Method and device for controlling working parameters of multi-beam sonar

Abstract

The present invention provides a method and device for controlling working parameters of a multi-beam sonar, and relates to the technical field of multi-beam sonar parameter control. The method comprises: obtaining detection data of the multi-beam sonar, the detection data comprising a plurality of beam distances arranged in a preset order; dividing all beam distances into M beam distance groups; deleting data that does not meet preset requirements in each beam distance group; performing range control on the multi-beam sonar based on all current beam distance groups; obtaining echo intensity data of the multi-beam sonar; determining the signal state of the multi-beam sonar according to the echo intensity data; controlling the power, receiving gain, pulse width and signal form of the multi-beam sonar according to the signal state; and controlling TVG gain parameters of the multi-beam sonar based on the echo intensity data, the TVG gain parameters comprising an expansion loss parameter and an absorption loss parameter. The present invention can improve the control speed of the working parameters of the multi-beam sonar and reduce the operating threshold of the multi-beam sonar.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-beam sonar parameter control, and in particular to a method and device for controlling multi-beam sonar operating parameters. Background Art

[0002] At present, during the operation of multi-beam sonar, its working parameters are set manually in real time. However, multi-beam sonar has many working parameters, including power, receiving gain, pulse width, signal form, TVG gain (Time-Varying Gain) and range, and the test site environment is complex. Therefore, the manual real-time setting method is slow and it is easy to fail to set the appropriate parameters to adapt to the current working conditions in time, resulting in data quality not reaching the optimal state. In addition, too many sonar parameters and their usage meanings also increase the threshold for sonar operation, which is not friendly to industry novices.

[0003] Based on this, how to improve the control speed of multi-beam sonar working parameters and lower the operating threshold of multi-beam sonar has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, in order to solve the above technical problems, the present invention provides a method and device for controlling the working parameters of a multi-beam sonar.

[0005] The present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a method for controlling operating parameters of a multi-beam sonar, comprising:

[0007] Acquire detection data of a multi-beam sonar, wherein the detection data includes a plurality of beam distances, and all the beam distances are arranged in a preset order;

[0008] Based on the preset order, all the beam distances are divided into M beam distance groups;

[0009] Deleting data that does not meet preset requirements in each of the beam distance groups;

[0010] Based on all the current beam distance groups, a first parameter is controlled on the multi-beam sonar, where the first parameter is a range;

[0011] Acquiring echo intensity data of the multi-beam sonar;

[0012] Determining a signal state of the multibeam sonar according to the echo intensity data;

[0013] According to the signal state, controlling the multi-beam sonar by a second parameter, wherein the second parameter includes power, receiving gain, pulse width and signal form;

[0014] Based on the echo intensity data, TVG gain parameters are controlled on the multi-beam sonar, and the TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

[0015] Optionally, based on the preset order, all the beam distances are divided into M beam distance groups, specifically including:

[0016] Based on the preset order, all the beam distances are evenly divided into M beam distance groups.

[0017] Optionally, deleting data that does not meet preset requirements in each of the beam distance groups specifically includes:

[0018] For each of the beam distance groups, all beam distances in the beam distance group are sorted in ascending order, and the midpoint of the sorting result is taken as the target beam distance. The other beam distances in the sorting result are respectively subtracted from the target beam distance, and the obtained difference is ratioed with the target beam distance. If the obtained ratio is less than a first preset threshold, the other beam distance is retained; otherwise, the other beam distance is deleted.

[0019] Optionally, based on all the current beam distance groups, a first parameter control is performed on the multi-beam sonar, where the first parameter is a range, specifically including:

[0020] Determine a first representative value of each of the beam distance groups, wherein the first representative value is a maximum value in the corresponding beam distance group;

[0021] Determine the maximum value among all the first representative values ​​as the second representative value of the current sonar target area;

[0022] Compare the preset multiples of the second representative value with the adjacent values ​​of the current range; if the preset multiples of the second representative value are greater than the next range of the current range, update the range to the next range of the current range; if the preset multiples of the second representative value are less than the previous range of the current range, update the range to the previous range of the current range.

[0023] Optionally, the signal status includes weak signal, limited signal and normal signal;

[0024] Determining the signal state of the multi-beam sonar according to the echo intensity data specifically includes:

[0025] Extracting target data bit data of the echo intensity data and generating target echo intensity data, wherein the target data bit data is the echo intensity data corresponding to the area directly below the multi-beam sonar;

[0026] Based on a preset signal weak judgment threshold, determine a first percentage of the target echo intensity data, the first percentage being the percentage of the number of echo signals in the target echo intensity data whose signal strength is less than the signal weak judgment threshold to the total number of all echo signals in the target echo intensity data;

[0027] When the first percentage is greater than a preset weak signal percentage, determining that the signal state is the weak signal; when the first percentage is not greater than a preset weak signal percentage, determining that the signal state is the normal signal;

[0028] Based on a preset signal amplitude limiting judgment threshold, determining a second percentage of the target echo intensity data, the second percentage being the percentage of the number of echo signals in the target echo intensity data having a signal intensity greater than the signal amplitude limiting judgment threshold to the total number of all echo signals in the target echo intensity data;

[0029] When the second percentage is greater than a preset signal clipping percentage, the signal state is determined to be the signal clipping; when the second percentage is not greater than a preset signal clipping percentage, the signal state is determined to be the signal normal.

