Compact quaternary hydrophone array and sound source positioning method

Abstract

The invention discloses a compact quaternary hydrophone array and a sound source localization method, the compact quaternary hydrophone array comprises a regular tetrahedron framework and a support device, and the regular tetrahedron framework is arranged on the support device; the regular tetrahedron framework comprises a regular tetrahedron composed of a plurality of square rigid supports, hydrophone supports arranged at the four vertexes of the regular tetrahedron, and hydrophones arranged on the hydrophone supports. The compact quaternary hydrophone array provided by the invention is simple in structure and convenient to assemble, and can also reduce the influence of sound wave scattering on a space sound field and improve the sound source positioning precision.

Description

Technical Field

[0001] The invention relates to the technical field of near-field acoustic holography, and in particular to a compact four-element hydrophone array and a sound source localization method. Background Art

[0002] A hydrophone array is an acoustic holographic measurement front-end device that arranges and combines multiple hydrophones in a certain geometric shape. It can collect acoustic quantity information in space and is widely used in marine environment monitoring, marine resource exploration, underwater target detection and other fields.

[0003] In hydrophone array devices, towed thin line arrays and ultra-short baseline arrays are usually used. Towed thin line arrays are mostly used in underwater vehicles. Their design requires small and lightweight, large array aperture, and hydrostatic pressure requirements. Due to their smaller array diameter and larger acoustic array aperture, their anti-interference ability to flow noise and acceleration noise generated during towing will also be weakened, making their design relatively difficult. The principle of ultra-short baseline arrays is to use the time difference of sound waves propagating underwater to determine the location of the sound source. Its advantages are low cost, strong portability, high flexibility, and simple operation, but its disadvantages are also obvious. Due to problems such as its array aperture being too small, it has too large an error in locating underwater sound sources. Summary of the invention

[0004] The present invention provides a compact four-element hydrophone array and a sound source localization method, aiming to effectively solve the above technical problems.

[0005] According to a first aspect of the present invention, the present invention provides a compact four-element hydrophone array, comprising a regular tetrahedron structure and a supporting device, wherein the regular tetrahedron structure is arranged on the supporting device;

[0006] The regular tetrahedron framework comprises a regular tetrahedron composed of a plurality of square rigid brackets, a hydrophone bracket arranged at four vertices of the regular tetrahedron, and a hydrophone arranged on the hydrophone bracket.

[0007] Furthermore, the regular tetrahedron structure also includes a four-way connector, a circular rigid bracket and a six-way connector;

[0008] The square rigid brackets are connected to each other through the four-way connector, the six-way connector is respectively connected to the supporting device and the circular rigid bracket, and the other end of the circular rigid bracket is connected to the square rigid bracket.

[0009] Furthermore, the support device includes a support rod and a support base, one end of the support rod is connected to the support base via a five-way connector, and the other end of the support rod is connected to the six-way connector.

[0010] Furthermore, the four-way connector is provided with multi-directional square through holes inside, which match with the ends of the square rigid bracket, and the angle between any two square through holes is 60°, and the six-way connector is located at the geometric center of the regular tetrahedron structure.

[0011] According to a second aspect of the present invention, the present invention further provides a sound source localization method based on the above-mentioned compact four-element hydrophone array, the method comprising:

[0012] Acoustic quantity information of a target water area is collected, where the target water area is a placement area of ​​a compact four-element hydrophone array;

[0013] The acoustic quantity information is calculated using a sphere-to-sphere near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical spectrum of sound pressure on a holographic surface;

[0014] The sound pressure spherical spectrum approximation of the preset reconstructed spherical radius is calculated according to the sound pressure spherical spectrum approximation of the holographic surface, and the reconstructed sound pressure of the reconstructed sphere is calculated according to the sound pressure spherical spectrum approximation, and the sound source is located according to the reconstructed sound pressure.

