Target positioning method and device based on sonar system and storage medium

Abstract

The invention discloses a target positioning method and device based on a sonar system, and a storage medium, and the method comprises the steps: responding to a target point marked by a user on an azimuth history graph, determining a preset angle closest to an input side angle of a detection target corresponding to the target point, and taking the preset angle as an estimated side angle; and determining a left adjacent side angle and a right adjacent side angle which are adjacent to the estimated side angle on the left side and the right side. And determining an error correction direction and a correction coefficient of the estimated broadside angle according to the signal intensity corresponding to the estimated broadside angle, the signal intensity corresponding to the left adjacent broadside angle and the signal intensity corresponding to the right adjacent broadside angle. And correcting the estimated broadside angle according to the correction coefficient and the azimuth resolution corresponding to the estimated broadside angle. According to the method, the broadside angle corresponding to the user recording moment is not directly used as the actual broadside angle, but the orientation with the strongest actual signal of the received detection target is predicted, the actual broadside angle is determined, broadside angle errors caused by orientation resolution limitation are reduced, and the detection target can be positioned more accurately according to the actual broadside angle.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a target positioning method, device and storage medium based on a sonar system. Background Art

[0002] Sonar is a device that detects and locates underwater targets by receiving sound wave signals from underwater objects. Sonar operators identify and locate targets based on the sound wave signals detected by the sonar.

[0003] After receiving the sound wave signal, the sonar will record the signal arrival time, signal strength, side angle and other detection data. Azimuth history chart is a commonly used way to record and display sonar detection data. In the azimuth history chart, time is used as the horizontal axis, side angle is used as the vertical axis, and signal strength is represented by grayscale.

[0004] The bearing recorded by the sonar is the bearing relative to the ship or sonar detector, that is, the side angle. The side angle is a relative bearing, which is related to the position of the ship. After the sonar operator locks the target, he needs to record the existence of the target at a certain time and the side angle of the target at that time on the bearing history chart, and calculate the absolute bearing of the target relative to the true north direction based on the side angle, that is, the true bearing, and report it.

[0005] Azimuth resolution refers to the angular interval between the sound wave signals of two targets that the sonar can distinguish. Due to the limitation of the azimuth resolution of the sonar itself, the sonar detector can only receive sound wave signals at specific angles, so the sonar can only detect targets from these specific angles. Figure 1 This is a sonar positioning principle diagram provided in this manual. Figure 1 The center position in the figure represents the sonar detector, and the dotted line represents the specific angle at which the sound wave signal can be received. Figure 1 As shown, in the prior art, when the target is located at point A, the sonar is at l 1 Direction and l 2 The target sound wave signal is received in the direction, because the target distance l 1 The direction is closer, so l 1 The signal strength received in the direction is stronger, sonar will 1 Direction determines the broadside angle at which the target is located.

[0006] Therefore, there is an error between the side angle of the target determined in the prior art and the actual position of the target, and the true position determined by the side angle is also inconsistent with the actual position, resulting in inaccurate target positioning. Therefore, this specification provides a target positioning method based on a sonar system. Summary of the invention

[0007] The present specification provides a target positioning method, device, storage medium and electronic device based on a sonar system to at least partially solve the above-mentioned problems existing in the prior art.

[0008] This manual adopts the following technical solutions:

[0009] This specification provides a target positioning method based on a sonar system, including:

[0010] In response to a target point marked by a user on the azimuth history map, determining a recording time and a recording side angle of the target point corresponding to the detected target;

[0011] Among various preset angles at which the sonar system can detect signals, determine a preset angle closest to the recorded side angle as the estimated side angle of the detected target;

[0012] Among the preset angles, determine the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time;

[0013] Determine the error correction direction of the estimated side angle according to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determine the correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle;

[0014] Determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle according to the product of the azimuth resolution and the correction coefficient;

[0015] According to the error correction direction and based on the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned based on the actual side angle.

[0016] Optionally, determining a correction coefficient for the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle specifically includes:

[0017] When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle;

[0018] When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle;

[0019] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

[0020] Optionally, determining the azimuth resolution corresponding to the estimated side angle specifically includes:

[0021] The difference between the left adjacent side angle and the estimated side angle is used as a first interval angle, and the difference between the right adjacent side angle and the estimated side angle is used as a second interval angle;

[0022] Determine the average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

[0023] Optionally, performing target positioning according to the actual side angle specifically includes:

[0024] Determine the actual heading according to the heading measured by the heading sensor of the ship;

[0025] Determining the true orientation of the detected target according to the actual heading and the actual side angle;

[0026] Target positioning is performed according to the true position of the detected target.