[0030] Optionally, the signal status includes weak signal, limited signal and normal signal;

[0031] According to the signal state, a second parameter control is performed on the multi-beam sonar, specifically including:

[0032] When the signal state is that the signal is weak, determining whether the power reaches the maximum power;

[0033] If the power does not reach the maximum power, performing a power increase operation;

[0034] If the power reaches the maximum power, determining whether the receiving gain reaches the maximum receiving gain;

[0035] If the receiving gain does not reach the maximum receiving gain, performing an operation of increasing the receiving gain;

[0036] If the receiving gain reaches the maximum receiving gain, determining whether the pulse width reaches the maximum pulse width;

[0037] If the pulse width does not reach the maximum pulse width, an operation of increasing the pulse width is performed;

[0038] If the pulse width reaches the maximum pulse width, determining whether the current survey depth is greater than a preset depth threshold;

[0039] If the current survey depth is greater than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a linear frequency modulation wave;

[0040] If the current survey depth is not greater than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

[0041] Optionally, performing a second parameter control on the multi-beam sonar according to the signal state specifically includes:

[0042] When the signal state is the signal limiting, determining whether the current survey depth is less than a preset depth threshold;

[0043] If the current survey depth is less than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave;

[0044] If the current survey depth is not less than the preset depth threshold, determining whether the pulse width is a non-minimum pulse width;

[0045] If the pulse width is not the minimum pulse width, then performing a pulse width reduction operation;

[0046] If the pulse width is not a non-minimum pulse width, determining whether the receiving gain is a non-minimum receiving gain;

[0047] If the receiving gain is not the minimum receiving gain, performing an operation of reducing the receiving gain;

[0048] If the receiving gain is not a non-minimum receiving gain, determining whether the power is a non-minimum power;

[0049] If the power is not the minimum power, a power reduction operation is performed.

[0050] Optionally, based on the echo intensity data, TVG gain parameter control is performed on the multi-beam sonar, specifically including:

[0051] Based on a preset expansion loss parameter table, determining a first preset number of target expansion loss parameters, wherein the target expansion loss parameters are the first preset number of expansion loss parameters in the expansion loss parameter table that are closest to the current expansion loss parameter value;

[0052] Based on a preset absorption loss parameter table, determining a second preset number of target absorption loss parameters, wherein the target absorption loss parameters are a second preset number of absorption loss parameters in the absorption loss parameter table that are closest to the current absorption loss parameter value;

[0053] Generating each TVG gain parameter combination according to all the target expansion loss parameters and all the target absorption loss parameters;

[0054] Calculating the TVG gain value under each TVG gain parameter combination;

[0055] determining a target TVG gain value among all the TVG gain values ​​based on the echo intensity data;

[0056] The TVG gain parameter control operation is performed with the expansion loss parameter and the absorption loss parameter corresponding to the target TVG gain value as targets.

[0057] Optionally, determining a target TVG gain value among all the TVG gain values ​​based on the echo intensity data specifically includes:

[0058] For each of the TVG gain values, calculating the product of each echo signal in the echo intensity data and the TVG gain value to obtain each gain echo signal corresponding to the TVG gain value;

[0059] Counting the target gain echo signals that fall within the preset gain echo signal range among the gain echo signals corresponding to the TVG gain value;

[0060] The TVG gain value with the largest target gain echo signal is determined as the target TVG gain value.

[0061] In a second aspect, the present invention provides a device for controlling operating parameters of a multi-beam sonar, comprising:

[0062] A first acquisition module is used to acquire detection data of a multi-beam sonar, wherein the detection data includes a plurality of beam distances, and all the beam distances are arranged in a preset order;

[0063] A division module, used for dividing all the beam distances into M beam distance groups based on the preset order;

[0064] A deletion module, used to delete the data in each beam distance group that does not meet the preset requirements;

[0065] A first control module, configured to perform a first parameter control on the multi-beam sonar based on all the current beam distance groups, wherein the first parameter is a range;

[0066] A second acquisition module is used to acquire the echo intensity data of the multi-beam sonar;

[0067] A determination module, configured to determine a signal state of the multi-beam sonar according to the echo intensity data;

[0068] A second control module, used to perform second parameter control on the multi-beam sonar according to the signal state, wherein the second parameter includes power, receiving gain, pulse width and signal form;

[0069] The third control module is used to control the TVG gain parameters of the multi-beam sonar based on the echo intensity data, and the TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

