Underwater target detection method, device and equipment based on distributed array and medium

Abstract

The application is suitable for the field of geophysical exploration technology, and provides an underwater target detection method based on a distributed array, which comprises the following steps: collecting horizontal four-component electromagnetic data of a target sea area through a distributed array detection node arranged on the seabed of the target sea area, adopting a preset signal enhancement strategy to perform signal enhancement on each horizontal four-component electromagnetic data collected, performing time-frequency analysis on the enhanced horizontal four-component electromagnetic data to obtain a time-frequency analysis spectrum, and determining whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum, so as to realize the enhancement of a target signal in a marine noise environment, increase the detection range of the current seabed distributed array detection system, and improve the ability of detecting underwater targets.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of geophysical exploration, and particularly relates to an underwater target detection method, device, equipment and medium based on a distributed array. BACKGROUND

[0002] In recent years, with the in-depth exploration and development and utilization of marine resources (such as seabed mineral resources and marine biological resources) and the rapid development of marine economy (such as marine energy, marine transportation and marine technology industry) in various countries, the ocean has become an important field of international competition. As a large maritime country, China faces great challenges in port and other coastal infrastructure and the safety of territorial waters. Therefore, it is of great significance for the safety and defense of China's territorial waters to propose an effective underwater target detection method to identify unknown underwater targets at a greater distance and achieve real-time warning.

[0003] For many years, underwater target detection technology has been most mature in acoustic detection. However, with the continuous development of underwater target acoustic noise reduction and acoustic stealth technology and the increasing level of ocean noise year by year, the noise of more advanced underwater targets has been lower than the background noise of the ocean. Therefore, it is very difficult to detect, identify and track underwater targets using only acoustic detection technology in the future, and the detection range is greatly limited. Therefore, in order to gain an advantage in the increasingly complex and fierce competition for marine resources, it is necessary to use other detection means to effectively compensate for the shortcomings of acoustic detection technology.

[0004] Shaft frequency electromagnetic field is a signal source with obvious harmonic characteristics generated by underwater moving targets due to corrosion and anticorrosion effects. For more than 20 years, China has made great progress in the generation mechanism, numerical simulation and calculation and detection methods of shaft frequency electromagnetic field. In the simulation and simulation research, a time-harmonic horizontal electric dipole is used as an equivalent shaft frequency electromagnetic field source. However, the current underwater target identification scheme based on the characteristics of shaft frequency electromagnetic field still lacks research, and there is a lack of identification scheme based on the deployment of distributed detection devices. The detection range and the ability to identify targets are limited, and the target information cannot be fully obtained. SUMMARY

[0005] The present application aims to provide an underwater target detection method, device, equipment and storage medium based on a distributed array, which aims to solve the problem of limited underwater detection range and identification ability of underwater targets caused by the prior art.

[0006] In one aspect, the present application provides an underwater target detection method based on a distributed array, which comprises the following steps:

[0007] The horizontal four-component electromagnetic data of the target sea area are collected by the detection nodes on the seabed distributed detection array arranged on the seabed of the target sea area.

[0008] Each of the collected horizontal four-component electromagnetic data is enhanced by using a preset signal enhancement strategy.

[0009] Each of the enhanced horizontal four-component electromagnetic data is subjected to time-frequency analysis to obtain a time-frequency analysis spectrum.

[0010] It is determined whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum.

[0011] Preferably, the step of enhancing each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy comprises:

[0012] The horizontal four-component electromagnetic data collected by all the detection nodes in a rectangular area with a preset area around each detection node on the seabed distributed detection array are superimposed, and the superimposed horizontal four-component electromagnetic data are taken as the enhanced horizontal four-component electromagnetic data of the each detection node.

[0013] Preferably, the step of enhancing each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy comprises:

[0014] The enhanced horizontal four-component electromagnetic data are subjected to time-frequency analysis by using a short-time Fourier transform.

[0015] Preferably, each detection node of the seabed distributed detection array is equipped with a seabed electric field sensor and a seabed magnetic field sensor, wherein each seabed electric field sensor comprises a pair of measurement electrodes arranged perpendicularly to each other, and each seabed magnetic field sensor comprises a pair of magnetic rods arranged perpendicularly to each other.