[0027] Optionally, determining the estimated array direction according to the measured array directions of each array direction sensor specifically includes:

[0028] Calculate the mean and standard deviation of the measured array direction of each array direction sensor,

[0029] Determine the screening range according to the mean and the standard deviation;

[0030] Among the measurement array directions of the array direction sensors, determining the measurement array directions that meet the screening range as the regular data;

[0031] Determine the mean of the conventional data as the estimated array direction.

[0032] Optionally, determining the actual heading according to the heading measured by the heading sensor of the ship specifically includes:

[0033] Determining an estimated array direction according to the measured array directions of each array direction sensor included in the sonar system;

[0034] The actual heading is determined according to the estimated array heading and the measured heading.

[0035] Optionally, performing target positioning according to the actual side angle specifically includes:

[0036] At the recording time, determining the distance between the equivalent acoustic center of the sonar system and the ship positioning system and the longitude and latitude of the ship;

[0037] Determining the longitude and latitude of the equivalent sound center of the sonar system according to the distance, the longitude and latitude of the ship and the actual heading;

[0038] Target positioning is performed based on the longitude and latitude of the equivalent sound center of the sonar system and the true azimuth of the detected target.

[0039] This specification provides a target positioning device based on a sonar system, the device comprising:

[0040] The recording module determines the recording time and the recording side angle of the target point corresponding to the detected target in response to the target point marked by the user on the azimuth history map;

[0041] An estimated side angle determination module determines, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target;

[0042] The adjacent side angle determination module determines, among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determines, at the recording time, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0043] a correction coefficient determination module, determining an error correction direction of the estimated side angle according to a magnitude relationship between a signal strength corresponding to the left adjacent side angle and a signal strength corresponding to the right adjacent side angle; determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle;

[0044] An error side angle determination module is used to determine the azimuth resolution corresponding to the estimated side angle, and to determine the error side angle according to the product of the azimuth resolution and the correction coefficient;

[0045] The positioning module corrects the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and performs target positioning according to the actual side angle.

[0046] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned target positioning method based on the sonar system is implemented.

[0047] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned target positioning method based on the sonar system when executing the program.

[0048] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0049] In the target positioning method based on the sonar system provided in the present specification, in response to the target point marked by the user on the azimuth history map, the recording time and recording side angle of the target point corresponding to the detection target are determined. Among the preset angles at which the sonar system can detect the signal, the preset angle closest to the recording side angle is determined as the estimated side angle of the detection target. Among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides are determined as the left adjacent side angle and the right adjacent side angle, respectively. The signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time are determined. According to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle, the error correction direction of the estimated side angle is determined. According to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle, the correction coefficient of the estimated side angle is determined. The azimuth resolution corresponding to the estimated side angle is determined, and the error side angle is determined according to the product of the azimuth resolution and the correction coefficient. According to the error correction direction, the estimated side angle is corrected according to the error side angle.

[0050] This method does not directly take the side angle corresponding to the user's recording moment as the actual side angle, but predicts the azimuth of the actual signal of the received detection target with the strongest signal to determine the actual side angle, thereby reducing the side angle error caused by the limitation of azimuth resolution and being able to more accurately locate the detection target based on the actual side angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0052] Figure 1 This is a sonar positioning principle diagram provided in this manual;

[0053] Figure 2 A flowchart of a target positioning method based on a sonar system in this specification;

[0054] Figure 3 A schematic diagram of a side angle correction provided in an embodiment of this specification;

[0055] Figure 4 A schematic diagram of a target positioning device based on a sonar system provided in this specification;

[0056] Figure 5 The corresponding Figure 1 Schematic diagram of electronic equipment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0058] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0059] Figure 2 The following is a flow chart of a target positioning method based on a sonar system in this specification, which specifically includes the following steps:

[0060] S100: In response to a target point marked by a user on a azimuth history map, determining a recording time and a recording side angle of a detection target corresponding to the target point.

[0061] All steps in the target positioning method based on the sonar system provided in this specification can be implemented by any electronic device with computing functions, such as a terminal, a server, etc. For the convenience of description, the target positioning method based on the sonar system provided in this specification is described below with the server as the execution subject.