[0070] The present invention adopts the above technical scheme, a method for controlling the working parameters of a multi-beam sonar, comprising: obtaining the detection data of the multi-beam sonar, the detection data including multiple beam distances, all beam distances are arranged in a preset order; based on the preset order, all beam distances are divided into M beam distance groups; delete the data that does not meet the preset requirements in each beam distance group; based on all current beam distance groups, the multi-beam sonar is controlled by a first parameter, the first parameter being the range; obtaining the echo intensity data of the multi-beam sonar; determining the signal state of the multi-beam sonar according to the echo intensity data; according to the signal state, the multi-beam sonar is controlled by a second parameter, the second parameter including power, receiving gain, pulse width and signal form; based on the echo intensity data, the multi-beam sonar is controlled by a TVG gain parameter, the TVG gain parameter including an expansion loss parameter and an absorption loss parameter. Based on this, the present invention realizes the automatic control of the working parameters of the multi-beam sonar, thereby improving the control speed of the working parameters of the multi-beam sonar, lowering the operating threshold of the multi-beam sonar and reducing the risk of manual misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0072] Figure 1 It is a schematic diagram of an application scenario of a method for controlling working parameters of a multi-beam sonar provided by an embodiment of the present invention;

[0073] Figure 2 It is a flow chart of a method for controlling working parameters of a multi-beam sonar provided by an embodiment of the present invention;

[0074] Figure 3 It is a structural schematic diagram of a device for controlling working parameters of a multi-beam sonar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0075] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0076] Example

[0077] Figure 1 Schematic diagram of an application scenario of a method for controlling working parameters of a multi-beam sonar provided by an embodiment of the present invention. Figure 1 As shown, the present application is applied to the PC (Personal Computer) side. The PC side is connected to the switch of the deck unit in communication. The deck unit is also provided with a control forwarding FPGA (Field-Programmable Gate Array) and a power supply system. The control forwarding FPGA is connected to the switch in communication. The power supply system is used to supply power to the power modules in the deck unit. The control forwarding FPGA is also connected to the control FPGA in the sonar probe. The sonar probe also includes a sonar transmitting module and a sonar receiving module. The sonar transmitting module and the sonar receiving module are respectively connected to the control FPGA in communication.

[0078] The multi-beam sonar parameter automatic control technology involved in this application is a dynamic link library generated by compiling the code implemented by programming, and integrated into the software of the host computer (i.e., PC end) of the sonar. When the multi-beam sonar is actually working, the host computer software calls the dynamic link library to realize the automatic control of the multi-beam sonar working parameters. Specifically, the PC end generates relevant control instructions by executing the control method of the multi-beam sonar working parameters of this application, and sends the relevant control instructions to the control FPGA through the switch and the control forwarding FPGA, so that the control FPGA controls the working status of the sonar transmitting module and the sonar receiving module according to the relevant control instructions, and finally realizes the automatic control of the various working parameters of the multi-beam sonar.

[0079] The multi-beam sonar working parameter automatic control technology involved in this application includes: automatic control of power and receiving gain, automatic control of pulse width and signal form, automatic control of TVG gain (Time-Variable Gain), and automatic control of range. The automatic control principles of each working parameter are as follows:

[0080] Automatic control of power and receiving gain: Generate the signal amplitude status mark according to the sonar echo strength data statistics (that is, determine the signal status of the multi-beam sonar according to the echo strength data). The signal status includes weak signal, signal limiting and normal signal. If the signal status is weak, increase the power first, and increase the receiving gain when the power control reaches the limit, until the signal status changes to normal; if the signal status is signal limiting, reduce the gain first, and reduce the gain to the minimum state, and then reduce the power until the signal status changes to normal.

[0081] Automatic control of pulse width and signal form: When the signal state is weak through power and receiving gain adjustment, increasing the pulse width can improve the sonar echo signal-to-noise ratio, thereby controlling the signal state to normal; there are two signal forms: CW (Continuous Wave) signal and LFM (Linear Frequency Modulated Continuous Wave) signal. CW signal is suitable for shallow water, and LFM signal is suitable for deep water. The signal form switching mark is formed by comprehensive judgment of the current water depth, power, receiving gain, pulse width and signal state information, so as to realize automatic switching of signal form to adapt to shallow and deep water mapping.

[0082] TVG gain automatic control: Different TVG gain curves are generated by controlling the absorption loss parameters and expansion loss parameters, and superimposed on the sonar echo signal to achieve the purpose of adjusting the sonar signal to the appropriate range.

[0083] Automatic range control: The range parameter setting determines the detection range of the sonar. The terrain range is calculated in real time to automatically match the appropriate range value, thereby keeping the terrain within the sonar detection range without losing data.

[0084] The following describes in detail the method for controlling the working parameters of the multi-beam sonar of the present application in conjunction with the accompanying drawings.

[0085] Figure 2 FIG. 1 is a flow chart of a method for controlling working parameters of a multi-beam sonar provided by an embodiment of the present invention. Figure 2 As shown, this process includes:

[0086] Step 201: Acquire detection data of a multi-beam sonar, where the detection data includes multiple beam distances, and all beam distances are arranged in a preset order.

[0087] Specifically, each beam emitted by the multi-beam sonar corresponds to a beam distance, and all beam distances can be arranged according to their numbers. The number corresponding to the beam distance of any beam can identify the detection object to which the beam points.

[0088] Step 202: Based on a preset order, divide all beam distances into M beam distance groups.

[0089] Specifically, all beam distances may be evenly divided into M beam distance groups based on a preset order. In a specific example, assuming that there are 512 beam distances, the 512 beam distances are arranged in sequence according to their numbers, and the 512 beam distances are evenly divided into 32 beam distance groups according to the arrangement order, and each beam distance group has 16 beam distances.