[0016] Preferably, the step of collecting the horizontal four-component electromagnetic data of the target sea area by the detection nodes on the seabed distributed detection array comprises:

[0017] Two horizontal electric field component data are collected by the seabed electric field sensor of each detection node, and two horizontal magnetic field component data are collected by the seabed magnetic field sensor of the each detection node.

[0018] In another aspect, the present application provides an underwater target detection device based on a distributed array, which comprises:

[0019] An electromagnetic data collection unit is configured to collect the horizontal four-component electromagnetic data of the target sea area by the detection nodes on the seabed distributed detection array arranged on the seabed of the target sea area.

[0020] an electromagnetic data enhancement unit, configured to enhance each of the horizontal four-component electromagnetic data collected by using a preset signal enhancement strategy;

[0021] a data time-frequency analysis unit, configured to perform time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data to obtain a time-frequency analysis spectrum;

[0022] a target detection determination unit, configured to determine whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum.

[0023] Preferably, the electromagnetic data enhancement unit comprises:

[0024] an electromagnetic data superposition unit, configured to superimpose the horizontal four-component electromagnetic data collected by all the detection nodes in a rectangular region with a preset area around each detection node of the seabed distributed detection array, and take the superimposed horizontal four-component electromagnetic data as the enhanced horizontal four-component electromagnetic data of the signal of the each detection node.

[0025] Preferably, the data time-frequency analysis unit comprises:

[0026] a time-frequency analysis sub-unit, configured to perform time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data by using a short-time Fourier transform.

[0027] In another aspect, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned seabed distributed array-based underwater target detection method when executing the computer program.

[0028] In another aspect, the present application also provides a computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the steps of the above-mentioned seabed distributed array-based underwater target detection method.

[0029] The present application collects horizontal four-component electromagnetic data of a target sea area by using detection nodes of a seabed distributed detection array arranged on the seabed of the target sea area, enhances each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy, performs time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data to obtain a time-frequency analysis spectrum, and determines whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum, thereby realizing enhancement of a target signal in a marine noise environment, increasing the detection range of a current seabed distributed array detection system, and improving the ability to detect underwater targets. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1is the implementation flowchart of the underwater target detection method based on a distributed array provided by the embodiment one of the present application;

[0031] Figure 2 is the seabed distributed detection array and underwater target scene schematic diagram in the underwater target detection method based on a distributed array provided by the embodiment one of the present application;

[0032] Figure 3 is the schematic diagram of the multi-detection node data superposition mode in the underwater target detection method based on a distributed array provided by the embodiment one of the present application;

[0033] Figure 4 is the axis frequency magnetic field time-frequency analysis spectrum of the detection node of the 13km measuring line from the source travel route in the underwater target detection method based on a distributed array provided by the embodiment one of the present application (without data superposition processing);

[0034] Figure 5 is the axis frequency magnetic field time-frequency analysis spectrum of the detection node of the 13km measuring line from the source travel route in the underwater target detection method based on a distributed array provided by the embodiment one of the present application (after data superposition processing);

[0035] Figure 6 is the structural schematic diagram of the underwater target detection device based on a distributed array provided by the embodiment two of the present application;

[0036] Figure 7 is the preferred structural schematic diagram of the underwater target detection device based on a distributed array provided by the embodiment two of the present application;

[0037] Figure 8 is the structural schematic diagram of the electronic device provided by the embodiment three of the present application. DETAILED DESCRIPTION

[0038] In order to make the object, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0039] The specific implementation of the present application is described in detail below in combination with specific embodiments:

[0040] Example One:

[0041] Figure 1 The implementation flow of the underwater target detection method based on a distributed array provided by the embodiment one of the present application is shown, for the convenience of description, only the part related to the embodiment of the present application is shown, and the details are as follows:

[0042] In step S101, horizontal four-component electromagnetic data of the target sea area is collected by a detection node on a seabed distributed detection array, which is arranged on the seabed of the target sea area.