[0062] The sonar operator monitors the sound wave signals detected by the sonar system and performs spectrum analysis and other operations on the sound wave signals detected by the sonar system to identify the sound wave signals that may come from the detection target. After that, the sonar operator can locate the detection target at any time after the sound wave signal of the detection target appears according to the azimuth history diagram.

[0063] Due to the propagation characteristics of sound wave signals, after leaving the sound source, the sound wave signal will spread to the surroundings and gradually attenuate. For a sound wave signal, the sound wave signal can be detected by the sonar in the direction of the sound source and the angle range near the direction of the sound source. Because the signal strength of the sound wave signal detected in the direction of the sound source is the strongest, the direction where the sonar system detects the strongest signal strength of the sound wave signal is the direction where the detection target is located.

[0064] Because the signal strength is represented by grayscale on the azimuth history diagram, the sonar operator can visually observe the position with the largest grayscale level within the angular range where the sound wave signal is detected on the azimuth history diagram and mark it as the target point.

[0065] Then, the server responds to the target point marked by the sonar operator, determines the recording time corresponding to the target point according to the horizontal coordinate corresponding to the target point, and determines the recording side angle corresponding to the target point according to the vertical coordinate corresponding to the target point.

[0066] The recording time is the time when the sonar operator needs to locate the direction of the detection target. The recording side angle is determined by the sonar operator visually observing the grayscale level, which is a rough estimated direction of the detection target at the recording time.

[0067] S102: Among various preset angles at which the sonar system can detect signals, determine a preset angle that is closest to the recorded side angle as the estimated side angle of the detected target.

[0068] Due to the resolution of the display device, the recording side angle determined by the sonar operator may not be the position where the signal strength of the sound wave signal of the detection target measured by the sonar system is the strongest. However, the position corresponding to the recording side angle should be close to the position where the signal strength of the sound wave signal of the detection target measured by the sonar system is the strongest.

[0069] Therefore, in order to eliminate the side angle error caused by the positioning of the target point, the server determines the preset angle closest to the recorded side angle among the preset angles at which the sonar system can detect signals, as the estimated side angle of the detected target.

[0070] The preset angle indicates the sideways direction of the target that the sonar system can detect. Due to the differences in the design structure and signal processing algorithm of the sonar system itself, the preset angles at which the sonar system can detect signals can be evenly distributed or unevenly distributed.

[0071] For example, if the preset angles of a sonar system are evenly distributed and the angle interval is 1°, it means that the sonar system can detect targets in the directions of various integer degree sideways angles centered on itself; if the preset angles of a sonar system are unevenly distributed, the preset angles of the sonar may include 80°, 85°, 87°, and 90°, then the sonar system can detect targets in the directions of 80°, 85°, 87°, and 90° sideways angles centered on itself.

[0072] S104: Among the preset angles, determine the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time.

[0073] Due to the limitation of azimuth resolution, the side angle at which the signal strength of the target detected by the sonar system is the strongest may not be the side angle corresponding to the actual azimuth of the target.

[0074] For example, when the preset angles of the sonar system are evenly distributed and the angle interval is 1°, if the side angle corresponding to the actual azimuth of the detected target is 30.1°, among the side angles that the sonar system can detect, the 30° side angle direction is the closest to 30.1°, so in the sound wave signal detected by the sonar system, the 30° side angle direction is the signal peak position, and the sonar system uses 30° as the estimated side angle of the detected target. However, the actual side angle azimuth of the sound wave signal emitted by the detected target should be the 30.1° side angle direction.

[0075] Due to the propagation characteristics of sound waves, the sound wave signal is usually detected by the sonar at multiple preset angles, but due to signal attenuation, the signal strength of the sound wave signal detected at each preset angle is different.

[0076] For the estimated side angle, the sonar system can also detect the sound wave signal at the preset angles on both sides of the estimated side angle at the recording time, but the signal strength of the sound wave signal detected at the preset angles on both sides of the estimated side angle is lower than the signal strength corresponding to the estimated side angle.

[0077] For other preset angles at which the sound wave signal is detected, the signal strength of the sound wave signal detected at the preset angle is related to the angle difference between the other preset angle and the preset angle corresponding to the estimated side angle. That is, the larger the angle difference between the other preset angle and the preset angle corresponding to the estimated side angle, the weaker the detected signal strength, and the smaller the angle difference between the other preset angle and the preset angle corresponding to the estimated side angle, the stronger the detected signal strength.