[0090] Step 203: Delete the data in each beam distance group that does not meet the preset requirements.

[0091] Specifically, for each beam distance group, all beam distances in the beam distance group are sorted in ascending order, the midpoint of the sorting result is taken as the target beam distance, other beam distances in the sorting result are respectively subtracted from the target beam distance, and the obtained difference is ratioed with the target beam distance, if the obtained ratio is less than a first preset threshold, the other beam distance is retained, otherwise, the other beam distance is deleted. The first preset threshold may be 0.05.

[0092] In a specific example, it is assumed that there are 5 beam distances in a certain beam distance group, and the 5 beam distances are numbered 1, 2, 3, 4, and 5 respectively, and after the 5 beam distances are sorted in order from small to large, the sorting result is: beam distance No. 1, beam distance No. 2, beam distance No. 3, beam distance No. 4, and beam distance No. 5. Then, beam distance No. 3 is taken as the target beam distance, and the above method is used to analyze the retention of beam distance No. 1, beam distance No. 2, beam distance No. 4, and beam distance No. 5 in turn. For example, for beam distance No. 1, the difference between beam distance No. 1 and beam distance No. 3 is made, and the obtained difference is processed with beam distance No. 3 as a ratio. If the obtained ratio is less than the first preset threshold, beam distance No. 1 is retained, otherwise, beam distance No. 1 is deleted.

[0093] It should be noted that when the beam distance group contains an even number of beam distances, the average of the two middle beam distances is taken as the midpoint. For example, assuming that there are 4 beam distances in a beam distance group, the 4 beam distances are numbered 1, 2, 3, and 4, respectively, and after sorting the 4 beam distances in order from small to large, the sorting results are: beam distance No. 1, beam distance No. 2, beam distance No. 3, and beam distance No. 4. The average of beam distance No. 2 and beam distance No. 3 is taken as the midpoint.

[0094] Step 204: Based on all current beam distance groups, a first parameter control is performed on the multi-beam sonar, where the first parameter is a range.

[0095] Here, based on all current beam distance groups, the multi-beam sonar is controlled by a first parameter, where the first parameter is a range, which may specifically include:

[0096] (2041) Determine a first representative value for each beam distance group, where the first representative value is a maximum value in the corresponding beam distance group.

[0097] (2042) Determine the maximum value among all the first representative values ​​as the second representative value of the current sonar target area.

[0098] (2043) Compare the preset multiple of the second representative value with the adjacent value of the current measuring range. If the preset multiple of the second representative value is greater than the next measuring range of the current measuring range, the measuring range is updated to the next measuring range of the current measuring range; if the preset multiple of the second representative value is less than the previous measuring range of the current measuring range, the measuring range is updated to the previous measuring range of the current measuring range; if the preset multiple of the second representative value is equal to the next measuring range of the current measuring range, the current measuring range is not adjusted.

[0099] Among them, the value of the preset multiple can be set by technical personnel in this field according to actual conditions, and this application does not make any specific limitation here. For example, the preset multiple can be 3.

[0100] Step 205: Acquire echo intensity data of the multi-beam sonar.

[0101] Specifically, after receiving the echo intensity data packaged by the network, the echo intensity data is unpacked to obtain the echo intensity data packaged by the network.

[0102] Step 206: Determine the signal status of the multi-beam sonar according to the echo strength data.

[0103] Specifically, the signal status may include weak signal, limited signal, and normal signal.

[0104] Here, determining the signal status of the multi-beam sonar according to the echo intensity data may specifically include:

[0105] (2061) extracts target data bit data of the echo intensity data and generates target echo intensity data, wherein the target data bit data is the echo intensity data corresponding to the area directly below the multi-beam sonar.

[0106] Here, the data format of the target echo intensity data may be an OT_MAX data format.

[0107] (2062) Based on a preset signal weak judgment threshold, determine a first percentage of the target echo intensity data, the first percentage being the percentage of the number of echo signals in the target echo intensity data whose signal strength is less than the signal weak judgment threshold to the total number of all echo signals in the target echo intensity data.

[0108] In a specific example, assuming that the target echo intensity data includes 100 echo signals, and statistics show that the signal strengths of 20 echo signals are less than the signal weak judgment threshold, the first percentage of the target echo intensity data is: 20 / 100=20%.

[0109] (2063) When the first percentage is greater than a preset weak signal percentage, the signal state is determined to be a weak signal; when the first percentage is not greater than a preset weak signal percentage, the signal state is determined to be a normal signal.

[0110] (2064) Based on a preset signal limit judgment threshold, determine a second percentage of the target echo intensity data, the second percentage being the percentage of the number of echo signals in the target echo intensity data having a signal strength greater than the signal limit judgment threshold to the total number of all echo signals in the target echo intensity data.

[0111] In a specific example, assuming that the target echo intensity data includes 100 echo signals, and statistics show that the signal strengths of 40 echo signals are greater than the signal limit determination threshold, the second percentage of the target echo intensity data is: 40 / 100=40%.

