High-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference

Abstract

The embodiment of the invention relates to the technical field of motion trail measurement, in particular to a high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference, the method is suitable for a magnetic sensor array, the magnetic sensor array is composed of n + 2 pairs of magnetic sensors, and the method comprises the steps that the n + 2 pairs of magnetic sensors in the magnetic sensor array are divided into n + 1 detection units; traversing each detection unit, acquiring the maximum value of the signal amplitude acquired by each magnetic sensor of the current detection unit, and determining the passing angle when the high-speed UUV passes through the current detection unit at the moment when the maximum value of the signal amplitude is acquired; selecting a reference magnetic sensor, and determining a positioning point of the current detection unit based on the passing angle and the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV; and performing track fitting on the positioning points corresponding to the detection units to obtain the track of the high-speed UUV. According to the method, the precision and the speed of high-speed UUV track measurement are effectively improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of motion trajectory measurement, and in particular to a high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference. Background Art

[0002] During the development of high-speed UUV (Unmanned Underwater Vehicle), in order to accurately evaluate its guidance system, trajectory control capability and hit performance, it is very important to accurately give its rendezvous situation with the target ship during the range test. At present, the positioning of high-speed UUV in the test field is mainly achieved by hydroacoustic means, such as ultra-short baseline measurement system, short baseline measurement system and long baseline measurement system. These measurement systems receive the 3D segment beacon signal installed on the high-speed UUV or the high-speed UUV radiation noise by installing an acoustic transducer array (short baseline measurement system) on the target ship or laying out a hydroacoustic transducer array on the seabed to determine the position of the high-speed UUV relative to the target ship.

[0003] When a high-speed UUV reaches the vicinity of a target ship, the positioning system based on hydroacoustic means will bring some inconvenience to actual use due to the complex acoustic field environment and the need to install a 3D segment on the UUV. Considering that a high-speed UUV is usually equipped with an electromagnetic transmitting antenna at its tail, the electromagnetic transmitting antenna will continuously emit an alternating electromagnetic signal of a certain frequency, which has good regionality. Therefore, a research team proposed to place a group of magnetic sensor arrays in a certain shape on the target ship to receive the electromagnetic signal emitted by the electromagnetic transmitting antenna of the high-speed UUV, and synchronously sample the magnetic sensor array through multi-channel data acquisition. The electromagnetic transmitting antenna is assumed to be a magnetic dipole source, and the amplitude of the alternating electromagnetic signal received by the sensor and the relative position between the sensor and the electromagnetic transmitting antenna are used to form equations according to the magnetic dipole propagation model. The signals received by all sensors can form a set of equations, and the position of the alternating radiation source (electromagnetic transmitting antenna) is solved through an optimization iterative algorithm, thereby realizing the track measurement of the high-speed UUV. A research team proposed that equally spaced sensors can be used to quickly measure the electromagnetic track of high-speed UUVs using the signal amplitude ratio. However, this method has high requirements for array deployment and is not very accurate at low signal-to-noise ratios.

[0004] In addition, there is a positioning method based on the amplitude and phase of the signal. The principle is to receive the high-speed UUV electromagnetic fuse and the radiated signal, extract its amplitude and phase information, and then measure and calculate its position through optimization methods. However, this method requires the phase information of the signal, which is difficult to obtain accurately. In addition, since the optimization algorithm requires multiple iterations, a large amount of calculation is required after collecting the signal and extracting the data, which requires high computing power and is difficult to ensure real-time performance. Summary of the invention

[0005] In view of this, an embodiment of the present application proposes a method for rapid measurement of the electromagnetic track of a high-speed UUV based on signal amplitude and time difference. The amplitude and delay information of the signal radiated by the electromagnetic transmitting antenna of the high-speed UUV is extracted and combined with the position information of the sensor array to calculate the positioning point of the high-speed UUV position. The track of the high-speed UUV is fitted through multiple positioning points, which effectively improves the accuracy of the high-speed UUV track measurement.

[0006] To achieve the above-mentioned purpose, an embodiment of the present application provides a method for rapid measurement of electromagnetic track of a high-speed UUV based on signal amplitude and time difference, which is applicable to a magnetic sensor array, wherein the magnetic sensor array is composed of n+2 pairs of magnetic sensors, and the n+2 pairs of magnetic sensors are installed in parallel and distributed on both sides of a target ship, with odd-numbered columns of sensors arranged on the left side of the target ship and even-numbered columns of sensors arranged on the right side of the target ship, where n is an integer greater than 0. The method comprises the following steps: dividing the n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units; wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors; traversing each detection unit, obtaining the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and the time when the maximum value of the signal amplitude is collected, and determining the passing angle of the high-speed UUV when passing through the current detection unit based on each time; wherein, assuming the target ship's ship The head direction is the positive direction of the Y axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y axis; the detection unit with the largest signal-to-noise ratio of the magnetic field signal is selected as the reference detection unit, and the magnetic sensor with the smallest and odd number in the reference detection unit is selected as the reference magnetic sensor, and the distance estimation equation is established using the passing angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track; the distance estimation equation is solved to obtain the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV, and the positioning point corresponding to the reference detection unit is determined, and then the positioning point corresponding to each detection unit is determined based on the passing angle of each detection unit and the horizontal distance from the reference magnetic sensor to the high-speed UUV track; the positioning point corresponding to each detection unit is fitted with a trajectory to obtain the track of the high-speed UUV.