[0015] Furthermore, the use of a spherical-spherical near-field acoustic holographic transformation algorithm to calculate the acoustic quantity information to obtain an approximate value of a spherical spectrum of sound pressure on a holographic surface includes:

[0016] The acoustic quantity information is calculated according to the following formula to obtain the approximate value of the spherical spectrum of the holographic surface sound pressure:

[0017]

[0018] In the formula, r H represents the radius of the holographic sphere, M represents the number of discrete points on the holographic sphere, Q represents the highest order of the spherical spectrum to be calculated, 0≤n≤Q, -n≤m≤n, "⊥" represents conjugation, w i Represents the position weight of each discrete point, p(r H ,θ i ,φ i ) indicates that the radius is r H The sound pressure at discrete points on the holographic sphere is represents the normalized spherical harmonics, θ i ,φ i They represent the ascent angle and azimuth angle at each discrete point in the spherical coordinate system respectively.

[0019] Furthermore, the step of calculating and obtaining an approximate value of a spherical spectrum of sound pressure of a preset reconstructed spherical radius according to the approximate value of the spherical spectrum of sound pressure of the holographic surface comprises:

[0020] According to the approximate value of the spherical spectrum of the holographic surface sound pressure The following formula is used to calculate the approximate value of the sound pressure spherical spectrum of the preset reconstructed spherical radius:

[0021]

[0022] In the formula, j n (kr) represents the spherical Bessel function, r S represents the radius of the reconstructed sphere, and k represents the wave number.

[0023] According to a third aspect of the present invention, the present invention further provides a sound source localization device, the device comprising:

[0024] A collection module, used to collect acoustic quantity information of a target water area, where the target water area is a placement area of ​​a compact four-element hydrophone array;

[0025] A first calculation module is used to calculate the acoustic quantity information using a spherical-spherical near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical wave spectrum of a holographic surface sound pressure;

[0026] The second calculation and positioning module is used to calculate the sound pressure spherical spectrum approximation of a preset reconstructed spherical radius according to the sound pressure spherical spectrum approximation of the holographic surface, and to calculate the reconstructed sound pressure of the reconstructed sphere according to the sound pressure spherical spectrum approximation, and to locate the sound source according to the reconstructed sound pressure.

[0027] According to a fourth aspect of the present invention, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described above.

[0028] According to a fifth aspect of the present invention, the present invention further provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the method as described above is implemented.

[0029] Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved: the compact four-element hydrophone array includes a regular tetrahedron structure and a supporting device, and the internal connectors are mostly of separate design, with a simple structure and easy assembly. A plurality of square rigid brackets are connected in pairs by a plurality of four-way connectors, and a hydrophone support is placed in the middle space of each four-way connector, and a hydrophone is installed inside the hydrophone support, so that the array structure is compact and can ensure that the four hydrophones are distributed on the outer envelope sphere of the regular tetrahedron structure. The supporting point of the supporting device is placed at the geometric center of the regular tetrahedron structure, and the array is stable. The compact four-element hydrophone array adopts a hollow array structure, which can reduce the influence of sound wave scattering on the spatial sound field and improve the accuracy of sound source positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The technical solutions and other beneficial effects of the present invention will be made apparent by describing in detail the specific embodiments of the present invention in conjunction with the accompanying drawings.

[0031] Figure 1 A schematic diagram of the structure of a compact four-element hydrophone array provided in an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a regular tetrahedron structure provided by an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of the structure of a support device provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a hydrophone support provided by an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the internal structure of a hydrophone support provided by an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of the structure of a four-way connector provided in an embodiment of the present invention;

[0037] Figure 7 A schematic diagram of the structure of a six-way connector provided in an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of the structure of a three-way connector provided in an embodiment of the present invention;

[0039] Fig. 9 A schematic diagram of the structure of a five-way connector provided in an embodiment of the present invention;

[0040] Fig.10 A schematic diagram of a square rigid bracket structure provided by an embodiment of the present invention;

[0041] Fig.11 A schematic diagram of a circular rigid support structure provided by an embodiment of the present invention;

[0042] Fig.12 A schematic diagram of a flow chart of a sound source localization method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical scheme in the embodiment of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein, unless otherwise specified, generally indicates that the associated objects before and after are in an "or" relationship.