[0112] (2065) When the second percentage is greater than a preset signal clipping percentage, the signal state is determined to be signal clipping; when the second percentage is not greater than the preset signal clipping percentage, the signal state is determined to be signal normal.

[0113] Step 207: According to the signal status, the multi-beam sonar is controlled by a second parameter, where the second parameter includes power, receiving gain, pulse width and signal form.

[0114] Here, the signal status may include weak signal, limited signal, and normal signal.

[0115] According to the signal state, the second parameter control of the multi-beam sonar may specifically include:

[0116] (20711) When the signal status is weak, determine whether the power reaches the maximum power.

[0117] (20712) If the power does not reach the maximum power, the power increase operation is performed.

[0118] (20713) If the power reaches the maximum power, it is determined whether the receiving gain reaches the maximum receiving gain.

[0119] (20714) If the receiving gain does not reach the maximum receiving gain, the receiving gain increase operation is performed.

[0120] (20715) If the receiving gain reaches the maximum receiving gain, it is determined whether the pulse width reaches the maximum pulse width.

[0121] (20716) If the pulse width does not reach the maximum pulse width, the pulse width increase operation is performed.

[0122] (20717) If the pulse width reaches the maximum pulse width, determine whether the current survey depth is greater than the preset depth threshold.

[0123] (20718) If the current survey depth is greater than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a linear frequency modulation wave.

[0124] (20719) If the current survey depth is not greater than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

[0125] In addition, according to the signal state, the second parameter control of the multi-beam sonar may further include:

[0126] (20721) When the signal status is signal limiting, determine whether the current survey depth is less than the preset depth threshold.

[0127] (20722) If the current survey depth is less than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

[0128] (20723) If the current survey depth is not less than the preset depth threshold, determine whether the pulse width is a non-minimum pulse width.

[0129] (20724) If the pulse width is not the minimum pulse width, the pulse width reduction operation is performed.

[0130] (20725) If the pulse width is not a non-minimum pulse width, determine whether the receiving gain is a non-minimum receiving gain.

[0131] (20726) If the receiving gain is not the minimum receiving gain, the receiving gain reduction operation is performed.

[0132] (20727) If the receiving gain is not a non-minimum receiving gain, determine whether the power is a non-minimum power.

[0133] (20728) If the power is not the minimum power, a power reduction operation is performed.

[0134] Step 208: Based on the echo intensity data, TVG gain parameters of the multi-beam sonar are controlled. The TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

[0135] Specifically, the TVG gain calculation formula is obtained according to formula (1), which is as follows:

[0136] TL=n×10×lgr+α×r, (n=1, 2, 3, 4, 5, 6)......(1)

[0137] Among them, TL is the propagation loss; r is the maximum detection distance; α is the sound absorption coefficient; n=2 is generally used.

[0138] The TVG gain calculation formula is as follows:

[0139] TVG gain = expansion loss parameter × 10 × lgr + absorption loss parameter × r...... (2)

[0140] Based on this, TVG gain parameter control of multi-beam sonar is performed based on echo intensity data, which may specifically include:

[0141] (2081) Based on a preset expansion loss parameter table, a first preset number of target expansion loss parameters is determined, where the target expansion loss parameters are the first preset number of expansion loss parameters in the expansion loss parameter table that are closest to the current expansion loss parameter value. The first preset number may be 3.

[0142] Specifically, the expansion loss parameter table includes multiple expansion loss parameters, which are obtained by selecting values ​​in the range of 0 to 60 according to the first preset step size. In a specific example, the first preset step size is 1, and the expansion loss parameters in the expansion loss parameter table are: 0, 1, 2, 3, ..., 60. On this basis, assuming that the current expansion loss parameter is 20 and the first preset number is 5, the target expansion loss parameters include 18, 19, 20, 21, and 22.

[0143] (2082) Based on a preset absorption loss parameter table, a second preset number of target absorption loss parameters is determined, where the target absorption loss parameters are a second preset number of absorption loss parameters in the absorption loss parameter table that are closest to the current absorption loss parameter value. The second preset number may be 7.

[0144] Specifically, the absorption loss parameter table includes multiple absorption loss parameters, which are obtained by selecting values ​​in the range of 0 to 120 according to the second preset step size. The principle of determining the target absorption loss parameter is the same or similar to the principle of determining the target expansion loss parameter, please refer to the above description for details.

[0145] (2083) Generate each TVG gain parameter combination according to all target expansion loss parameters and all target absorption loss parameters.

[0146] In a specific example, assuming that the number of target expansion loss parameters is 3 and the number of target absorption loss parameters is 7, 21 TVG gain parameter combinations can be generated, each TVG gain parameter combination including a target expansion loss parameter and a target absorption loss parameter.

[0147] (2084) According to the above formula (2), the TVG gain value under each TVG gain parameter combination is calculated.

[0148] (2085) Determine a target TVG gain value among all TVG gain values ​​based on the echo intensity data.

[0149] Here, based on the echo intensity data, determining the target TVG gain value among all TVG gain values ​​may specifically include:

[0150] (20851) For each TVG gain value, the product of each echo signal in the echo intensity data and the TVG gain value is calculated to obtain each gain echo signal corresponding to the TVG gain value.