[0007] To achieve the above-mentioned purpose, an embodiment of the present application further provides a high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference, the system comprising: a magnetic sensor array, an acquisition module, a division module, a positioning module and a fitting module, the positioning module comprising a passing angle calculation unit, a distance estimation equation establishment unit and a positioning point determination unit; a magnetic sensor array, consisting of n+2 pairs of magnetic sensors, the n+2 pairs of magnetic sensors are installed in parallel and distributed on both sides of the target ship, the odd-numbered columns of sensors are arranged on the left side of the target ship, and the even-numbered columns of sensors are arranged on the right side of the target ship, n is an integer greater than 0, and each magnetic sensor is used to sense the magnetic field signal of the area to be measured; an acquisition module, used to obtain the magnetic field signal collected by each magnetic sensor from the magnetic sensor array; a division module, used to divide the n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units, wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors; a passing angle calculation unit, used to traverse each detection unit, obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and collect the signal The target ship determines the moment when the signal amplitude is the maximum value, and determines the passing angle when the high-speed UUV passes through the current detection unit based on each moment, wherein the bow direction of the target ship is assumed to be the positive direction of the Y axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y axis; an equation establishment unit is used to select the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the reference detection unit, and select the magnetic sensor with the smallest and odd number in the reference detection unit as the reference magnetic sensor, and use the passing angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, solve the distance estimation equation, and obtain the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV; a positioning point determination unit is used to determine the positioning point corresponding to the reference detection unit, and then determine the positioning point corresponding to each detection unit based on the passing angle of each detection unit and the horizontal distance from the reference magnetic sensor to the high-speed UUV track; a fitting module is used to perform trajectory fitting on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV.

[0008] To achieve the above-mentioned purpose, an embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference.

[0009] To achieve the above objectives, an embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the above-mentioned high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference.

[0010] The embodiment of the present application proposes a method for rapid electromagnetic track measurement of a high-speed UUV based on signal amplitude and time difference. The magnetic sensor array is divided into several detection units, and each detection unit locates the high-speed UUV. No complex optimization algorithm is required. It is only necessary to extract the maximum value of the signal amplitude collected by each magnetic sensor of the detection unit and the time when the maximum value of the signal amplitude is collected, and then combine it with the position information of each magnetic sensor. Through simple calculation, the passing angle of the high-speed UUV when passing through the detection unit can be determined. Then, based on the idea that the magnetic field component of the magnetic dipole (high-speed UUV) in the Z-axis direction and the distance can be approximately regarded as an inverse cubic relationship, a distance estimation equation is established. By solving the distance estimation equation, the horizontal distance from the reference magnetic sensor in the reference detection unit where the reference magnetic sensor is located to the track of the high-speed UUV can be determined. After calculation with the passing angle, the positioning point corresponding to each detection unit can be obtained. Finally, the trajectory fitting of the positioning point corresponding to each detection unit can be performed to obtain the track of the high-speed UUV, which effectively improves the accuracy of high-speed UUV track measurement and reduces the cost and complexity of high-speed UUV track measurement. It has good universal applicability and generalization ability.

[0011] Optionally, the determination of the passing angle of the high-speed UUV when passing through the current detection unit based on each moment is implemented by the following formula:

[0012]

[0013] Wherein, the current detection unit is assumed to be the kth detection unit, k is an integer greater than 0 and less than n+2, R is the distance between two adjacent magnetic sensors on the same column, L is the distance between the relative magnetic sensors in the current detection unit, t1, t2, t3, and t4 are the moments when the four magnetic sensors of the current detection unit collect the maximum signal amplitude, v is the speed of the high-speed UUV, and α k is the passing angle of the high-speed UUV when it passes through the current detection unit. If the calculated α k is a positive value, the high-speed UUV moves from the odd-numbered magnetic sensors to the even-numbered magnetic sensors. If the calculated α k If it is a negative value, the moving direction of the high-speed UUV is from the even-numbered magnetic sensors to the odd-numbered magnetic sensors.