[0045] At present, in the field of underwater sound source positioning, the geometric structure of the hydrophone array mostly adopts long, short, ultra-short baseline formations and vertical formations. The method used is mainly to determine the direction of the sound source based on the time difference of the sound wave reaching each hydrophone. Although it has the advantages of simple structure and strong portability, it has high requirements for the synchronization of each hydrophone and the calculation is relatively cumbersome, and the complex sound field of multiple sound sources is not effective. In view of the problems existing in the existing hydrophone array, the spherical hydrophone array involved in the present invention has three-dimensional symmetry and can collect acoustic quantity information in space. In order to reduce the problem of scattering after the sound wave propagates to the surface of the rigid structure, the present invention adopts a hollow structure and uses a regular tetrahedron structure instead of a sphere. It has the advantages of simple frame form, easy installation, stable structure, and reduced sound wave scattering problems. The following is an introduction to a compact four-element hydrophone array and a sound source positioning method provided by the present invention in conjunction with the accompanying drawings.

[0046] See also Figures 1 to 11 A compact four-element hydrophone array includes a regular tetrahedron structure and a supporting device. The regular tetrahedron structure is arranged on the supporting device. Figure 2 As shown, the regular tetrahedron structure includes a regular tetrahedron composed of a plurality of square rigid brackets 3, a hydrophone bracket arranged at the four vertices of the regular tetrahedron, and a hydrophone arranged on the hydrophone bracket. The hydrophone bracket 1 is specifically distributed on the outer envelope sphere of the regular tetrahedron, and the center of the outer envelope sphere coincides with the geometric center of the regular tetrahedron. The hydrophone can collect acoustic quantity information in space, and reconstruct the sound field in combination with the sphere-sphere near-field acoustic holographic transformation algorithm, thereby determining the location of the sound source.

[0047] The regular tetrahedron structure further includes a four-way connector 2 , a circular rigid support 9 and a six-way connector 8 .

[0048] The square rigid supports 3 are connected to each other via the four-way connector 2 , the six-way connector 8 is respectively connected to the supporting device and the circular rigid support 9 , and the other end of the circular rigid support 9 is connected to the square rigid support 3 .

[0049] like Figure 7As shown, the six-way connector 8 is located at the geometric center of the regular tetrahedron structure. It adopts a four-section separated structure, which is divided into four parts 8a, 8b, 8c and 8d. It is fixed with bolts and nuts through through holes 83. After fixation, it will enclose multi-directional through holes 81 and 82 with different apertures. The through hole 82 is connected to the ends of multiple circular rigid brackets 9, and the through hole 81 is connected to the end of the support rod 5.

[0050] like Fig.10 As shown, through holes 3a, 3b are provided at both ends and the center of the square rigid bracket 3, and can be connected with the four-way connector 2 and the circular rigid bracket 9 by bolts and nuts.

[0051] like Fig.11 As shown, a threaded hole 9a is provided at one end of the circular rigid bracket 9, and is matched with the square rigid bracket 3 by a bolt.

[0052] like Figure 6 As shown, the four-way connector 2 adopts a three-section separation structure, which is divided into three parts 21a, 21b and 21c, and six pairs of holes 22 are arranged in the middle. The three-section separation structure merges into three square through holes 25, which match the ends of the square rigid bracket 3. The ends of the square rigid bracket 3 are also provided with through holes, and bolts and nuts can be used to match the square through holes 25. In addition, a cylindrical through hole 24 is left in the middle to place the hydrophone support 1. The four-way connector 2 is provided with multi-directional square through holes inside, which match the ends of the square rigid bracket 3, and the angle between any two square through holes is 60°.

[0053] like Figure 4 As shown, the hydrophone support 1 adopts a two-stage separation structure, which is divided into two parts 11a and 11b, and is provided with two axial positioning blocks 13 and three circumferential positioning blocks 12, so that it can be conveniently matched with the four-way connector 2 and the hydrophone support 1 is axially and circumferentially fixed, wherein the angle between the positioning blocks 12 is 60°, which is matched with the through hole 23. Figure 5 As shown, the hydrophone support 1 is provided with two cylindrical holes 14a and 14b with different diameters to facilitate installation and fixation of the hydrophone.

