Underwater sound source positioning array supporting double scanning, arraying method and positioning method

Abstract

The invention relates to an underwater sound source positioning array supporting double scanning, an arraying method and a positioning method.The positioning array comprises an array disc and three array structures arranged on the array disc, and the three array structures are located in the same array plane and comprise a center array element located in the center of the array disc; the inner-layer array structure comprises a plurality of inner-layer array elements, the arrangement of the inner-layer array elements takes the position of the central array element as a coordinate origin, and the arrangement mode follows Fibonacci lattice point distribution; the outer-layer array structure is located outside the inner-layer array, the arraying mode of outer-layer array elements follows circular ring array distribution, and a circular ring takes the position of the central array element as the position of the circle center; the central array element, the inner-layer array elements and the outer-layer array elements are all hydrophones. According to the underwater sound source positioning array supporting the double scanning process, the technical problem that an existing hydrophone array is either low in dynamic range or low in resolution ratio due to the fact that the arrangement of the existing hydrophone array is single can be solved.

Description

Technical Field

[0001] The present invention relates to the field of underwater positioning technology, and in particular to an underwater sound source positioning array supporting dual scanning, an array arrangement method and a positioning method. Background Art

[0002] Underwater equipment noise source identification technology primarily aims to determine the magnitude, spectral characteristics, and other spatially correlated characteristics of the equipment's radiated noise. This technology then effectively optimizes the structure based on the noise contribution of each noise source and its spatial distribution. This serves as the foundation for research into noise source reduction and provides solid technical support for the development of highly stealthy underwater equipment. While using the same sound source localization algorithm, hydrophone arrays with different topologies can achieve significantly different localization results. The array manifold determines the array's detection, resolution, DOA estimation, and ambiguity performance. The geometric structure of the array elements plays a decisive role in the shape, properties, and singularity of the array manifold. Generally, we desire an array beam with a sufficiently narrow 3dB bandwidth and a sufficiently large dynamic range (DR), meaning a narrower 3dB bandwidth and a smaller maximum sidelobe level (MSL).

[0003] Hydrophone arrays used for underwater sound source localization are generally arranged in three ways: one-dimensional, two-dimensional, and three-dimensional. While one-dimensional arrays are simple and easy to use, they only capture spatial information about the sound source along its axis, presenting significant limitations. Three-dimensional arrays offer good spatial performance, but are difficult to arrange and have limited practical engineering value. Current array layout design methods primarily focus on two-dimensional arrays. Common design approaches include optimizing randomly distributed array structures through methods such as genetic algorithms to improve performance, and analyzing and adjusting various parameters of ordered arrays to improve performance. Underwater, compared to air, sound waves at the same frequency have longer wavelengths and greater noise interference. This increase in wavelength increases the main lobe of the array at the same aperture, reducing resolution. Increased noise interference exacerbates ghosting issues at the same sidelobe level. Orderly arrays can be designed to produce sharper main lobes, but they often suffer from low dynamic range. Randomly distributed arrays offer better sidelobe performance, but struggle to maintain resolution and are prone to producing multiple sharp sidelobes. Summary of the Invention

[0004] The present invention provides an underwater sound source localization array supporting a dual scanning process, which can overcome the technical problems of the existing hydrophone array having either a low dynamic range or a low resolution due to a single arrangement of the hydrophone array.

[0005] The underwater sound source positioning array supporting dual scanning of the present invention includes an array disk and three array structures arranged on the array disk, the three array structures are located in the same array plane, and the three array structures include:

[0006] a central array element, located at the center of the array disk;

[0007] An inner array structure includes a plurality of inner array elements, wherein the inner array elements are arranged with the position of the central array element as the coordinate origin and the arrangement follows the Fibonacci grid distribution;

[0008] The outer array structure is located outside the inner array, and the array elements of the outer layer are arranged in a circular array, with the position of the central array element as the center of the circle;

[0009] The central array element, inner array elements and outer array elements are all hydrophones.

