction Medium strength greater than b points, and perform fitting and translation processing on these points to obtain a cluster of sound source distance-azimuth distribution curves, where b It indicates the lowest intensity value of the point to be selected in the output result based on the matching between the measurement angle and the angle of arrival; S5, making the distance and azimuth of the sound source distributed on the sound source distance-azimuth distribution curve cluster, and configuring the copy field at different sound source depths; S6. Calculate the complex sound pressure received by the array under the copy field, perform field matching processing based on the sound pressure signal, and output the sound source depth-distance ambiguity function , by finding The position corresponding to the maximum value is the estimated position of the sound source.

2. The three-dimensional positioning method for deep-sea underwater targets based on sequential double matching according to claim 1, characterized in that: The horizontal receiving array adopts an N-element horizontal uniform linear array. In step S2, the specific calculation steps of the complex sound pressure received by the array under the measurement field include: Through the simple normal wave sound field model, we can get n Complex sound pressure of array element: ， in, For the m The eigenfunction of the simple normal wave, , For the m The horizontal wave number of the simple normal wave is , f is the sound wave frequency, is the simple normal wave grazing angle, c is the medium sound speed, The sound source is n The horizontal distance of the array element, d is the array element spacing, is the horizontal distance from the sound source to the first array element, and the true depth of the sound source is , the true position is , r Indicates distance, z Indicates depth, represents the complex sound pressure at distance r and depth z, represents the seawater density as a function of depth, represents an imaginary unit; The complex sound pressure received by the array under the measurement field can be expressed as: 。 3. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 1, characterized in that: The horizontal receiving array adopts an N-element horizontal uniform linear array. If the array length , then in step S2, the specific calculation steps of the complex sound pressure received by the array under the measurement field include: Through the simple normal wave sound field model, we can get n Complex sound pressure of array element: ， ， in, For the m The eigenfunction of the simple normal wave, , For the m The horizontal wave number of the simple normal wave is , f is the sound wave frequency, is the simple normal wave grazing angle, M is the total number of simple normal waves, c is the medium sound speed, d is the array element spacing, is the horizontal distance from the sound source to the first array element, z Indicates depth. The actual depth of the sound source is , the true distance is , the true position is , represents the seawater density related to depth, Indicates the first m The strength of the simple normal wave, represents an imaginary unit; The complex sound pressure received by the array under the measurement field can be expressed as: 。 4. The three-dimensional positioning method for deep-sea underwater targets based on sequential double matching as claimed in claim 3, characterized in that: In step S2, the cross-spectral matrix of the sound pressure of the measurement field is calculated using the following formula: : ， ， ， in, is the pure signal power.

5. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 1, characterized in that: In step S3, the sound wave arrival angle is calculated using the following formula: : ； in, , Corresponding to the sound source distance and depth respectively The pitch and grazing angles of the sound waves.

6. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 5, characterized in that: When performing field processing based on beamforming measurement angle and arrival angle matching, the sound source range-azimuth ambiguity function is calculated using the following formula: : 。 7. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 1, characterized in that: The step S4 further comprises: extract Medium strength greater than b points, and perform fitting processing on these points to obtain the sound source distance-azimuth distribution curve ; The sound source distance-azimuth distribution curve Perform translation processing to obtain a cluster of sound source distance-azimuth distribution curves : ， in, is the translation amount.

8. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 1, characterized in that: In step S6, the Bartlett processor is used to perform matching field processing based on the sound pressure signal, and the sound source depth-distance ambiguity function is obtained by the following formula: : ； ； in, Indicates the complex sound pressure received by the array under the copy field.

9. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching as claimed in claim 1, characterized in that: In step S6, the minimum variance processor is used to perform matching field processing based on the sound pressure signal, and the sound source depth-distance ambiguity function is obtained by the following formula: : ； ； in, Indicates the complex sound pressure received by the array under the copy field.

10. The three-dimensional positioning method for deep-sea underwater targets based on sequential dual matching according to claim 8 or 9, characterized in that: In step S6, the complex sound pressure received by the array under the copy field is calculated by the simple normal wave sound field model. .

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