[0078] The server can use the preset angle at which the target signal is detected and the signal strength detected at the angle as two related quantities, fit the actual peak value of the sound wave signal, and predict the actual angle corresponding to the actual peak value.

[0079] Specifically, the server determines the preset angles adjacent to the estimated side angle on the left and right sides of each preset angle as the left adjacent side angle and the right adjacent side angle, respectively. Then, the server determines the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time.

[0080] Taking the side angle and signal strength as correlation quantities, three data points can be determined. Let the estimated side angle be θ p , the estimated signal strength corresponding to the side angle is The left adjacent angle is θ l , the signal strength corresponding to the left adjacent port angle is The right side angle is θ r , the signal strength corresponding to the right adjacent port angle is The three data points are and

[0081] The server can perform peak fitting based on the geometric relationship of the three data points to determine the actual peak point to obtain the accurate side angle of the detected target. The position relationship of the three data points can be as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of the side angle correction principle provided in an embodiment of the present specification, wherein point A represents the target position determined by the sonar system, and points B and C are the target positions of the sonar system at the left adjacent side angle and the right adjacent side angle respectively. It can be seen that the signal strength at point A is higher than that at points B and C, but due to the limitation of the azimuth resolution, the actual side angle where the detected target is located may not be point A.

[0082] Figure 3 The dotted line connecting points A, B, and C is obtained by fitting A, B, and C. It can be seen that according to the geometric relationship, Figure 3 The position indicated by the middle triangle should be the position where the actual signal strength is the strongest, that is, the position indicated by the triangle is the sound source position of the sound wave signal, that is, the actual location of the detection target.

[0083] Therefore, based on the estimated signal strength detected at the preset angles on the left and right sides of the side angle, the actual position with the strongest signal strength can be fitted to determine the side angle where the target is actually located.

[0084] S106: Determine the error correction direction of the estimated side angle according to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determine the correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle.

[0085] The closer the distance to the sound source, the stronger the signal strength of the sound wave signal received from the sound source, and the farther the distance to the sound source, the weaker the signal strength of the sound wave signal received from the sound source. Based on the magnitude relationship of the signal corresponding to the left adjacent port angle and the right adjacent port angle, the true direction of the target can be determined.

[0086] That is, when the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, it means that the true signal strength peak point is on the right side of the estimated port angle, and the error correction direction should be right. When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, it means that the true signal strength peak point is on the left side of the estimated port angle, and the error correction direction should be left.

[0087] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, it means that the direction corresponding to the estimated port angle is exactly the direction where the peak point of the signal strength is located, and no correction is required.

[0088] When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, it means that the actual peak point is located on the left side of the estimated port angle and needs to be corrected to the right.

[0089] After determining the correction direction, the server also needs to determine the correction coefficient, which is used to determine the magnitude of the adjustment of the estimated side angle.

[0090] In this specification, the server determines the correction coefficient of the estimated side angle based on the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle.

[0091] Specifically, the server may determine the correction coefficient β according to the following formula:

[0092]

[0093] The error correction direction to the left is indicated by a negative sign.

[0094] The above formula indicates that when the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, it means that the actual peak point is located on the left side of the estimated port angle and needs to be corrected to the right. The server determines the correction coefficient based on the ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle.

[0095] When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, it means that the signal strength corresponding to the estimated port angle is the actual signal peak point and does not need to be corrected.

[0096] When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, it means that the actual peak point is located on the left side of the estimated port angle and needs to be corrected to the left. The server determines the correction coefficient based on the ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle.

[0097] S108: Determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle according to the product of the azimuth resolution and the correction coefficient.

[0098] Azimuth resolution refers to the angular interval between the sound wave signals of two targets that the sonar can distinguish, so the azimuth resolution is the maximum possible error between the estimated side angle and the actual side angle.

[0099] The server can determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle of the estimated side angle according to the azimuth resolution, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle.

[0100] For sonars with uniform distribution of preset angles, the resolution is simulated as a fixed value. For example, when the preset angles of the sonar system are uniformly distributed and the angle interval is 1°, the azimuth resolution of each preset angle is 1°. For sonar systems with uneven distribution of preset angles, the sonar system has different target resolution capabilities at different preset angles. The denser the intervals of the preset angles, the smaller the corresponding azimuth resolution, the stronger the ability to distinguish different targets, and the more accurate the determined side angle of the target. The sparser the intervals of the preset angles, the greater the azimuth resolution, the weaker the ability to distinguish targets, and the greater the deviation of the determined side angle of the target.