[0151] (20852) Count the target gain echo signals that fall within the preset gain echo signal range among the gain echo signals corresponding to the TVG gain value.

[0152] (20853) Among all TVG gain values, determine that the TVG gain value with the largest target gain echo signal is the target TVG gain value.

[0153] (2086) A TVG gain parameter control operation is performed with the expansion loss parameter and the absorption loss parameter corresponding to the target TVG gain value as the target.

[0154] Based on a general inventive concept, the present invention also provides a device for controlling the working parameters of a multi-beam sonar. Figure 3 Schematic diagram of a device for controlling working parameters of a multi-beam sonar provided by an embodiment of the present invention. Figure 3 As shown, the device comprises:

[0155] The first acquisition module 31 is used to acquire detection data of the multi-beam sonar, where the detection data includes a plurality of beam distances, and all beam distances are arranged in a preset order.

[0156] The division module 32 is used to divide all beam distances into M beam distance groups based on a preset order.

[0157] The deletion module 33 is used to delete the data in each beam distance group that does not meet the preset requirements.

[0158] The first control module 34 is used to perform a first parameter control on the multi-beam sonar based on all current beam distance groups, where the first parameter is the range.

[0159] The second acquisition module 35 is used to acquire the echo intensity data of the multi-beam sonar.

[0160] The determination module 36 is used to determine the signal status of the multi-beam sonar according to the echo intensity data.

[0161] The second control module 37 is used to perform second parameter control on the multi-beam sonar according to the signal state, and the second parameters include power, receiving gain, pulse width and signal form.

[0162] The third control module 38 is used to control the TVG gain parameters of the multi-beam sonar based on the echo intensity data, where the TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

[0163] Optionally, the division module 32 may be specifically used for:

[0164] Based on a preset order, all beam distances are evenly divided into M beam distance groups.

[0165] Optionally, the deletion module 33 may be specifically used for:

[0166] For each beam distance group, the midpoint of the beam distance group is used to index to both sides. During the indexing process, the current data is subtracted from the adjacent data, and the obtained difference is ratioed with the adjacent data. If the obtained ratio is less than the first preset threshold, the current data is retained, otherwise, the current data is deleted.

[0167] Optionally, the first control module 34 may be specifically used for:

[0168] (1) Determine a first representative value for each beam distance group, where the first representative value is the maximum value in the corresponding beam distance group.

[0169] (2) Determine the maximum value among all the first representative values ​​as the second representative value of the current sonar target area.

[0170] (3) Compare the preset multiple of the second representative value with the adjacent value of the current measuring range. If the preset multiple of the second representative value is greater than the next measuring range of the current measuring range, the measuring range is updated to the next measuring range of the current measuring range. If the preset multiple of the second representative value is less than the previous measuring range of the current measuring range, the measuring range is updated to the previous measuring range of the current measuring range.

[0171] Optionally, the signal status includes weak signal, limited signal and normal signal.

[0172] The determination module 36 may be specifically used for:

[0173] (1) Extracting target data bit data of the echo intensity data and generating target echo intensity data, wherein the target data bit data is the echo intensity data corresponding to the area directly below the multi-beam sonar.

[0174] (2) Based on a preset signal weak judgment threshold, determine a first percentage of the target echo intensity data, where the first percentage is the percentage of the number of echo signals in the target echo intensity data whose signal strength is less than the signal weak judgment threshold to the total number of all echo signals in the target echo intensity data.

[0175] (3) When the first percentage is greater than a preset weak signal percentage, the signal state is determined to be a weak signal; when the first percentage is not greater than the preset weak signal percentage, the signal state is determined to be a normal signal.

[0176] (4) Based on a preset signal limit judgment threshold, determine a second percentage of the target echo intensity data, where the second percentage is the percentage of the number of echo signals in the target echo intensity data whose signal strength is greater than the signal limit judgment threshold to the total number of all echo signals in the target echo intensity data.

[0177] (6) When the second percentage is greater than the preset signal clipping percentage, the signal state is determined to be signal clipping; when the second percentage is not greater than the preset signal clipping percentage, the signal state is determined to be signal normal.

[0178] Optionally, the signal status includes weak signal, limited signal and normal signal.

[0179] The second control module 37 may be specifically used for:

[0180] (11) When the signal status is weak, determine whether the power has reached the maximum power.

[0181] (12) If the power has not reached the maximum power, the power increase operation is performed.

[0182] (13) If the power reaches the maximum power, determine whether the receiving gain reaches the maximum receiving gain.

[0183] (14) If the receiving gain has not reached the maximum receiving gain, the receiving gain increasing operation is performed.

[0184] (15) If the receiving gain reaches the maximum receiving gain, it is determined whether the pulse width reaches the maximum pulse width.

[0185] (16) If the pulse width does not reach the maximum pulse width, the pulse width increase operation is performed.

[0186] (17) If the pulse width reaches the maximum pulse width, it is determined whether the current survey depth is greater than the preset depth threshold.

[0187] (18) If the current survey depth is greater than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a linear frequency modulation wave.

[0188] (19) If the current survey depth is not greater than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

[0189] Optionally, the second control module 37 may be further used for:

[0190] (21) When the signal state is signal limiting, determine whether the current survey depth is less than the preset depth threshold.