[0043] The embodiment of the present application is suitable for electronic equipment, system or platform for detecting underwater targets. In the embodiment of the present application, a seabed distributed detection array is constructed in a distributed array manner according to the observation area and / or coordinates of the target sea area, the seabed distributed detection array is composed of a plurality of uniformly distributed detection nodes, each detection node realizes signal collection in a respective region, and the constructed seabed distributed detection array is arranged on the seabed of the target sea area. Then, horizontal four-component electromagnetic data of the target sea area is collected by each detection node on the seabed distributed detection array, wherein the horizontal four-component electromagnetic data refers to two-component data (represented as (E x ,E y ) of the electric field signal and two-component data (represented as (B x ,B y ) of the magnetic field signal collected simultaneously in the electromagnetic detection process, in addition, the electric field signal collected by each detection node is a superimposed electric field signal including target axis frequency electric field information and marine background electric field information, the magnetic field signal is a superimposed magnetic field signal including target axis frequency magnetic field information and marine background magnetic field information, the target axis frequency electric field / magnetic field information is an electric field / magnetic field signal with obvious axis frequency characteristics generated by the underwater target during sailing in seawater, and the marine background electric field / magnetic field information is background electric field / magnetic field information distributed in the marine environment, such as electric field / magnetic field fluctuation caused by natural factors such as marine flow, salt change, tidal action and geomagnetic field change, and the collected electric field and magnetic field data are transmitted to the ground data processing center in real time through a seabed cable or wireless transmission equipment.

[0044] In a feasible embodiment, the seabed distributed detection array is constructed in a distributed array manner according to the observation area and / or coordinates of the target sea area and a preset node interval, and the constructed seabed distributed detection array is arranged on the seabed of the target sea area. As an example, as shown in Figure 2 for a target sea area with an area of 20km*20km, a node interval of 1km is set, the seabed distributed detection array is constructed in a distributed array manner according to the node interval, and the constructed seabed distributed detection array is arranged on the seabed of the target sea area at a depth of 200m from the sea level.

[0045] In another feasible embodiment, each detection node of the seabed distributed detection array is equipped with a seabed electric field sensor and a seabed magnetic field sensor, wherein each seabed electric field sensor comprises a pair of measurement electrodes arranged perpendicularly to each other to measure the horizontal electric field component data Ex E y To collect data, each seabed magnetic field sensor contains a pair of magnetic rods arranged perpendicularly to each other to collect the horizontal magnetic field component data B. x B y Collect the data.

[0046] In another feasible embodiment, when collecting horizontal four-component electromagnetic data of the target sea area through the detection nodes on the seabed distributed detection array, two horizontal electric field component data are collected through the seabed electric field sensor of each detection node, and two horizontal magnetic field component data are collected through the seabed magnetic field sensor of each detection node, thereby improving the real-time performance of signal acquisition.

[0047] In this embodiment of the invention, when an electric field is present, a potential difference is generated between the two measuring electrodes in the seabed electric field sensor. The seabed electric field sensor obtains the two components of the electric field signal in the horizontal direction, namely E, by measuring this potential difference. x E y For ease of description, based on the array structure of the seabed distributed detection array, the horizontal electric field component data collected by each detection node is represented as E. x (i,j), E y (i,j), E x (i,j) represents the electric field component data collected by the j-th detection node on the i-th measuring line in the array along the X-axis direction, E y (i,j) represents the electric field component data collected by the j-th detection node on the i-th measurement line in the array along the Y-axis. As an example, such as... Figure 2 As shown, the electric field component data collected by the first detection node from west to east on survey line 1 (i.e., line 1) along the X-axis is represented as E. x (1,1), the electric field component data collected by the first detection node from west to east on survey line 2 (i.e., line2) is represented as E. x (2,1), and so on; at the same time, the magnetic rod in the seabed magnetic field sensor can sense the surrounding magnetic field. When the magnetic field exists, the seabed magnetic field sensor obtains two components of the magnetic field signal in the horizontal direction, namely B. x B y For ease of description, based on the array structure of the seabed distributed detection array, the horizontal magnetic field component data collected by each detection node is represented as B. x (i,j), B y (i,j), B x (i,j) represents the magnetic field component data collected by the j-th detection node on the i-th measuring line in the array along the X-axis direction, B y(i,j) is the magnetic field component data collected by the jth detection node on the ith survey line in the array along the Y-axis direction. As an example, as shown in FIG. 1, along the X-axis direction, the magnetic field component data collected by the 1st detection node from west to east on line1 is represented as B Figure 2 x (1,1), the magnetic field component data collected by the 1st detection node from west to east on line2 is represented as B x (2,1), and so on.

[0048] In step S102, the preset signal enhancement strategy is used to enhance the signal of each horizontal four-component electromagnetic data collected.