[0010] Preferably, the array plate has a plurality of mounting holes running through the upper and lower sides thereof, each mounting hole is used to mount a hydrophone, the aperture of the mounting holes decreases from top to bottom, each hydrophone includes a mounting handle and a probe fixed to the upper end of the mounting handle, the hydrophone ballast also includes a plurality of mounting fixtures, the number of the mounting fixtures is the same as the number of the hydrophones, and is used to fix the plurality of hydrophones to the array plate in a one-to-one correspondence, each mounting fixture includes two half-shaft sleeves that can be assembled into a sleeve and a nut, the two half-shaft sleeves can be engaged so that the inner wall of the half-shaft sleeve is tightly embraced by the outer wall of the mounting handle of the hydrophone, the probe of the hydrophone extends from the upper end of the half-shaft sleeve of the mounting fixture, the outer diameter of the half-shaft sleeve decreases from top to bottom, the sleeve can be inserted into the mounting hole of the array plate from top to bottom, and its outer wall is tightly embraced by the inner wall of the mounting hole, the lower end of the sleeve extends out of the mounting hole, and the lower end of the sleeve has an external thread that can cooperate with the thread of the nut.

[0011] Preferably, the upper end of the half-axis sleeve is provided with a shoulder shaft protruding outward, and the probe of the hydrophone extends from the shoulder shaft to above the shoulder shaft.

[0012] Preferably, the outer wall of the nut is provided with a pair of rotating protrusions, and the pair of rotating protrusions are symmetrical about the axis of the nut.

[0013] The present invention also provides a method for arranging an underwater sound source localization array supporting dual scanning, and arranging the array as described above comprises the following steps:

[0014] S1, based on the planned total number of array elements N, the size of the plane used to arrange the array elements, and the number of central array elements N center , determine the number of inner array elements N in + and the number of outer elements N out, =N center =1, N center +N in +N out =N;

[0015] S2, arrange the central array element, whose array element number is n1 and its coordinate is (0,0);

[0016] S3: Based on the frequency band of interest and the number of outer array elements N out =Determine the radius R0 of the outer array structure and the angle φ0 between adjacent array elements;

[0017] S4: Calculate the coordinates (x k ,y k ), and arrange the outer array elements;

[0018] S5: Determine the maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements based on the radius R0 of the outer array element;

[0019] S6: Based on the number of inner array elements N in +, the maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements to calculate the coordinates (x l ,y l ).

[0020] Preferably, the radius R0 of the outer array structure and the angle φ0 between adjacent array elements are calculated as follows:

[0021]

[0022] λ0=c / f min ,

[0023] φ0=2π / N out ,

[0024] Where c is the underwater sound speed, f min is the minimum frequency value of the frequency band of interest, λ0 is the underwater wavelength, N out is the number of outer array elements.

[0025] As a preference, number n k The coordinates of the outer array element are (x k ,y k ), its calculation expression is as follows:

[0026] x k =R0cos((k-2)φ0),

[0027] y k =R0sin((k-2)φ0),

[0028] Where, k∈[2,N out +1];

[0029] The array elements start from (R0,0) and are arranged in a counterclockwise order on a circle with a radius of R0, with the included angle φ0 between adjacent array elements as the included angle.

[0030] Preferably, the maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements are calculated as follows:

[0031]

[0032] Where R0 is the maximum radius of the outer array element.

[0033] As a preference, number n l The inner array element coordinates are (x l ,y l ), its calculation expression is as follows:

[0034]

[0035] Where, l∈[N out +2,N];

[0036] The array elements are rotated and diffused from positions near the coordinate origin to positions near the outer array element structure.

[0037] The present invention also provides a positioning method for an underwater sound source positioning array supporting dual scanning, wherein the underwater sound source is positioned using the array as described above, comprising the following steps: A. using all hydrophones to collect spatial sound source information; B. using the inner array structure to perform a large-scale coarse scan of the entire scanning space to determine the rough distribution of the sound source points; and C. using the central array element and the outer array structure to simultaneously perform a small-grid fine scan of the sound source distribution points determined in step A to obtain a high-resolution underwater sound source positioning result.

[0038] Compared to the prior art, the present invention has the following advantages: The inner and outer array structures of the underwater sound source localization array supporting dual scanning follow different layouts and form an inner-outer nested arrangement, enabling dual scanning of test data. During localization, the inner array structure can first be used to perform coarse spatial beamforming to eliminate the influence of noise and interference, roughly determining the possible location of the sound source. Then, the central array elements and the outer array structure perform a fine, small-grid scan of the sound source distribution points determined in step A, further acquiring high-resolution spatial information of the sound source location. This allows the array of the present invention to maintain a large dynamic range while achieving high resolution. Furthermore, compared to existing multi-arm spiral arrays, square arrays, and cross arrays, the present invention employs a nested circular and Fibonacci grid layout. This combination of these two layouts achieves higher array surface space utilization while preventing element placement conflicts. Furthermore, in the inner element layout, the sidelobe performance of the Fibonacci grid array and the mainlobe performance of the circular array are both superior, enabling more accurate localization information. In addition, compared with the random array element arrangement method, the array arrangement method of the present invention has a strict calculation method and does not rely on empirical formulas and iterative optimization. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 FIG1 is a diagram illustrating the arrangement of array elements of an underwater sound source localization array supporting dual scanning according to an embodiment of the present invention.