[0014] Optionally, before the detection unit with the largest signal-to-noise ratio of the selected magnetic field signal is used as the reference detection unit, and the magnetic sensor with the smallest and odd number in the reference detection unit is selected as the reference magnetic sensor, the method further includes: sequentially determining whether the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit is greater than the decision threshold value corresponding to each magnetic sensor of the current detection unit; wherein, for a pair of magnetic sensors, the decision threshold value of the first magnetic sensor is the signal amplitude collected by the first magnetic sensor when the high-speed UUV is located at the position where the projection of the second magnetic sensor on the depth plane of the UUV is located, and the decision threshold value of the second magnetic sensor is the signal amplitude collected by the second magnetic sensor when the high-speed UUV is located at the position where the projection of the first magnetic sensor on the depth plane of the UUV is located; if the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit is greater than the corresponding decision threshold value, it is determined that the high-speed UUV has left the current detection unit. if, in each pair of magnetic sensors of the current detection unit, the maximum value of the signal amplitude collected by at least one magnetic sensor is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV passes through the outside of the current detection unit; if, in the two pairs of magnetic sensors of the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with later peak times are greater than their corresponding decision threshold values, and the maximum value of the signal amplitude collected by at least one magnetic sensor in the pair of magnetic sensors with earlier peak times is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV enters the current detection unit from the outside of the magnetic sensor array; if, in the two pairs of magnetic sensors of the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with earlier peak times are greater than their corresponding decision threshold values, and the maximum value of the signal amplitude collected by at least one magnetic sensor in the pair of magnetic sensors with later peak times is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV passes through the magnetic sensor array from the current detection unit. For different passing situations of high-speed UUV, the distance estimation equation is established differently. Therefore, judging in advance how the high-speed UUV passes through the detection unit can improve the speed and accuracy of establishing the distance estimation equation, thereby further improving the accuracy of high-speed UUV track measurement.

[0015] Optionally, if it is determined that the high-speed UUV passes through the interior of the current detection unit, a distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as:

[0016]

[0017]

[0018] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

[0019] Optionally, if it is determined that the high-speed UUV passes through the outside of the current detection unit, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as:

[0020]

[0021] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

[0022] Optionally, if it is determined that the high-speed UUV penetrates the current detection unit from outside the magnetic sensor array, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as:

[0023]

[0024] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

[0025] Optionally, if it is determined that the high-speed UUV passes through the magnetic sensor array from the current detection unit, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as:

[0026]

[0027] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a flow chart of a high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference provided in one embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the layout of a magnetic sensor array provided in an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of a demodulated magnetic field curve corresponding to magnetic sensor No. 6 provided in an embodiment of the present application;

[0032] Figure 4 is a schematic diagram of a high-speed UUV passing through the interior of a current detection unit provided in one embodiment of the present application;

[0033] Figure 5 is a schematic diagram of a high-speed UUV passing through the outside of a current detection unit provided in one embodiment of the present application;

[0034] Figure 6 is a schematic diagram of a high-speed UUV penetrating into a current detection unit from outside a magnetic sensor array provided in one embodiment of the present application;

[0035] Figure 7 is a schematic diagram of a high-speed UUV passing through a magnetic sensor array from a current detection unit provided in one embodiment of the present application;

[0036] Figure 8 is a structural schematic diagram of a high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference provided in another embodiment of the present application;

[0037] Fig. 9 is a schematic diagram of simulation experiment positioning results provided in another embodiment of the present application;

[0038] Fig.10 It is a structural schematic diagram of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0039] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0040] An embodiment of the present application proposes a high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference, which is applied to electronic equipment, wherein the electronic equipment can be a terminal or a server. This embodiment and the following embodiments are all described by taking the server as an example. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference proposed in this embodiment is applicable to a magnetic sensor array, which is composed of n+2 pairs of magnetic sensors. These n+2 pairs of magnetic sensors are installed in parallel on both sides of the target ship, with odd-numbered columns of sensors arranged on the left side of the target ship and even-numbered columns of sensors arranged on the right side of the target ship, and n is an integer greater than 0. The implementation details of the high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference proposed in this embodiment are described in detail below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0041] The specific process of the high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference proposed in this embodiment can be as follows: Figure 1 As shown, including:

[0042] Step 101: divide n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units, wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors.

[0043] In a specific implementation, at least n+2 (n is an integer greater than 0) pairs of single-component magnetic sensors are provided in the magnetic sensor array, that is, at least 3 pairs of 6 magnetic sensors are provided, and the n+2 pairs of magnetic sensors are equally spaced and parallelly distributed in two rows, installed on the sides of the target ship, covering the area from the bow to the stern, and are perpendicular to the water surface. All magnetic sensors in the magnetic sensor array are connected to an interface module, which is connected to a server (also called a host computer). Each magnetic sensor is used to sense the magnetic field signal of the area to be measured, and the server obtains the magnetic field signal collected by each magnetic sensor through the interface module. The magnetic field signal of the area to be measured is emitted by the electromagnetic transmitting antenna installed at the tail of the high-speed UUV, which can be regarded as an alternating electromagnetic radiation source. The server divides the n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units, each of which is composed of two adjacent pairs of magnetic sensors, and the two adjacent detection units share a pair of magnetic sensors. If 3 pairs of 6 magnetic sensors are provided in the magnetic sensor array, the server divides the 3 pairs of 6 magnetic sensors into 2 detection units.