[0191] (22) If the current survey depth is less than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

[0192] (23) If the current survey depth is not less than the preset depth threshold, it is determined whether the pulse width is a non-minimum pulse width.

[0193] (24) If the pulse width is not the minimum pulse width, the pulse width reduction operation is performed.

[0194] (25) If the pulse width is not a non-minimum pulse width, determine whether the receiving gain is a non-minimum receiving gain.

[0195] (26) If the receiving gain is not the minimum receiving gain, the receiving gain reduction operation is performed.

[0196] (27) If the receiving gain is not a non-minimum receiving gain, determine whether the power is a non-minimum power.

[0197] (28) If the power is not the minimum power, a power reduction operation is performed.

[0198] Optionally, the third control module 38 may specifically include:

[0199] The first determination unit is used to determine a first preset number of target expansion loss parameters based on a preset expansion loss parameter table, where the target expansion loss parameters are the first preset number of expansion loss parameters in the expansion loss parameter table that are closest to the current expansion loss parameter value.

[0200] The second determination unit is used to determine a second preset number of target absorption loss parameters based on a preset absorption loss parameter table, where the target absorption loss parameters are a second preset number of absorption loss parameters in the absorption loss parameter table that are closest to the current absorption loss parameter value.

[0201] The generating unit is used to generate each TVG gain parameter combination according to all target expansion loss parameters and all target absorption loss parameters.

[0202] The calculation unit is used to calculate the TVG gain value under each TVG gain parameter combination.

[0203] The third determining unit is configured to determine a target TVG gain value among all TVG gain values ​​based on the echo intensity data.

[0204] The execution unit is used to execute the TVG gain parameter control operation with the expansion loss parameter and absorption loss parameter corresponding to the target TVG gain value as the target.

[0205] Optionally, the third determining unit may be specifically configured to:

[0206] (1) For each TVG gain value, calculate the product of each echo signal in the echo intensity data and the TVG gain value to obtain each gain echo signal corresponding to the TVG gain value.

[0207] (2) Count the target gain echo signals that fall within the preset gain echo signal range among the gain echo signals corresponding to the TVG gain value.

[0208] (3) Determine the TVG gain value with the largest target gain echo signal as the target TVG gain value.

[0209] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0210] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0211] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0212] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0213] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0214] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0215] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0216] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0217] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling operating parameters of a multi-beam sonar, characterized in that: include: Acquire detection data of a multi-beam sonar, wherein the detection data includes a plurality of beam distances, and all the beam distances are arranged in a preset order; Based on the preset order, all the beam distances are divided into M beam distance groups; Deleting data that does not meet preset requirements in each of the beam distance groups; Based on all the current beam distance groups, a first parameter is controlled on the multi-beam sonar, where the first parameter is a range; Acquiring echo intensity data of the multi-beam sonar; Determining a signal state of the multibeam sonar according to the echo intensity data; According to the signal state, controlling the multi-beam sonar by a second parameter, wherein the second parameter includes power, receiving gain, pulse width and signal form; Based on the echo intensity data, TVG gain parameters are controlled on the multi-beam sonar, and the TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

2. The method for controlling the operating parameters of a multi-beam sonar according to claim 1, characterized in that: Based on the preset order, all the beam distances are divided into M beam distance groups, specifically including: Based on the preset order, all the beam distances are evenly divided into M beam distance groups.

3. The method for controlling the operating parameters of a multi-beam sonar according to claim 1 or 2, characterized in that: Deleting the data that does not meet the preset requirements in each beam distance group specifically includes: For each of the beam distance groups, all beam distances in the beam distance group are sorted in ascending order, and the midpoint of the sorting result is taken as the target beam distance. The other beam distances in the sorting result are respectively subtracted from the target beam distance, and the obtained difference is ratioed with the target beam distance. If the obtained ratio is less than a first preset threshold, the other beam distance is retained; otherwise, the other beam distance is deleted.

4. The method for controlling the operating parameters of a multi-beam sonar according to claim 3, characterized in that: Based on all the current beam distance groups, the multi-beam sonar is controlled by a first parameter, where the first parameter is a range, specifically including: Determine a first representative value of each of the beam distance groups, wherein the first representative value is a maximum value in the corresponding beam distance group; Determine the maximum value among all the first representative values ​​as the second representative value of the current sonar target area; Compare the preset multiples of the second representative value with the adjacent values ​​of the current range; if the preset multiples of the second representative value are greater than the next range of the current range, update the range to the next range of the current range; if the preset multiples of the second representative value are less than the previous range of the current range, update the range to the previous range of the current range.