[0040] Figure 2 This is a beam pattern of the outer array structure of an underwater sound source localization array supporting dual scanning according to an embodiment of the present invention.

[0041] Figure 3 This is a beam pattern of the inner array structure of an underwater sound source localization array supporting dual scanning according to an embodiment of the present invention.

[0042] Figure 4 This is a plane scanning azimuth diagram obtained by double scanning of an underwater sound source localization array supporting double scanning according to an embodiment of the present invention.

[0043] Figure 5 This is a structural schematic diagram of a single hydrophone of an underwater sound source localization array supporting dual scanning according to an embodiment of the present invention being fixed to an array disk via a mounting fixture.

[0044] Figure 6 This is a schematic diagram of the exploded structure of a single hydrophone and a mounting fixture of an underwater sound source localization array supporting dual scanning according to an embodiment of the present invention.

[0045] Reference numerals

[0046] Figure 1

[0047] 1 center element;

[0048] 2 inner array structures, 21 inner array elements;

[0049] 3 outer layer array structure, 31 outer layer array elements.

[0050] Figure 5 and Figure 6

[0051] A1 array plate, A11 mounting hole;

[0052] A2 hydrophone, A21 mounting handle, A22 probe;

[0053] A3 mounting fixture, A31 half-shaft sleeve, A311 shoulder shaft, A32 nut, A321 rotating boss. DETAILED DESCRIPTION

[0054] The present invention provides an underwater sound source positioning array supporting dual scanning, the array comprising an array disk A1 and three array structures arranged on the array disk A1. In this embodiment, the array disk A1 is a planar disk, and the three arrays are located in the same array plane, which means that the center points of all array elements are located in the same plane. Figure 1 As shown, the three array structures include: a central array element 1, an inner array structure 2, and an outer array structure 3. The number of central array elements 1 is one, located at the center of the array disk. The inner array structure 2 includes multiple inner array elements 21, which are arranged with the position of central array element 1 as the origin and follow a Fibonacci grid distribution. The outer array structure 3 is located outside the inner array, and the outer array elements 31 follow a circular array distribution, with the center of the circle being the position of central array element 1. Each array element 1, 21, and 31 is a hydrophone.

[0055] The inner and outer array structures 2 and 3 of the underwater sound source localization array supporting dual scanning of the present invention follow different layouts and form an inner-outer nested arrangement, enabling dual scanning of experimental data. During localization, the inner array structure 2 can first be used to perform spatially coarse beamforming to eliminate the influence of noise and interference, roughly determining the possible location of the sound source. The central array element 1 and the outer array structure 3 then perform fine, small-grid scanning of the determined sound source distribution points to further obtain high-resolution spatial information of the sound source location. This allows the array of the present invention to maintain a large dynamic range while achieving high resolution. Furthermore, compared to existing multi-arm spiral arrays, square arrays, and cross arrays, the present invention utilizes a nested circular and Fibonacci grid layout. The combination of these two layouts achieves higher array surface space utilization while also preventing element placement conflicts. Furthermore, in the layout of the inner array element 21, the sidelobe performance of the Fibonacci grid array and the mainlobe performance of the circular array are both superior, enabling more accurate localization information. In addition, compared with the random array element arrangement method, the array arrangement method of the present invention has a strict calculation method and does not rely on empirical formulas and iterative optimization.