[0101] In a sonar system in which preset angles are evenly distributed, since the azimuth resolution is a fixed value, the server can determine the fixed azimuth resolution according to the configuration of the sonar system as the azimuth resolution corresponding to the estimated side angle.

[0102] In a sonar system where preset angles are unevenly distributed, the server needs to determine the azimuth resolution corresponding to the estimated side angle.

[0103] Specifically, the server uses the difference between the left adjacent side angle and the estimated side angle as the first interval angle, and uses the difference between the right adjacent side angle and the estimated side angle as the second interval angle, and determines the average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

[0104] Among them, the method for determining the azimuth resolution corresponding to the estimated side angle can be expressed as follows:

[0105]

[0106] In one or more embodiments of the present specification, the server determines the error side angle according to the product of the azimuth resolution and the correction coefficient. The side angle error represents the angle difference between the estimated side angle and the time side angle.

[0107] S110: According to the error correction direction and the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned according to the actual side angle.

[0108] The server adjusts the error side angle to the estimated side angle in the error correction direction, thereby obtaining the actual side angle, that is, the accurate side angle orientation of the detected target.

[0109] The formula for determining the actual side angle is as follows:

[0110] θ target =θ p +β×δ f

[0111] Among them, θ target represents the actual side angle, θ p represents the estimated side angle, δ f Indicates the azimuth resolution corresponding to the estimated side angle.

[0112] After determining the actual side angle, the server can determine the measured heading of the ship's heading sensor and use the measured heading as the actual heading. And according to the relationship between the actual heading and the actual side angle, the true direction of the detected target is determined.

[0113] In order to achieve target positioning, the server also needs to determine the reference point of the true position. Then, the reference point and the true position can determine the absolute position of the detected target and accurately locate the target.

[0114] Because the actual side angle is measured by the sonar system, the real reference point for the actual side angle measurement is the sonar system. Therefore, if the longitude and latitude of the sonar system are consistent with the longitude and latitude of the ship, the server can determine the longitude and latitude of the ship through the satellite positioning device of the ship, and convert the longitude and latitude of the ship into the longitude and latitude of the reference point.

[0115] If the longitude and latitude of the sonar system are inconsistent with the longitude and latitude of the ship, such as when the sonar system is a towed linear array sonar, the sonar system is connected to the ship through a flexible tow cable, and connected to the ship platform through a flexible cable, and detects targets underwater far away from the ship. In this case, the server can determine the longitude and latitude of the equivalent acoustic center of the sonar array as the longitude and latitude of the reference point.

[0116] In the target positioning method based on the sonar system provided in the present specification, in response to the target point marked by the user on the azimuth history map, the recording time and recording side angle of the target point corresponding to the detection target are determined. Among the preset angles at which the sonar system can detect the signal, the preset angle closest to the recording side angle is determined as the estimated side angle of the detection target. Among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides are determined as the left adjacent side angle and the right adjacent side angle, respectively. The signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time are determined. According to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle, the error correction direction of the estimated side angle is determined. According to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle, the correction coefficient of the estimated side angle is determined. The azimuth resolution corresponding to the estimated side angle is determined, and the error side angle is determined according to the product of the azimuth resolution and the correction coefficient. According to the error correction direction, the estimated side angle is corrected according to the error side angle.

[0117] This method does not directly take the side angle corresponding to the user's recording moment as the actual side angle, but predicts the azimuth of the actual signal of the received detection target with the strongest signal to determine the actual side angle, thereby reducing the side angle error caused by the limitation of azimuth resolution and being able to more accurately locate the detection target based on the actual side angle.

[0118] In the above step S106, the server may also determine the correction coefficient according to the following method.

[0119] When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined according to the ratio of the difference between the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent chord angle and the signal strength corresponding to the estimated port angle. When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined according to the ratio of the difference between the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent chord angle and the signal strength corresponding to the estimated port angle. When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

[0120] In the above step S108, when the sonar system is a towed linear array sonar, because the towed linear array moves with the ship, theoretically the heading of the towed linear array should be consistent with the heading of the ship. However, because the towed linear array sonar is far away from the ship and connected to the ship through a flexible cable, when sailing, the flexible cable is prone to yaw and bend under the influence of external factors such as ocean currents, resulting in a deviation between the heading of the towed linear array and the heading of the ship.