[0044] In one example, the magnetic sensor array may be Figure 2 As shown, the magnetic sensor array consists of 6 pairs of 12 single-component magnetic sensors. Magnetic sensors No. 1, No. 3, No. 5, No. 7, No. 9 and No. 11 are the first column, fixedly installed on the left side of the target ship, and magnetic sensors No. 2, No. 4, No. 6, No. 8, No. 10 and No. 12 are the second column, fixedly installed on the right side of the target ship. Each magnetic sensor is perpendicular to the water surface. The spacing between a pair of magnetic sensors is recorded as L, and the spacing between two adjacent magnetic sensors in the same column is equal, recorded as R. Magnetic sensors No. 3, No. 5, No. 7, No. 9, No. 4, No. 6, No. 8 and No. 10 are also called intermediate magnetic sensors, and magnetic sensors No. 1, No. 2, No. 11 and No. 12 are also called edge magnetic sensors. The 6 pairs of 12 single-component magnetic sensors are divided into 5 detection units by the server according to the division standard, namely the first detection unit consisting of magnetic sensors No. 1, No. 2, No. 3 and No. 4; the second detection unit consisting of magnetic sensors No. 3, No. 4, No. 5 and No. 6; the third detection unit consisting of magnetic sensors No. 5, No. 6, No. 7 and No. 8; the fourth detection unit consisting of magnetic sensors No. 7, No. 8, No. 9 and No. 10; the fifth detection unit consisting of magnetic sensors No. 9, No. 10, No. 11 and No. 12. Except for the four edge magnetic sensors No. 1, No. 2, No. 11 and No. 12, the other magnetic sensors are shared by two adjacent detection units.

[0045] In one example, when the magnetic sensor is installed on the side of the target ship, a shock absorbing device is provided. The magnetic sensor is fixed to the shock absorbing device by bolts and clamps, and the two ends of the shock absorbing device are fixed by bolts and pressure strips. Strong magnets are also fixed to the bottom of the pressure strips at both ends of the shock absorbing device, and the magnetic sensor and the shock absorbing device are adsorbed on the side of the target ship by strong magnets to ensure that each magnetic sensor is perpendicular to the water surface.

[0046] In one example, after obtaining the magnetic field signals collected by each magnetic sensor, the server can estimate the amplitude of each magnetic field signal frame by frame, perform fast Fourier transform on the collected magnetic field signals frame by frame according to the preset frame length and refresh points, obtain the amplitude spectrum of each frame signal, take the frequency corresponding to the maximum value of the amplitude spectrum of each frame signal and the two frequencies on the left and right sides, calculate the amplitude of each frame, and thus obtain the magnetic field curve of each magnetic sensor.

[0047] In one example, the diameter of the radiation coil of the electromagnetic fuze carried by the high-speed UUV is usually less than 1m, while the length of the high-speed UUV is usually more than 5m, and the underwater depth of the high-speed UUV when passing the target is usually more than 5m away from the sensor arranged on the water surface, so the signal source can be regarded as a magnetic dipole model. In the magnetic dipole model, the attenuation speed of the magnetic field signal underwater is very fast, so the passive ranging method of the electromagnetic fuze usually has a small measurement range, generally within 80m of the target ship, and the speed of the high-speed UUV is very fast, generally 20knot~40knot (knots), so the trajectory of the high-speed UUV when passing the target is approximately a straight line, or a curve close to a straight line.

[0048] Step 102, traverse each detection unit, obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and the time when the maximum value of the signal amplitude is collected, and determine the passing angle when the high-speed UUV passes through the current detection unit based on each time, wherein the bow direction of the target ship is assumed to be the positive direction of the Y-axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y-axis.

[0049] In a specific implementation, after the server divides the detection units, it can traverse the detection units to obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit and the time when the maximum value of the signal amplitude is collected. Based on the time when each magnetic sensor of the current detection unit collects the maximum value of the signal amplitude, the passing angle of the high-speed UUV when passing through the current detection unit is determined, wherein the bow direction of the target ship is assumed to be the positive direction of the Y-axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y-axis.

[0050] In one example, the magnetic sensor array may be Figure 2 As shown, the demodulated magnetic field curve corresponding to magnetic sensor No. 6 is as follows Figure 3 As shown, the moment when magnetic sensor No. 6 collects the maximum signal amplitude is the 80th second, that is, at the 80th second, the high-speed UUV is closest to magnetic sensor No. 6.

[0051] In one example, the server determines the passing angle of the high-speed UUV when it passes through the current detection unit based on each moment, which can be achieved by the following formula:

[0052]

[0053] Wherein, the current detection unit is assumed to be the kth detection unit, k is an integer greater than 0 and less than n+2, R is the distance between two adjacent magnetic sensors on the same column, L is the distance between the relative magnetic sensors in the current detection unit, t1, t2, t3, and t4 are the moments when the four magnetic sensors of the current detection unit collect the maximum signal amplitude, v is the speed of the high-speed UUV, and α k is the passing angle of the high-speed UUV when it passes through the current detection unit. If the calculated α k is a positive value, the high-speed UUV moves from the odd-numbered magnetic sensors to the even-numbered magnetic sensors. If the calculated α k If it is a negative value, the moving direction of the high-speed UUV is from the even-numbered magnetic sensors to the odd-numbered magnetic sensors.