[0049] In the embodiment of the present application, under the condition that the underwater target is far away from the seabed distributed detection array and cannot identify the frequency information of the target axis frequency electromagnetic field, the preset signal enhancement strategy is used to enhance the signal of the horizontal four-component electromagnetic data collected by each detection node, so as to enhance the frequency information of the far distance underwater target axis frequency electromagnetic field in the time domain signal with low signal-to-noise ratio, thereby achieving the purpose of increasing the detection distance.

[0050] In a feasible embodiment, when the preset signal enhancement strategy is used to enhance the signal of each horizontal four-component electromagnetic data collected, the horizontal four-component electromagnetic data collected by all the detection nodes in the rectangular region with a preset area around each detection node on the seabed distributed detection array is superimposed, and the superimposed horizontal four-component electromagnetic data is used as the horizontal four-component electromagnetic data after signal enhancement of the each detection node.

[0051] In the embodiment of the present application, for each detection node in the seabed distributed detection array, the horizontal four-component electromagnetic data collected by other detection nodes in the rectangular region with a given area around the detection node is obtained, and the horizontal four-component electromagnetic data collected by all the other detection nodes is linearly superimposed with the four-component electromagnetic data collected by the detection node itself, and the superimposed four-component electromagnetic data is used as the four-component electromagnetic data after signal enhancement of the detection node, thereby realizing interference suppression and enhancing the target frequency information response.

[0052] In a feasible embodiment, the area region is set in units of node spacing of the seabed distributed detection array, and the size of the area region can be set as 2 node spacings*2 node spacings, or the size of the area region can be set as 3 node spacings*3 node spacings. Here, the size of the area region can be modified according to the actual detection effect to improve the detection precision and the ability to detect underwater targets.

[0053] As an example, the magnetic field component data B y ​For example, and for ease of description, node numbers are used to describe B. y (i,j), such as Figure 3 As shown, the node number of the probe node corresponding to the first node position on Line 14 of the array is 274, then B y (14,1) can be represented as If a given area is 2 km x 2 km (2 nodes), then for detector node 274, the other detector nodes within a 2 km x 2 km rectangular area include detector nodes numbered 295, 296, 297, 275, 276, 253, 254, and 255. Therefore, the magnetic field component data collected by detector nodes numbered 295, 296, 297, 275, 276, 253, 254, and 255 will be obtained. Then and Perform linear superposition, that is This represents the enhanced magnetic field component data of the detection node numbered 274 along the Y-axis. Similarly, the magnetic field B data of other detection nodes on Line 14 are processed sequentially. y Component signals, that is, for the probe node with node number 275, For the probe node with node number 276, For the probe node with node number 277, The magnetic field B after signal enhancement at all detection nodes along Line 14 was obtained sequentially. y Component data Similarly, the enhanced four-component electromagnetic data of all detection nodes in the seabed distributed detection array can be obtained, which can be represented as:

[0054] In another feasible embodiment, when using a preset signal enhancement strategy to enhance the signal of each horizontal four-component electromagnetic data, a short-time Fourier transform is first used to perform time-frequency analysis on the horizontal four-component electromagnetic data collected by each detection node to obtain the time-frequency analysis spectrum corresponding to each detection node. It is then determined whether abnormal axial frequency electromagnetic field components are identified from these time-frequency analysis spectra. If so, it is determined that there is an underwater target in the target sea area. Otherwise, the preset signal enhancement strategy is used to enhance the signal of each horizontal four-component electromagnetic data. The abnormal axial frequency electromagnetic field components are axial frequency electromagnetic field information generated by unknown underwater non-cooperative targets or known underwater targets.

[0055] In step S103, time-frequency analysis is performed on the enhanced four-component electromagnetic data of each level to obtain the time-frequency analysis spectrum.

[0056] In the embodiment of the present application, for each detection node in the seabed distributed detection array, the enhanced respectively, to obtain time-frequency analysis spectrum corresponding to the electromagnetic field component data, respectively denoted as

[0057] In a feasible embodiment, the Short-Time Fourier Transform (STFT) is used to perform time-frequency analysis on each enhanced horizontal four-component electromagnetic data. Specifically, the Hanning window with a sampling point number of 64 is selected, and the calculation formula respectively, to obtain the time-frequency analysis spectrum corresponding to the horizontal electric field component data and the time-frequency analysis spectrum corresponding to the horizontal magnetic field component data of each detection node in a specific time period, thereby suppressing interference, enhancing the frequency information of the axis frequency electromagnetic field of the long-distance underwater target in the time domain signal with low signal-to-noise ratio, and achieving the purpose of increasing the detection distance, wherein x(t) is an electromagnetic field signal collected by an input detection node at time t, ω(t-τ) is a window function, used to divide the signal into shorter time periods, τ is the center position (or time index) of the window, representing the position of the current window on the time axis, e -j2πft is the kernel function of Fourier transform, j is the imaginary unit, and X(τ,f) is the short-time Fourier transform result at τ and frequency f, i.e., the corresponding time-frequency analysis spectrum.