[0056] The following description of the present invention shows that the structures of the various elements (central element, inner element and outer element) of the hydrophone are the same, and their installation structures are as follows: Figure 5 and Figure 6 As shown, the array plate A1 has a plurality of mounting holes A11 running through the upper and lower sides thereof, each mounting hole A11 being used to mount a hydrophone A2, the aperture of the mounting hole A11 being reduced from top to bottom, each hydrophone A2 comprising a mounting handle A21 and a probe A22 fixed to the upper end of the mounting handle A21, the hydrophone A2 ballast further comprising a plurality of mounting fixtures A3, the number of the mounting fixtures A3 being the same as the number of the hydrophones A2, and being used to fix the plurality of hydrophones A2 to the array plate A1 in a one-to-one correspondence, each mounting fixture A3 comprising two half-tubes which can be assembled into a sleeve. A shaft sleeve A31 and a nut, the two half-shaft sleeves A31 can be combined so that the inner wall of the half-shaft sleeve A31 is tightly embraced with the outer wall of the mounting handle A21 of the hydrophone A2, the probe A22 of the hydrophone A2 extends from the upper end of the half-shaft sleeve A31 of the mounting fixture A3, the outer diameter of the half-shaft sleeve A31 decreases from top to bottom, the sleeve can be inserted into the mounting hole A11 of the array plate A1 from top to bottom, and its outer wall is tightly embraced with the inner wall of the mounting hole A11, the lower end of the sleeve extends out of the mounting hole A11, and the lower end of the sleeve has an external thread that can cooperate with the thread of the nut.

[0057] The upper end of the semi-axle sleeve A31 is equipped with an outwardly protruding shoulder shaft A311. The probe A22 of the hydrophone A2 extends from and over this shoulder shaft A311. The outer diameter of the probe A22 of the hydrophone A2 is larger than that of the mounting handle A21, and the lower end of the probe A22 is inwardly curved to form a rounded chamfer. The outer wall of the nut is equipped with a pair of rotating protrusions A321, which are symmetrical about the axis of the nut.

[0058] The hydrophone A2 array is installed by aligning the hydrophones A2 with the two half-axle sleeves A31, inserting the half-axle sleeves A31 through the mounting holes A11, and engaging the nuts. The hydrophones A2 can be removed from the array plate A1 by removing the nuts. This simplifies installation and improves the efficiency of installing and removing the hydrophones A2. Furthermore, when installed, the outer walls of the half-axle sleeves A31 tightly adhere to the inner walls of the mounting holes A11, maximizing the verticality and stability of the half-axle sleeves A31 relative to the array plate A1. This, in turn, ensures the verticality and stability of the hydrophones A2 relative to the array plate A1, improving installation accuracy and, consequently, the positioning accuracy of the entire hydrophone A2 array assembly. When replacing a hydrophone, if the outer diameter of the mounting handle A21 of the new hydrophone A2 becomes larger, the original half-shaft sleeve A31 can still hold the new mounting handle A21 tightly, and the half-shaft sleeve A31 can still be installed with the original mounting hole A11 through threads to achieve high verticality and high stability. Therefore, this installation method is applicable to hydrophones A2 of various specifications and models. If the hydrophone A2 needs to be replaced, it is not necessary to replace the array plate A1 and the mounting fixture A3.

[0059] The present invention also provides a method for arranging an underwater sound source localization array supporting dual scanning, which can arrange the array as described above. One embodiment thereof includes the following steps:

[0060] S1, based on the planned total number of array elements N, the size of the plane used to arrange the array elements, and the number of central array elements N center , determine the number of inner array elements N in + and the number of outer elements N out ,

[0061] N center +N in +N out =N, in this embodiment, N center =1,N=91,N out = = 10, N in +=80.

[0062] S2, arrange the central array element, whose array element number is n1 and whose coordinates are (0,0).

[0063] S1, arrange the central array element 1, the number of central array elements 1 is Ncenter , N center =1, the center element 1 is numbered n1, and the coordinates (x1, y1) are (0, 0).

[0064] S3: Determine the maximum radius of the outer array structure 3 and the angle between adjacent elements based on the frequency band of interest and the number of outer array elements 31. The radius R0 of the outer array structure 3 is the distance between the center of its outermost mounting hole and the coordinate origin. The calculation expressions for the radius R0 and the angle φ0 between adjacent elements are as follows:

[0065]

[0066] λ0=c / f min ,

[0067] φ0=2π / N out ,

[0068] Where c is the underwater sound speed, f min is the minimum frequency value of the frequency band of interest, λ0 is the underwater wavelength, N out is the number of outer array elements 31. In this embodiment, c=1500m / s is selected, and the frequency band of interest is

[0069] 1000Hz~7000Hz, f min =1000Hz, total number of array elements N=91, number of outer layer elements 31 N1=10.

[0070] S3: Arrange the 10 outer array elements into a ring, and calculate the coordinates of the outer array element 31 according to the radius of the outer array structure 3 and the angle between adjacent array elements, numbered n k The coordinates of the outer array element 31 are (x k ,y k ), its calculation expression is as follows:

[0071] x k =R0cos((k-2)φ0),

[0072] y k =R0sin((k-2)φ0),

[0073] Where, k∈[2,N out +1];

[0074] The array elements start from (R0,0) and are arranged in a counterclockwise order on a circle with a radius of R0, with the included angle φ0 between adjacent array elements as the included angle.