[0054] Step 103, select the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the reference detection unit, and select the magnetic sensor with the smallest and odd number in the reference detection unit as the reference magnetic sensor, and use the penetration angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation.

[0055] In the specific implementation, after calculating the penetration angle of each detection unit, the server selects the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the benchmark detection unit, and selects the magnetic sensor with the smallest and odd number in the benchmark detection unit as the benchmark magnetic sensor. Then, the server uses the penetration angle of the benchmark detection unit, the maximum value of the signal amplitude of each magnetic sensor in the benchmark detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the benchmark magnetic sensor to the high-speed UUV track, combined with the idea that the magnetic field component of the magnetic dipole (high-speed UUV) in the Z-axis direction and the distance can be approximately regarded as an inverse cubic relationship, to establish a distance estimation equation.

[0056] It should be noted that there are four ways for a high-speed UUV to pass through the current detection unit, namely: the high-speed UUV passes through the inside of the current detection unit, that is, passing between the two magnetic sensors of each pair of magnetic sensors; the high-speed UUV passes through the outside of the current detection unit, that is, the high-speed UUV does not enter the magnetic sensor array from the current detection unit; the high-speed UUV enters the current detection unit from the outside of the magnetic sensor array, that is, the high-speed UUV enters from the outside of a pair of magnetic sensors and passes out from the two magnetic sensors of another pair of magnetic sensors; the high-speed UUV passes out of the magnetic sensor array from the current detection unit, that is, the high-speed UUV enters from the two magnetic sensors of a pair of magnetic sensors and passes out from the outside of another pair of magnetic sensors. For different passing methods, the distance estimation equation is established differently. Therefore, before establishing the distance estimation equation, the server needs to pre-determine in what form the high-speed UUV passes through the detection unit, which can effectively improve the speed and accuracy of establishing the distance estimation equation, thereby further improving the accuracy of the high-speed UUV track measurement.

[0057] In an example, the server needs to determine in turn whether the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit is greater than the decision threshold value corresponding to each magnetic sensor of the current detection unit, where for each pair of magnetic sensors, the decision threshold value of the first magnetic sensor is the signal amplitude collected by the first magnetic sensor when the high-speed UUV is located at the projection of the second magnetic sensor on the depth plane where the UUV is located, and the decision threshold value of the second magnetic sensor is the signal amplitude collected by the second magnetic sensor when the high-speed UUV is located at the projection of the first magnetic sensor on the depth plane where the UUV is located.

[0058] If the maximum values ​​of the signal amplitudes collected by the magnetic sensors of the current detection unit are all greater than the corresponding decision threshold values, it is determined that the high-speed UUV passes through the interior of the current detection unit.

[0059] If the maximum value of the signal amplitude collected by at least one magnetic sensor in each pair of magnetic sensors of the current detection unit is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV passes through the outside of the current detection unit.

[0060] If, among the two pairs of magnetic sensors in the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with later peak times are both greater than their corresponding decision threshold values, and the maximum value of the signal amplitude collected by at least one of the pair of magnetic sensors with earlier peak times is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV penetrates the current detection unit from outside the magnetic sensor array.

[0061] If, among the two pairs of magnetic sensors in the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with earlier peak times are both greater than their corresponding decision threshold values, and the maximum value of the signal amplitude collected by at least one of the pair of magnetic sensors with later peak times is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV has passed through the magnetic sensor array from the current detection unit.

[0062] In one example, assuming that the reference detection unit is a first detection unit consisting of magnetic sensors No. 1, No. 2, No. 3, and No. 4, then the selected reference magnetic sensor is magnetic sensor No. 1. If it is determined that the high-speed UUV passes through the interior of the reference detection unit (such as Figure 4 As shown), the server uses the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, which can be achieved by the following formula:

[0063]

[0064] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively. h is the depth of the high-speed UUV, and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors. Since the reference detection unit is assumed to be the first detection unit, the value of k in the formula is 1. Among these parameters, d1 is regarded as an unknown parameter. Combining these two equations, the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV can be obtained.

[0065] In one example, assuming that the reference detection unit is the first detection unit consisting of magnetic sensors No. 1, No. 2, No. 3, and No. 4, then the selected reference magnetic sensor is magnetic sensor No. 1. If it is determined that the high-speed UUV passes through the outside of the current detection unit (such as Figure 5 As shown), the server uses the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, which can be achieved by the following formula:

[0066]

[0067] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively. h is the depth of the high-speed UUV, and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors. Since the reference detection unit is assumed to be the first detection unit, the value of k in the formula is 1. Among these parameters, d1 is regarded as an unknown parameter. Combining these two equations, the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV can be obtained.

[0068] In one example, assuming that the reference detection unit is the first detection unit composed of magnetic sensors No. 1, No. 2, No. 3 and No. 4, then the selected reference magnetic sensor is magnetic sensor No. 1. If it is determined that the high-speed UUV penetrates the current detection unit from outside the magnetic sensor array (such as Figure 6 As shown), the server uses the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, which can be achieved by the following formula:

[0069]

[0070] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively. h is the depth of the high-speed UUV, and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors. Since the reference detection unit is assumed to be the first detection unit, the value of k in the formula is 1. Among these parameters, d1 is regarded as an unknown parameter. Combining these two equations, the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV can be obtained.