[0058] In step S104, whether there is an underwater target in the target sea area is determined according to the time-frequency analysis spectrum.

[0059] In the embodiment of the present application, each time-frequency analysis spectrum corresponding to each detection node is analyzed. When an abnormal axis frequency electromagnetic field frequency component is identified in the time-frequency analysis spectrum, it is determined that an underwater target is detected in the target sea area, otherwise, it is determined that no underwater target is detected in the target sea area.

[0060] In order to verify the underwater target detection effect of the present application, a seabed distributed detection array is constructed to detect the underwater target scene and an air-seawater-seabed geoelectric model is constructed to simulate the marine application scene. The axis frequency electric field and magnetic field signals of the underwater target moving in a certain direction are simulated under the receiving conditions of the seabed distributed detection array, and the ocean background electromagnetic field noise with a certain intensity and satisfying the Gaussian distribution is linearly superimposed on the simulated axis frequency electromagnetic field signal with a certain time length, thereby simulating the axis frequency electromagnetic field signal received under the seabed measurement conditions. Specifically, as Figure 2As shown, the diving depth of the underwater target is set to 50 m, the rotating frequency of the propeller is 60 r / min (i.e. the frequency of the shaft frequency electromagnetic field source is 1 Hz), the equivalent electric dipole moment of the shaft frequency electromagnetic field source is 50 Am, the air-sea-seabed geoelectric model (the underwater target moves in the seawater layer) is set, the resistivity of the seawater layer is 0.33 Ωm, the resistivity of the seabed layer is 3 Ωm, the depth of the seawater is 200 m, the target moves at a constant speed of 5 m / s along Figure 2 As shown, the target moves at a constant speed of 5 m / s along the positive east direction 3 km above Line 1, the simulation obtains the shaft frequency electric field and magnetic field signals received by each seabed detection node for a time length of 600 s, the sampling frequency of the verification experiment example is 4 Hz, at the same time, in order to simulate the ocean background electromagnetic field, the noise satisfying the Gaussian distribution and the mean square deviation of 1 nV / m is added to the simulated shaft frequency electric field signal of each seabed detection node, the noise satisfying the Gaussian distribution and the mean square deviation of 1 nT is added to the simulated shaft frequency magnetic field signal of each seabed detection node, as the simulated electromagnetic signal for subsequent method verification, then, the short-time Fourier transform is performed on the noisy shaft frequency electromagnetic field signals of each detection node respectively, the time-frequency analysis spectrum is obtained, the target shaft frequency electromagnetic field frequency component (the frequency component is 1 Hz in the verification experiment example) is identified from the time-frequency analysis spectrum, and it is judged whether the target object emerges or not, when the target shaft frequency electromagnetic field frequency component is not identified, the small facet superposition method is used to linearly superimpose the multi-detection node data in a given area around each detection node, the superimposed signal is obtained on each detection node, finally, the short-time Fourier transform is performed on the superimposed signal on each detection node, the new time-frequency analysis spectrum is obtained, and the target shaft frequency electromagnetic field frequency component is extracted from the new time-frequency analysis spectrum, Figure 4 、 Figure 5 respectively, the time-frequency analysis spectrum of the magnetic field signal of the detection node of Line 14 at an interval of 1 km from west to east before and after the data superposition processing is shown in Figures 8 and 9 respectively. Figure 5 As shown, the target shaft frequency electromagnetic field frequency component (1 Hz) after the data superposition processing can be identified from the time-frequency analysis spectrum, it is verified that the present application can realize the detection of the underwater target at a farther distance, the response of the target signal in the ocean noise environment is enhanced, and the ability of detecting the underwater target is improved.