[0121] The side angle is measured with the towed linear array as the reference point. If the measured heading of the ship's heading sensor is determined with the ship as the reference point, there will be a large error if the true direction of the detected target is calculated based on the actual side angle and the measured heading determined in S110, because the actual side angle and the measured heading reference point are inconsistent.

[0122] Therefore, in one or more embodiments of the present specification, the towed linear array sonar includes a plurality of array direction sensors for measuring the array direction, that is, the heading of the towed linear array. The server corrects the heading of the heading sensor of the ship according to the array direction measured by the array direction sensor, so as to determine a more accurate true bearing of the detected target through the corrected heading and the corrected actual side angle.

[0123] First, the server determines the estimated direction according to the measured directions of each direction sensor.

[0124] Multiple array direction sensors are installed at different positions of the towed linear array, and the measured array directions may be different. The server needs to determine an accurate estimated array direction based on each measured array direction.

[0125] This specification does not limit the method for determining the estimated array direction. For example, the server may randomly select the estimated array direction from each measured array direction. Alternatively, the server uses the average of each measured array direction as the estimated array direction.

[0126] Alternatively, considering that there may be outliers in each measured array direction, in order to determine a more accurate estimated array direction, the server first removes the outliers based on statistical principles and then determines the estimated array direction.

[0127] Specifically, the server determines and calculates the mean and standard deviation of the array direction measured by each array direction sensor, and determines the screening range based on the mean and the standard deviation. c Threshold value to determine the screening range.

[0128] c i represents the measured array direction of the i-th array direction sensor, and the process can be expressed by the following formula:

[0129]

[0130] In the above formula, N represents the number of array sensors, m c represents the mean, σ c Represents standard deviation.

[0131] The server determines the measured array directions that meet the screening range among the measured array directions of each array direction sensor as each regular data, and determines the mean value of each regular data as the estimated array direction.

[0132] The process can be expressed by the following formula:

[0133]

[0134] Where M represents the number of regular data, c est Indicates estimated direction.

[0135] The server then determines the measured heading of the ship's heading sensor and determines the actual heading based on the average of the estimated array heading and the measured heading.

[0136] The process can be expressed by the following formula:

[0137]

[0138] Among them, c f Indicates the actual heading, h t Indicates the measured heading.

[0139] The estimated array heading is a relatively accurate heading of the towed linear array determined by the server based on the measured array headings of each array heading sensor. In this embodiment, the estimated array heading and the measured heading are averaged to determine the actual heading. The actual heading combines the headings of the ship and the towed linear array, and a more accurate true direction can be determined based on the actual heading.

[0140] Specifically, true direction of arrival (DOA) t The determination method is as follows:

[0141]

[0142] In the above step S110, if the longitude and latitude of the sonar system are inconsistent with the longitude and latitude of the ship, the server can determine the longitude and latitude of the equivalent acoustic center of the sonar array as the longitude and latitude of the reference point in the following manner.

[0143] At the time of recording, the server determines the distance between the equivalent sound center of the sonar system and the ship positioning system and the longitude and latitude of the ship.

[0144] Then, the server determines the longitude and latitude of the equivalent sound center of the sonar system based on the distance between the equivalent sound center and the mother ship positioning system, the longitude and latitude of the ship, and the actual heading.

[0145] Among them, the distance between the ship positioning systems and the longitude and latitude of the ship can be determined by the sum of the cable length, the length of the sonar vibration isolation section and half of the effective array length of the sonar array at the time of recording. The cable length here may change over time, and the corresponding cable length needs to be determined according to the time of recording.

[0146] With r t It represents the distance from the equivalent sound center to the ship positioning system, in lat t Indicates the latitude of the ship, in lon t The longitude of the ship is shown in Figure 1. The longitude and latitude of the equivalent sound center can be determined by the following formula:

[0147]

[0148] lat a =asin(sin(lat t )cos(dist rad )+cos(lat t )sin(dist rad )cos(az))*57.3

[0149]

[0150] Among them, dist radIt is the distance from the equivalent sound center to the ship's positioning system in radians. az is the course corrected according to the longitude of the ship. lat a Indicates the latitude of the equivalent sound center, lon a Indicates the longitude of the equivalent acoustic center.

[0151] Through this embodiment, the server can determine the equivalent sound center of the sonar as a reference point after determining the true direction of the detected target. Compared with the traditional method of using the ship as a reference point, this embodiment can locate the target more accurately.