[0071] In one example, assuming that the reference detection unit is the first detection unit composed of magnetic sensors No. 1, No. 2, No. 3 and No. 4, then the selected reference magnetic sensor is magnetic sensor No. 1. If it is determined that the high-speed UUV passes through the magnetic sensor array from the current detection unit (such as Figure 7 As shown), the server uses the angle at which the UUV passes through the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, which can be achieved by the following formula:

[0072]

[0073] Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively. h is the depth of the high-speed UUV, and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors. Since the reference detection unit is assumed to be the first detection unit, the value of k in the formula is 1. Among these parameters, d1 is regarded as an unknown parameter. Combining these two equations, the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV can be obtained.

[0074] Step 104, solve the distance estimation equation to obtain the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV, determine the positioning point corresponding to the reference detection unit, and then determine the positioning point corresponding to each detection unit based on the penetration angle of each detection unit and the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV.

[0075] In the specific implementation, the server solves the established distance estimation equation to obtain the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV, and at the same time can determine the positioning point corresponding to the reference detection unit. Subsequently, based on the penetration angle of each detection unit and the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV, the positioning point corresponding to each detection unit is determined. For the first detection unit, its positioning point is recorded as P1, and its coordinates are recorded as (x1, y1).

[0076] Step 105 , performing trajectory fitting on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV.

[0077] In a specific implementation, after obtaining the positioning points corresponding to each detection unit, the server can perform trajectory fitting on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV. Figure 2 For the magnetic sensor array shown, the server obtains five positioning points, namely P1, P2, P3, P4 and P5. The server performs trajectory fitting on these five positioning points to obtain the track of the high-speed UUV.

[0078] In this embodiment, the magnetic sensor array is divided into a number of detection units, and each detection unit locates the position of the high-speed UUV. No complex optimization algorithm is required. It is only necessary to extract the maximum value of the signal amplitude collected by each magnetic sensor of the detection unit and the time when the maximum value of the signal amplitude is collected, and then combine it with the position information of each magnetic sensor. Then, through simple calculation, the passing angle of the high-speed UUV when passing through the detection unit can be determined. Then, based on the idea that the magnetic field component of the magnetic dipole (i.e., the high-speed UUV) in the Z-axis direction and the distance can be approximately regarded as an inverse cubic relationship, a distance estimation equation is established. By solving the distance estimation equation, the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV can be determined. After calculating with the passing angle of each detection unit, the positioning point corresponding to each detection unit can be obtained. Finally, the trajectory fitting of the positioning point corresponding to each detection unit can be performed to obtain the track of the high-speed UUV, which effectively improves the accuracy of the high-speed UUV track measurement, reduces the computational cost and complexity of the high-speed UUV track measurement, and has good universal applicability and generalization ability.

[0079] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0080] Another embodiment of the present application proposes a high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference. The details of the high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference proposed in this embodiment are described in detail below. The following content is only the implementation details provided for easy understanding and is not necessary for the implementation of this example.

[0081] Figure 8 It is a schematic diagram of a high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference proposed in this embodiment. The system includes a magnetic sensor array 201, an acquisition module 202, a division module 203, a positioning module 204 and a fitting module 205. The positioning module 204 includes a passing angle calculation unit 2041, a distance estimation equation establishment unit 2042 and a positioning point determination unit 2043.

[0082] The magnetic sensor array 201 is composed of n+2 pairs of magnetic sensors, which are installed in parallel on both sides of the target ship. The odd-numbered columns of sensors are arranged on the left side of the target ship, and the even-numbered columns of sensors are arranged on the right side of the target ship. n is an integer greater than 0, and each magnetic sensor is used to sense the magnetic field signal of the area to be measured.

[0083] The acquisition module 202 is used to acquire the magnetic field signal collected by each magnetic sensor from the magnetic sensor array.

[0084] The division module 203 is used to divide the n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units, wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors.

[0085] The passing angle calculation unit 2041 is used to traverse each detection unit, obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and the time when the maximum value of the signal amplitude is collected, and determine the passing angle when the high-speed UUV passes through the current detection unit based on each time, wherein the bow direction of the target ship is assumed to be the positive direction of the Y-axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y-axis.

[0086] The equation establishing unit 2042 is used to select the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the reference detection unit, and select the magnetic sensor with the smallest and odd number in the reference detection unit as the reference magnetic sensor, and use the penetration angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track to establish a distance estimation equation, solve the distance estimation equation, and obtain the horizontal distance from the reference magnetic sensor to the high-speed UUV track.

[0087] The positioning point determination unit 2043 is used to determine the positioning point corresponding to the reference detection unit, and then determine the positioning point corresponding to each detection unit based on the penetration angle of each detection unit and the horizontal distance from the reference magnetic sensor to the high-speed UUV track.