[0075] S4: Determine the maximum radius of the inner array structure 2 and the angle φ1 between adjacent elements based on the radius of the outer array element 31. The calculation expressions for the radius R1 of the inner array structure 2 and the angle φ1 between adjacent elements are as follows:

[0076]

[0077] Where R0 is the radius of the outer array element 31.

[0078] S5: Calculate the coordinates of each inner array element 21 based on the number of inner array elements 21, the radius of the inner array structure 2 and the angle between adjacent array elements, numbered n l The coordinates of the inner element 21 are (x l ,y l ), its calculation expression is as follows:

[0079]

[0080] Where, l∈[N out +2,N], N is the total number of array elements, N center +N in +N out =N;

[0081] The array elements are rotated and diffused from the position near the coordinate origin to the position near the outer array element structure, and their numbers increase sequentially.

[0082] In this embodiment, the position parameters of each array element can be obtained through the above steps, as shown in Table 1:

[0083] Table 1

[0084]

[0085]

[0086]

[0087] In this embodiment, the center array element 1 is taken as the coordinate origin, the array plane is the xz plane, and the outer circle array xy plane beam pattern is made on the array scanning surface, and the Figure 2 , Figure 2 The main lobe width is about 0.35 meters, and the side lobe height is about -15dB. This figure reflects the beam characteristics of the central array element and the outer array elements, that is, their response characteristics to external signal input, revealing the response advantages of the central array element and the outer array elements, which are high resolution and low dynamic range. With the central array element 1 as the coordinate origin and the plane of the array as the xz plane, the inner Fibonacci grid array xy plane beam diagram is made on the array scanning surface, and the result is Figure 3 , Figure 3The main lobe width is approximately 0.66 meters, and the side lobe height is approximately -40 dB. This figure reflects the beam characteristics of a single inner array element, that is, its response characteristics to external signal input, revealing the disadvantage of low resolution response of the inner array element and the advantage of high dynamic range response.

[0088] The present invention also provides a positioning method for locating underwater sound sources using the aforementioned array, comprising the following steps: A. Acquiring spatial sound source information, i.e., using all hydrophones to collect sound signals in the space. This collected information is further processed by a sound source localization algorithm to estimate the sound source position, using a conventional acquisition method; B. Using the inner array structure 2 to perform a large-scale, coarse scan of the entire scanning space to determine the rough distribution of sound source points; and C. Using the central array element 1 and the outer array structure 3 simultaneously to perform a fine, small-grid scan of the sound source distribution points determined in step A, obtaining high-resolution underwater sound source localization results. In this embodiment, the parameters of each element of the array are shown in Table 1. The center element 1 is taken as the coordinate origin, the plane where the array surface is located is the xz plane, the target sound source is placed at the point with (x, y, z) coordinates of (0, 3, 0.25), and the interference noise source is placed at the point with (x, y, z) coordinates of (0, 3, -0.25). The scanning surface is first roughly scanned using the data of the inner element 21, and then finely scanned using the data of the outer element 31. Finally, the total scanning azimuth map is output, as shown in FIG. Figure 4 . Figure 4 The main lobe width is about 0.36 meters, and the side lobe height is about -40dB. The main lobe width of the image represents the resolution, and the smaller the value, the higher the resolution. The side lobe height represents the dynamic range, and the smaller the value, the better the dynamic range. Figure 4 and Figure 2 and Figure 3 From the comparison, it can be seen that the array and array method of the present invention not only have high resolution, but also can ensure a better dynamic range, thus achieving more accurate positioning performance.

[0089] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Various modifications or equivalent substitutions made by those skilled in the art within the spirit and scope of protection of the present invention also fall within the scope of protection of the present invention.

Claims

1. Underwater sound source localization array supporting dual scanning, characterized in that: The array includes an array plate and three array structures arranged on the array plate, the three array structures are located in the same array plane, and the three array structures include: A central array element, located at the center of the array disk; The inner array structure includes a plurality of inner array elements, the inner array elements are arranged with the position of the central array element as the coordinate origin, and the arrangement method follows the Fibonacci grid distribution; The outer array structure is located outside the inner array, and the array elements of the outer array are arranged in a circular array, with the position of the central array element as the center of the circle; The central array element, inner array elements and outer array elements are all hydrophones.