[0152] In one or more embodiments of the present specification, the server may store the longitude and latitude of the ship, the measured heading measured by the ship's heading sensor, the cable length, the longitude and latitude of the sonar equivalent sound center, and the measured array headings of each sonar array sensor at a certain time beat.

[0153] When the recording time is determined in response to the operation in step S100, the server retrieves the data of the time beat corresponding to the recording time from the stored data, and calculates the true position of the detection target at the recording time based on the retrieved data.

[0154] Because in many cases, the sonar operator needs to detect the target for a period of time before he can lock the target based on the detection data during this period. After the sonar operator locks the target, he needs to report the time and direction of the target through the azimuth history chart.

[0155] Since there is a time delay between the moment when the target is locked and the moment when the target appears, the detection data is stored in real time according to the time rhythm through this embodiment. In this way, when the recording time is a certain historical moment, the server can accurately locate the position of the detection target at the recording time by retrieving the relevant data corresponding to the recording time.

[0156] The above is a target positioning method based on a sonar system provided in this specification. Based on the same idea, this specification also provides a corresponding target positioning device based on a sonar system, such as Figure 4 shown.

[0157] Figure 4 A schematic diagram of a target positioning device based on a sonar system provided in this specification specifically includes:

[0158] The recording module 200 is used to determine the recording time and the recording side angle of the target point corresponding to the detected target in response to the target point marked by the user on the azimuth history map;

[0159] The estimated side angle determination module 202 is used to determine the preset angle closest to the recorded side angle among various preset angles at which the sonar system can detect signals, as the estimated side angle of the detected target;

[0160] The adjacent side angle determination module 204 is used to determine, among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time;

[0161] A correction coefficient determination module 206 is used to determine the error correction direction of the estimated side angle according to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determine the correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle;

[0162] An error side angle determination module 208 is used to determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle according to the product of the azimuth resolution and the correction coefficient;

[0163] The positioning module 210 is used to correct the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and perform target positioning according to the actual side angle.

[0164] Optionally, the correction coefficient determination module 206 is specifically used to determine the correction coefficient according to the ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle when the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle; when the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined according to the ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle; when the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

[0165] Optionally, the error side angle determination module 208 is specifically used to take the difference between the left adjacent side angle and the estimated side angle as the first interval angle, and the difference between the right adjacent side angle and the estimated side angle as the second interval angle, and determine the average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

[0166] Optionally, the positioning module 210 is specifically used to determine the actual heading according to the heading measured by the ship's heading sensor, determine the true direction of the detected target according to the actual heading and the actual side angle, and locate the target according to the true direction of the detected target.

[0167] Optionally, the positioning module 210 is specifically used to calculate the mean and standard deviation of the measurement directions of each array direction sensor, determine a screening range based on the mean and the standard deviation, determine the measurement directions that meet the screening range among the measurement directions of each array direction sensor as regular data, and determine the mean of the regular data as the estimated direction.

[0168] Optionally, the positioning module 210 is specifically configured to determine an estimated array direction according to the measured array directions of each array direction sensor included in the sonar system, and determine an actual heading according to the estimated array direction and the measured heading.

[0169] Optionally, the positioning module 210 is specifically used to determine the distance between the equivalent sound center of the sonar system and the ship positioning system and the longitude and latitude of the ship at the recording time, determine the longitude and latitude of the equivalent sound center of the sonar system according to the distance, the longitude and latitude of the ship and the actual heading, and locate the target according to the longitude and latitude of the equivalent sound center of the sonar system and the true bearing of the detected target.

[0170] This specification also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A target positioning method based on a sonar system is provided.

[0171] This manual also provides Figure 5 The schematic structure diagram of the electronic device shown in FIG. Figure 5 As mentioned above, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 The target positioning method based on the sonar system. Of course, in addition to the software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0172] For the improvement of a technology, it can be clearly distinguished whether it is a hardware improvement (for example, improvement of the circuit structure of diodes, transistors, switches, etc.) or a software improvement (improvement of the method flow). However, with the development of technology, many improvements of the method flow today can be regarded as direct improvements of the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be implemented with a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming themselves, without having to ask chip manufacturers to design and make dedicated integrated circuit chips. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0173] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0174] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0175] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0176] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0177] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0182] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0184] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0185] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0186] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0187] The above description is only an embodiment of this specification and is not intended to limit this specification. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this application.