[0088] The fitting module 205 is used to perform trajectory fitting on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV.

[0089] It is not difficult to find that this embodiment is a system embodiment corresponding to the above method embodiment, and this embodiment can be implemented in conjunction with the above method embodiment. The relevant technical details and technical effects mentioned in the above embodiments are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiments.

[0090] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0091] In another embodiment, in order to verify the effectiveness of the high-speed UUV electromagnetic track rapid measurement method and system based on signal amplitude and time difference proposed in this application, we conducted a water pool simulation experiment. The sensor array is arranged on both sides of the water pool, with 6 magnetic sensors each time. The spacing between the magnetic sensors on the same side is 1m, and the spacing between the magnetic sensors on both sides of the water pool is 3.4m. The vehicle carries a magnetic rod passing through the middle of the sensor array, and the magnetic sensor receives the signal, extracts the amplitude and performs positioning. The positioning results of the water pool simulation experiment are shown in Figure 2. Fig. 9 shown.

[0092] The average error between the positioning result and the actual trajectory is calculated to be 0.135m. The errors of the four groups of pool experimental data are calculated and the results are shown in Table 1.

[0093] Table 1: Average error of positioning results of different groups in the pool simulation experiment

[0094] Group Average positioning error A 0.126m B 0.135m C 0.137m D 0.128m total 0.132m

[0095] It can be seen from Table 1 that the average error of the positioning results of different groups in the pool simulation experiment is 0.132m, which meets the engineering requirements and proves that the positioning method is accurate and simple.

[0096] Another embodiment of the present application provides an electronic device, whose specific structure can be as follows: Fig.10 As shown, it includes: at least one processor 301; and a memory 302 that is communicatively connected to the at least one processor 301; wherein the memory 302 stores instructions that can be executed by the at least one processor 301, and the instructions are executed by the at least one processor 301, so that the at least one processor 301 can execute the high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference in the above-mentioned method embodiments.

[0097] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators and power management circuits together, which are all well known in the art, so this article will not describe them further. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on the wireless medium through the antenna, and further, the antenna also receives the data and transmits the data to the processor.

[0098] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0099] Another embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the high-speed UUV electromagnetic track rapid measurement based on signal amplitude and time difference as described in the above method embodiments.

[0100] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM (Read-Only Memory), RAM (Random Access Memory), disk or optical disk and other media that can store program codes.

[0101] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference, characterized in that: Applicable to a magnetic sensor array, the magnetic sensor array is composed of n+2 pairs of magnetic sensors, the n+2 pairs of magnetic sensors are installed in parallel and distributed on both sides of the target ship, the odd-numbered rows of sensors are arranged on the left side of the target ship, and the even-numbered rows of sensors are arranged on the right side of the target ship, n is an integer greater than 0, and the method includes: The n+2 pairs of magnetic sensors in the magnetic sensor array are divided into n+1 detection units; wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors; Traverse each detection unit, obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and the time when the maximum value of the signal amplitude is collected, and determine the passing angle when the high-speed UUV passes through the current detection unit based on each time; wherein, the bow direction of the target ship is assumed to be the positive direction of the Y axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y axis; The detection unit with the largest signal-to-noise ratio of the magnetic field signal is selected as the reference detection unit, and the magnetic sensor with the smallest and odd number in the reference detection unit is selected as the reference magnetic sensor. The distance estimation equation is established by using the penetration angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track. Solve the distance estimation equation to obtain the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV, determine the positioning point corresponding to the reference detection unit, and then determine the positioning point corresponding to each detection unit based on the penetration angle of each detection unit and the horizontal distance from the reference magnetic sensor to the track of the high-speed UUV; The trajectory fitting is performed on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV.

2. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 1 is characterized in that: The determination of the passing angle of the high-speed UUV when passing through the current detection unit based on each moment is achieved by the following formula: Wherein, the current detection unit is assumed to be the kth detection unit, k is an integer greater than 0 and less than n+2, R is the distance between two adjacent magnetic sensors on the same column, L is the distance between the relative magnetic sensors in the current detection unit, t1, t2, t3, and t4 are the moments when the four magnetic sensors of the current detection unit collect the maximum signal amplitude, v is the speed of the high-speed UUV, and α k is the passing angle of the high-speed UUV when it passes through the current detection unit. If the calculated α k is a positive value, the high-speed UUV moves from the odd-numbered magnetic sensors to the even-numbered magnetic sensors. If the calculated α k If it is a negative value, the moving direction of the high-speed UUV is from the even-numbered magnetic sensors to the odd-numbered magnetic sensors.

3. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 2 is characterized in that: Before selecting the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the reference detection unit and selecting the magnetic sensor with the smallest and odd number in the reference detection unit as the reference magnetic sensor, the method further includes: It is judged in sequence whether the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit is greater than the decision threshold value corresponding to each magnetic sensor of the current detection unit; wherein, for a pair of magnetic sensors, the decision threshold value of the first magnetic sensor is the signal amplitude collected by the first magnetic sensor when the high-speed UUV is located at the position where the projection of the second magnetic sensor on the depth plane where the UUV is located, and the decision threshold value of the second magnetic sensor is the signal amplitude collected by the second magnetic sensor when the high-speed UUV is located at the position where the projection of the first magnetic sensor on the depth plane where the UUV is located; If the maximum values ​​of the signal amplitudes collected by the magnetic sensors of the current detection unit are all greater than the corresponding decision threshold values, it is determined that the high-speed UUV passes through the interior of the current detection unit; If the maximum value of the signal amplitude collected by at least one magnetic sensor in each pair of magnetic sensors of the current detection unit is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV passes through the outside of the current detection unit; If, among the two pairs of magnetic sensors in the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with later peak times are both greater than their corresponding decision thresholds, and the maximum value of the signal amplitude collected by at least one of the pair of magnetic sensors with earlier peak times is not greater than the corresponding decision threshold, it is determined that the high-speed UUV has penetrated the current detection unit from outside the magnetic sensor array; If, among the two pairs of magnetic sensors in the current detection unit, the maximum values ​​of the signal amplitudes collected by the pair of magnetic sensors with earlier peak times are both greater than their corresponding decision threshold values, and the maximum value of the signal amplitude collected by at least one of the pair of magnetic sensors with later peak times is not greater than the corresponding decision threshold value, it is determined that the high-speed UUV has passed through the magnetic sensor array from the current detection unit.

4. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 3 is characterized in that: If it is determined that the high-speed UUV passes through the interior of the current detection unit, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as: Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

5. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 3 is characterized in that: If it is determined that the high-speed UUV passes through the outside of the current detection unit, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as: Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

6. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 3 is characterized in that: If it is determined that the high-speed UUV penetrates the current detection unit from outside the magnetic sensor array, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as: Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

7. The high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as claimed in claim 3 is characterized in that: If it is determined that the high-speed UUV passes through the magnetic sensor array from the current detection unit, the distance estimation equation is established using the angle at which the UUV passes through the reference detection unit, the maximum signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, expressed as: Among them, H1, H2, and H3 are the maximum values ​​of the signal amplitudes collected by the reference magnetic sensor, the magnetic sensor opposite to the reference magnetic sensor, and the magnetic sensor adjacent to the reference magnetic sensor, respectively; h is the depth of the high-speed UUV; and d1 is the projection of the horizontal distance from the reference magnetic sensor to the high-speed UUV track in the direction parallel to the connecting line of a pair of sensors.

8. A high-speed UUV electromagnetic track rapid measurement system based on signal amplitude and time difference, characterized in that: The system comprises a magnetic sensor array, an acquisition module, a division module, a positioning module and a fitting module, wherein the positioning module comprises a passing angle calculation unit, a distance estimation equation establishment unit and a positioning point determination unit; The magnetic sensor array is composed of n+2 pairs of magnetic sensors, which are installed on both sides of the target ship in parallel and distributed, with odd-numbered rows of sensors arranged on the left side of the target ship and even-numbered rows of sensors arranged on the right side of the target ship. n is an integer greater than 0, and each magnetic sensor is used to sense the magnetic field signal of the area to be measured. An acquisition module, used to acquire magnetic field signals collected by each magnetic sensor from the magnetic sensor array; A division module, used to divide n+2 pairs of magnetic sensors in the magnetic sensor array into n+1 detection units, wherein each detection unit is composed of two adjacent pairs of magnetic sensors, and two adjacent detection units share a pair of magnetic sensors; A passing angle calculation unit is used to traverse each detection unit, obtain the maximum value of the signal amplitude collected by each magnetic sensor of the current detection unit, and the time when the maximum value of the signal amplitude is collected, and determine the passing angle when the high-speed UUV passes through the current detection unit based on each time, wherein the bow direction of the target ship is assumed to be the positive direction of the Y axis, and the passing angle is the angle between the direction when the high-speed UUV passes through the current detection unit and the positive direction of the Y axis; The equation establishing unit is used to select the detection unit with the largest signal-to-noise ratio of the magnetic field signal as the reference detection unit, and select the magnetic sensor with the smallest and odd number in the reference detection unit as the reference magnetic sensor, and establish a distance estimation equation by using the penetration angle of the reference detection unit, the maximum value of the signal amplitude of each magnetic sensor in the reference detection unit, the distance between the magnetic sensors, and the unknown horizontal distance from the reference magnetic sensor to the high-speed UUV track, and solve the distance estimation equation to obtain the horizontal distance from the reference magnetic sensor to the high-speed UUV track; A positioning point determination unit is used to determine the positioning point corresponding to the reference detection unit, and then determine the positioning point corresponding to each detection unit based on the penetration angle of each detection unit and the horizontal distance from the reference magnetic sensor to the high-speed UUV track; The fitting module is used to perform trajectory fitting on the positioning points corresponding to each detection unit to obtain the track of the high-speed UUV.

9. A final electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the high-speed UUV electromagnetic track rapid measurement method based on signal amplitude and time difference as described in any one of claims 1 to 7 can be implemented.

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