2. The positioning array according to claim 1, characterized in that: The array plate has a plurality of mounting holes running through the upper and lower parts thereof, each mounting hole is used to mount a hydrophone, the aperture of the mounting hole decreases from top to bottom, each hydrophone includes a mounting handle and a probe fixed to the upper end of the mounting handle, the hydrophone ballast also includes a plurality of mounting fixtures, the number of the mounting fixtures is the same as the number of the hydrophones, and the plurality of hydrophones are fixedly mounted to the array plate in a one-to-one correspondence, each mounting fixture includes two half-shaft sleeves that can be assembled into a sleeve and a nut, the two half-shaft sleeves can be engaged so that the inner wall of the half-shaft sleeves is tightly engaged with the outer wall of the mounting handle of the hydrophone, the probe of the hydrophone extends out from the upper end of the half-shaft sleeve of the mounting fixture, the outer diameter of the half-shaft sleeve decreases from top to bottom, the sleeve can be inserted into the mounting hole of the array plate from top to bottom, and its outer wall is tightly engaged with the inner wall of the mounting hole, the lower end of the sleeve extends out of the mounting hole, and the lower end of the sleeve has an external thread that can cooperate with the thread of the nut.

3. The hydrophone array device according to claim 2, characterized in that: The upper end of the semi-axle sleeve is provided with a shoulder shaft protruding outwards, and the probe of the hydrophone extends from the shoulder shaft to above the shoulder shaft.

4. The hydrophone array device according to claim 2, characterized in that: The outer wall of the nut is provided with a pair of rotation protrusions, and the pair of rotation protrusions are symmetrical about the axis of the nut.

5. A method for deploying an underwater sound source localization array supporting dual scanning, characterized in that: Arranging an array as claimed in any one of claims 1 to 4 comprises the following steps: S1, based on the total number of planned array elements N, the size of the plane used to arrange the array elements, and the number of central array elements N center , determine the number of inner array elements N in + and the number of outer array elements N out , = N center =1,N center +N in +N out =N; S2, arrange the central array element, whose array element number is n1 and whose coordinates are (0,0); S3: According to the frequency band of interest and the number of outer array elements N out =Determine the radius R0 of the outer array structure and the angle φ0 between adjacent array elements; S4: Calculate the coordinates (x) of the outer array elements according to the radius R0 of the outer array structure and the angle φ0 between adjacent array elements. k ,y k ), and arrange the outer array elements; S5: Determine the maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements according to the radius R0 of the outer array element; S6: Based on the number of inner array elements N in +, the maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements to calculate the coordinates (x l ,y l ).

6. The array arrangement method according to claim 5, characterized in that: The radius R0 of the outer array structure and the angle φ0 between adjacent array elements are calculated as follows: λ0=c / f min , φ0=2π / N out , Where c is the underwater sound speed, f min is the minimum frequency value of the frequency band of interest, λ0 is the underwater wavelength, N out is the number of outer array elements.

7. The array arrangement method according to claim 5, characterized in that: Number is n k The coordinates of the outer array element are (x k ,y k ), its calculation expression is as follows: x k =R0cos((k-2)φ0), y k =R0sin((k-2)φ0), In the formula, k∈[2,N out +1]; The array elements start from (R0,0) and are arranged in a counterclockwise order on a circle with a radius of R0, with the angle φ0 between adjacent array elements as the included angle.

8. The array arrangement method according to claim 6, characterized in that: The maximum radius R1 of the inner array structure and the angle φ1 between adjacent array elements are calculated as follows: Where R0 is the maximum radius of the outer array element.

9. The array arrangement method according to claim 8, characterized in that: Number is n l The inner array element coordinates are (x l ,y l ), its calculation expression is as follows: In the formula, l∈[N out +2,N]; The array elements are rotated and diffused from positions near the coordinate origin to positions near the outer array element structure.

10. A positioning method for an underwater sound source positioning array supporting dual scanning, characterized in that: The underwater sound source is positioned by the array described in any one of claims 1 to 4, comprising the following steps: A, using all hydrophones to collect spatial sound source information; B, using the inner array structure to perform a large-scale rough scan of the entire scanning space to determine the rough distribution of the sound source points; C, using the central array element and the outer array structure to simultaneously perform a small-grid fine scan of the sound source distribution points determined in step A to obtain a high-resolution underwater sound source positioning result.

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