[0061] In the embodiment of the present application, the horizontal four-component electromagnetic data of the target sea area is collected by the detection nodes of the seabed distributed detection array arranged on the seabed of the target sea area, the preset signal enhancement strategy is used to perform signal enhancement on each collected horizontal four-component electromagnetic data, the time-frequency analysis is performed on each enhanced horizontal four-component electromagnetic data, the time-frequency analysis spectrum is obtained, and it is determined whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum, so as to realize the enhancement of the target signal in the ocean noise environment, increase the detection range of the current seabed distributed array detection system, and improve the ability of detecting the underwater target.

[0062] Example Two:

[0063] Figure 6 The structure of the underwater target detection device based on a distributed array provided by the second embodiment of the present application is shown, only parts related to the embodiments of the present application are shown for the convenience of description, which include:

[0064] The electromagnetic data acquisition unit 61 is configured to acquire horizontal four-component electromagnetic data of a target sea area through detection nodes on a seabed distributed detection array arranged on the seabed of the target sea area.

[0065] The electromagnetic data enhancement unit 62 is configured to perform signal enhancement on each horizontal four-component electromagnetic data acquired by using a preset signal enhancement strategy.

[0066] The data time-frequency analysis unit 63 is configured to perform time-frequency analysis on each horizontal four-component electromagnetic data after enhancement to obtain a time-frequency analysis spectrum.

[0067] The target detection determination unit 64 is configured to determine whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum.

[0068] Preferably, as shown in Figure 7 The electromagnetic data enhancement unit 62 includes:

[0069] The electromagnetic data superposition unit 621 is configured to superimpose horizontal four-component electromagnetic data acquired by all detection nodes in a rectangular region of a preset area around each detection node on the seabed distributed detection array, and take the superimposed horizontal four-component electromagnetic data as horizontal four-component electromagnetic data after signal enhancement of the each detection node.

[0070] The data time-frequency analysis unit 63 includes:

[0071] The time-frequency analysis sub-unit 631 is configured to perform time-frequency analysis on each horizontal four-component electromagnetic data after enhancement by using a short-time Fourier transform.

[0072] In the embodiments of the present application, each unit of the underwater target detection device based on a distributed array can be realized by a corresponding hardware or software unit, and each unit can be an independent software or hardware unit, or can be integrated into a software or hardware unit, which does not limit the present application. Specifically, the implementation of each unit can refer to the description of the foregoing first embodiment, which will not be described here.

[0073] Example Three:

[0074] Figure 8 The structure of the electronic device provided by the third embodiment of the present application is shown, only parts related to the embodiments of the present application are shown for the convenience of description.

[0075] The electronic device 8 of the embodiment of the present application comprises a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. The processor 80 implements the steps in the above-described embodiment of the method for detecting underwater target based on distributed array when executing the computer program 82, for example, the steps S101 to S104 shown in the above-described embodiment of the method. Figure 1 Alternatively, the processor 80 implements the functions of the units in the above-described embodiments of the device when executing the computer program 82, for example, the functions of the units 61 to 64 shown in the above-described embodiments of the device. Figure 6 Alternatively, the processor 80 implements the functions of the units in the above-described embodiments of the device when executing the computer program 82, for example, the functions of the units 61 to 64 shown in the above-described embodiments of the device.

[0076] In the embodiment of the present application, the detection nodes of the seabed distributed detection array arranged on the seabed of the target sea area collect horizontal four-component electromagnetic data of the target sea area, each horizontal four-component electromagnetic data collected is enhanced by using a preset signal enhancement strategy, each enhanced horizontal four-component electromagnetic data is subjected to time-frequency analysis, a time-frequency analysis spectrum is obtained, and it is determined whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum, so as to enhance the target signal in the marine noise environment, increase the detection range of the current seabed distributed array detection system, and improve the ability of detecting underwater target.

[0077] The steps implemented by the processor 80 of the electronic device 8 of the embodiment of the present application when implementing the method for detecting underwater target based on distributed array can refer to the description of the foregoing method embodiments, which will not be described herein again.

[0078] Example Four:

[0079] In the embodiment of the present application, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-described embodiment of the method for detecting underwater target based on distributed array, for example, the steps S101 to S104 shown in the above-described embodiment of the method. Figure 1 Alternatively, the computer program is executed by the processor to implement the functions of the units in the above-described embodiments of the device, for example, the functions of the units 61 to 64 shown in the above-described embodiments of the device. Figure 6 Alternatively, the computer program is executed by the processor to implement the functions of the units in the above-described embodiments of the device, for example, the functions of the units 61 to 64 shown in the above-described embodiments of the device.