Claims

1. A target positioning method based on a sonar system, characterized in that: include: In response to a target point marked by a user on the azimuth history map, determining a recording time and a recording side angle of the target point corresponding to the detected target; Among various preset angles at which the sonar system can detect signals, determine a preset angle closest to the recorded side angle as the estimated side angle of the detected target; Among the preset angles, determine the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determine the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle at the recording time; Determine the error correction direction of the estimated side angle according to the magnitude relationship between the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; determine the correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle and the signal strength corresponding to the right adjacent side angle; Determine the azimuth resolution corresponding to the estimated side angle, and determine the error side angle according to the product of the azimuth resolution and the correction coefficient; According to the error correction direction and based on the error side angle, the estimated side angle is corrected to obtain the actual side angle, and the target is positioned based on the actual side angle.

2. The method according to claim 1, characterized in that Determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle, specifically includes: When the signal strength corresponding to the left adjacent port angle is greater than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the left adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the left adjacent port angle; When the signal strength corresponding to the left adjacent port angle is less than the signal strength corresponding to the right adjacent port angle, determining a correction coefficient according to a ratio of the signal strength corresponding to the right adjacent port angle to the sum of the signal strength corresponding to the estimated port angle and the signal strength corresponding to the right adjacent port angle; When the signal strength corresponding to the left adjacent port angle is equal to the signal strength corresponding to the right adjacent port angle, the correction coefficient is determined to be zero.

3. The method according to claim 1, characterized in that Determining the azimuth resolution corresponding to the estimated side angle specifically includes: The difference between the left adjacent side angle and the estimated side angle is used as a first interval angle, and the difference between the right adjacent side angle and the estimated side angle is used as a second interval angle; Determine the average of the first interval angle and the second interval angle as the azimuth resolution corresponding to the estimated side angle.

4. The method according to claim 1, characterized in that According to the actual side angle, target positioning is performed, specifically including: Determine the actual heading according to the heading measured by the heading sensor of the ship; Determining the true orientation of the detected target according to the actual heading and the actual side angle; Target positioning is performed according to the true position of the detected target.

5. The method according to claim 4, characterized in that According to the measured array directions of each array direction sensor, the estimated array direction is determined, which specifically includes: Calculate the mean and standard deviation of the measured array direction of each array direction sensor, Determine the screening range according to the mean and the standard deviation; Among the measurement array directions of the array direction sensors, determining the measurement array directions that meet the screening range as the regular data; Determine the mean of the conventional data as the estimated array direction.

6. The method according to claim 4, characterized in that According to the measured heading of the ship's heading sensor, the actual heading is determined, including: Determining an estimated array direction according to the measured array directions of each array direction sensor included in the sonar system; The actual heading is determined according to the estimated array heading and the measured heading.

7. The method according to claim 4, characterized in that According to the actual side angle, target positioning is performed, specifically including: At the recording time, determining the distance between the equivalent acoustic center of the sonar system and the ship positioning system and the longitude and latitude of the ship; Determining the longitude and latitude of the equivalent sound center of the sonar system according to the distance, the longitude and latitude of the ship and the actual heading; Target positioning is performed based on the longitude and latitude of the equivalent sound center of the sonar system and the true azimuth of the detected target.

8. A target positioning device based on a sonar system, characterized in that: include: The recording module determines the recording time and the recording side angle of the target point corresponding to the detected target in response to the target point marked by the user on the azimuth history map; An estimated side angle determination module determines, among various preset angles at which the sonar system can detect signals, a preset angle closest to the recorded side angle as the estimated side angle of the detected target; The adjacent side angle determination module determines, among the preset angles, the preset angles adjacent to the estimated side angle on the left and right sides as the left adjacent side angle and the right adjacent side angle, respectively, and determines, at the recording time, the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle; a correction coefficient determination module, determining an error correction direction of the estimated side angle according to a magnitude relationship between a signal strength corresponding to the left adjacent side angle and a signal strength corresponding to the right adjacent side angle; determining a correction coefficient of the estimated side angle according to the signal strength corresponding to the estimated side angle, the signal strength corresponding to the left adjacent side angle, and the signal strength corresponding to the right adjacent side angle; An error side angle determination module is used to determine the azimuth resolution corresponding to the estimated side angle, and to determine the error side angle according to the product of the azimuth resolution and the correction coefficient; The positioning module corrects the estimated side angle according to the error correction direction and the error side angle to obtain the actual side angle, and performs target positioning according to the actual side angle.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

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