5. The method for controlling the operating parameters of a multi-beam sonar according to claim 1, characterized in that: The signal status includes weak signal, limited signal and normal signal; Determining the signal state of the multi-beam sonar according to the echo intensity data specifically includes: Extracting target data bit data of the echo intensity data and generating target echo intensity data, wherein the target data bit data is the echo intensity data corresponding to the area directly below the multi-beam sonar; Based on a preset signal weak judgment threshold, determine a first percentage of the target echo intensity data, the first percentage being the percentage of the number of echo signals in the target echo intensity data whose signal strength is less than the signal weak judgment threshold to the total number of all echo signals in the target echo intensity data; When the first percentage is greater than a preset weak signal percentage, determining that the signal state is the weak signal; when the first percentage is not greater than a preset weak signal percentage, determining that the signal state is the normal signal; Based on a preset signal amplitude limiting judgment threshold, determining a second percentage of the target echo intensity data, the second percentage being the percentage of the number of echo signals in the target echo intensity data having a signal intensity greater than the signal amplitude limiting judgment threshold to the total number of all echo signals in the target echo intensity data; When the second percentage is greater than a preset signal clipping percentage, the signal state is determined to be the signal clipping; when the second percentage is not greater than a preset signal clipping percentage, the signal state is determined to be the signal normal.

6. The method for controlling the operating parameters of a multi-beam sonar according to claim 1, characterized in that: The signal status includes weak signal, limited signal and normal signal; According to the signal state, a second parameter control is performed on the multi-beam sonar, specifically including: When the signal state is that the signal is weak, determining whether the power reaches the maximum power; If the power does not reach the maximum power, performing a power increase operation; If the power reaches the maximum power, determining whether the receiving gain reaches the maximum receiving gain; If the receiving gain does not reach the maximum receiving gain, performing an operation of increasing the receiving gain; If the receiving gain reaches the maximum receiving gain, determining whether the pulse width reaches the maximum pulse width; If the pulse width does not reach the maximum pulse width, an operation of increasing the pulse width is performed; If the pulse width reaches the maximum pulse width, determining whether the current survey depth is greater than a preset depth threshold; If the current survey depth is greater than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a linear frequency modulation wave; If the current survey depth is not greater than the preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave.

7. The method for controlling the operating parameters of a multi-beam sonar according to claim 6, characterized in that: According to the signal state, a second parameter control is performed on the multi-beam sonar, specifically including: When the signal state is the signal limiting, determining whether the current survey depth is less than a preset depth threshold; If the current survey depth is less than a preset depth threshold, a signal form switching operation is performed with the goal of making the signal form a continuous wave; If the current survey depth is not less than the preset depth threshold, determining whether the pulse width is a non-minimum pulse width; If the pulse width is not the minimum pulse width, then performing a pulse width reduction operation; If the pulse width is not a non-minimum pulse width, determining whether the receiving gain is a non-minimum receiving gain; If the receiving gain is not the minimum receiving gain, performing an operation of reducing the receiving gain; If the receiving gain is not a non-minimum receiving gain, determining whether the power is a non-minimum power; If the power is not the minimum power, a power reduction operation is performed.

8. The method for controlling the operating parameters of a multi-beam sonar according to claim 1, characterized in that: Based on the echo intensity data, TVG gain parameter control is performed on the multi-beam sonar, specifically including: Based on a preset expansion loss parameter table, determining a first preset number of target expansion loss parameters, wherein the target expansion loss parameters are the first preset number of expansion loss parameters in the expansion loss parameter table that are closest to the current expansion loss parameter value; Based on a preset absorption loss parameter table, determining a second preset number of target absorption loss parameters, wherein the target absorption loss parameters are a second preset number of absorption loss parameters in the absorption loss parameter table that are closest to the current absorption loss parameter value; Generating each TVG gain parameter combination according to all the target expansion loss parameters and all the target absorption loss parameters; Calculating the TVG gain value under each TVG gain parameter combination; determining a target TVG gain value among all the TVG gain values ​​based on the echo intensity data; The TVG gain parameter control operation is performed with the expansion loss parameter and the absorption loss parameter corresponding to the target TVG gain value as targets.

9. The method for controlling the operating parameters of a multi-beam sonar according to claim 8, characterized in that: Determining a target TVG gain value among all the TVG gain values ​​based on the echo intensity data specifically includes: For each of the TVG gain values, calculating the product of each echo signal in the echo intensity data and the TVG gain value to obtain each gain echo signal corresponding to the TVG gain value; Counting the target gain echo signals that fall within the preset gain echo signal range among the gain echo signals corresponding to the TVG gain value; The TVG gain value with the largest target gain echo signal is determined as the target TVG gain value.

10. A control device for multi-beam sonar operating parameters, characterized in that: include: A first acquisition module is used to acquire detection data of a multi-beam sonar, wherein the detection data includes a plurality of beam distances, and all the beam distances are arranged in a preset order; A division module, used for dividing all the beam distances into M beam distance groups based on the preset order; A deletion module, used to delete the data in each beam distance group that does not meet the preset requirements; A first control module, configured to perform a first parameter control on the multi-beam sonar based on all the current beam distance groups, wherein the first parameter is a range; A second acquisition module is used to acquire the echo intensity data of the multi-beam sonar; A determination module, configured to determine a signal state of the multi-beam sonar according to the echo intensity data; A second control module, used to perform second parameter control on the multi-beam sonar according to the signal state, wherein the second parameter includes power, receiving gain, pulse width and signal form; The third control module is used to control the TVG gain parameters of the multi-beam sonar based on the echo intensity data, and the TVG gain parameters include an expansion loss parameter and an absorption loss parameter.

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