[0080] In the embodiment of the present application, the detection nodes of the seabed distributed detection array arranged on the seabed of the target sea area collect horizontal four-component electromagnetic data of the target sea area, each horizontal four-component electromagnetic data collected is enhanced by using a preset signal enhancement strategy, each enhanced horizontal four-component electromagnetic data is subjected to time-frequency analysis, a time-frequency analysis spectrum is obtained, and it is determined whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum, so as to enhance the target signal in the marine noise environment, increase the detection range of the current seabed distributed array detection system, and improve the ability of detecting underwater target.

[0081] The computer readable storage medium of the embodiments of the present application can include any entity or device capable of carrying computer program codes, recording media, such as ROM / RAM, magnetic disk, optical disk, flash memory, etc.

[0082] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall fall within the protection scope of the present application.

Claims

1. A method for underwater target detection based on distributed arrays, characterized in that, The method comprises the following steps: Collecting horizontal four-component electromagnetic data of a target sea area by a detection node on a seabed distributed detection array, the seabed distributed detection array being arranged on the seabed of the target sea area; Enhancing each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy; Performing time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data to obtain a time-frequency analysis spectrum; Determining whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum; The step of enhancing each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy comprises: Stacking the horizontal four-component electromagnetic data collected by all the detection nodes in a rectangular region with a preset area around each detection node on the seabed distributed detection array, and taking the stacked horizontal four-component electromagnetic data as the enhanced horizontal four-component electromagnetic data of the each detection node.

2. The method of claim 1, wherein, The step of performing time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data comprises: Performing time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data by using a short-time Fourier transform.

3. The method of claim 1, wherein, Each detection node of the seabed distributed detection array is equipped with a seabed electric field sensor and a seabed magnetic field sensor, wherein each seabed electric field sensor comprises a pair of measurement electrodes arranged perpendicularly to each other, and each seabed magnetic field sensor comprises a pair of magnetic rods arranged perpendicularly to each other.

4. The method of claim 3, wherein, The step of collecting horizontal four-component electromagnetic data of a target sea area by a detection node on a seabed distributed detection array comprises: Collecting two horizontal electric field component data by the seabed electric field sensor of each detection node, and collecting two horizontal magnetic field component data by the seabed magnetic field sensor of each detection node.

5. A distributed array based underwater target detection apparatus, characterized by, The device comprises: An electromagnetic data collection unit configured to collect horizontal four-component electromagnetic data of a target sea area by a detection node on a seabed distributed detection array, the seabed distributed detection array being arranged on the seabed of the target sea area; An electromagnetic data enhancement unit configured to enhance each of the collected horizontal four-component electromagnetic data by using a preset signal enhancement strategy; A data time-frequency analysis unit configured to perform time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data to obtain a time-frequency analysis spectrum; A target detection determination unit configured to determine whether there is an underwater target in the target sea area according to the time-frequency analysis spectrum. The electromagnetic data enhancement unit comprises: An electromagnetic data stacking unit configured to stack the horizontal four-component electromagnetic data collected by all the detection nodes in a rectangular region with a preset area around each detection node on the seabed distributed detection array, and take the stacked horizontal four-component electromagnetic data as the enhanced horizontal four-component electromagnetic data of the each detection node.

6. The apparatus of claim 5, wherein, The data time-frequency analysis unit comprises: A time-frequency analysis subunit configured to perform time-frequency analysis on each of the enhanced horizontal four-component electromagnetic data by using a short-time Fourier transform.

7. The apparatus of claim 5, wherein, Each of the detection nodes of the seabed distributed detection array is equipped with a seabed electric field sensor and a seabed magnetic field sensor, wherein each of the seabed electric field sensors comprises a pair of measurement electrodes arranged perpendicularly to each other, and each of the seabed magnetic field sensors comprises a pair of magnetic rods arranged perpendicularly to each other.

8. The apparatus of claim 7, wherein, When collecting horizontal four-component electromagnetic data of a target sea area through the detection nodes on the seabed distributed detection array, the electromagnetic data collection unit comprises: Collecting two horizontal electric field component data through the seabed electric field sensor of each detection node and collecting two horizontal magnetic field component data through the seabed magnetic field sensor of each detection node.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 4.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program, when executed by the processor, implements the steps of the method according to any one of claims 1 to 4.

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