[0054] like Figure 3 As shown, the support device includes a support rod 5 and a support base, one end of the support rod 5 is connected to the support base through a five-way connector 6, and the other end is connected to the six-way connector 8. Specifically, through holes are provided at both ends of the support rod 5, and the two ends are respectively matched with the through hole 81 of the six-way connector 8 and the through hole 6b of the five-way connector 6, and are connected by bolts and nuts, and the middle part is matched with a three-way connector 4 to further improve stability.

[0055] In addition, if Figure 8As shown, the three-way connector 4 adopts a two-stage separation structure, which is divided into two parts 4a and 4b, and is processed with a through hole 42, which is connected by bolts and nuts. After connection, a circular through hole 41 and a square through hole 43 are enclosed, wherein the circular through hole 41 cooperates with the support rod 5, and the square through hole 43 cooperates with the square rigid bracket 3, which is convenient for installation and disassembly. The support base is composed of multiple hollow cylindrical brackets, and adopts a "cross" structure to ensure that the array structure is more stable. Fig. 9 As shown, the five-way connector 6 is provided with multi-directional through holes 6b and a plurality of connecting through holes 6a, 6c, and can be connected to the end of the support rod 5 and a plurality of hollow cylindrical brackets 7 by using bolts and nuts.

[0056] The compact four-element hydrophone array provided in the embodiment of the present application includes a regular tetrahedron structure and a supporting device, and the internal connectors are mostly of separate design, with a simple structure and convenient assembly. A plurality of square rigid brackets 3 are connected in pairs through a plurality of four-way connectors 2, and a hydrophone support 1 is placed in the middle space of each four-way connector 2, and a hydrophone is installed inside the hydrophone support 1, so that the array structure is compact and can ensure that the four hydrophones are distributed on the outer envelope sphere of the regular tetrahedron structure. The supporting point of the supporting device is placed at the geometric center of the regular tetrahedron structure, and the array is stable. The compact four-element hydrophone array adopts a hollow array structure, which can reduce the influence of sound wave scattering on the spatial sound field and improve the accuracy of sound source positioning. In addition, the present application adopts a frame structure, using a plurality of the square rigid brackets 3 as installation units, and the length of each square rigid bracket 3 corresponds to the edge length of the regular tetrahedron structure, so that the installation and disassembly are convenient while more effectively avoiding the sound wave scattering problem caused by the closed sphere to the spatial sound field.

[0057] like Fig.12 As shown, the sound source localization method implemented by the compact four-element hydrophone array based on any of the above embodiments comprises the following steps:

[0058] S101, collecting acoustic quantity information of a target water area, where the target water area is a placement area of ​​a compact four-element hydrophone array.

[0059] S102, calculating the acoustic quantity information using a sphere-to-sphere near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical spectrum of sound pressure on a holographic surface.

[0060] Specifically, the acoustic quantity information is calculated according to the following formula to obtain the approximate value of the spherical spectrum of the holographic surface sound pressure:

[0061]

[0062] In the formula, r Hrepresents the radius of the holographic sphere, M represents the number of discrete points on the holographic sphere, Q represents the highest order of the spherical spectrum to be calculated, 0≤n≤Q, -n≤m≤n, "⊥" represents conjugation, w i Represents the position weight of each discrete point, p(r H ,θ i ,φ i ) indicates that the radius is r H The sound pressure at discrete points on the holographic sphere is represents the normalized spherical harmonics, θ i ,φ i They represent the ascent angle and azimuth angle at each discrete point in the spherical coordinate system respectively.

[0063] It should be noted that in the above formula, w i The Sphericalt-Desigens integration method is used, which is very suitable for regular polyhedron structures whose geometric center is located at the center of the enveloping sphere. The representation here is:

[0064]

[0065] S103, obtaining an approximate value of a sound pressure spherical spectrum of a preset reconstructed spherical radius according to the approximate value of the sound pressure spherical spectrum of the holographic surface, obtaining a reconstructed sound pressure of the reconstructed sphere according to the approximate value of the sound pressure spherical spectrum, and locating the sound source according to the reconstructed sound pressure.

[0066] Specifically, according to the approximate value of the spherical spectrum of the holographic surface sound pressure The following formula is used to calculate the approximate value of the sound pressure spherical spectrum of the preset reconstructed spherical radius:

[0067] In the formula, j n (kr) represents the spherical Bessel function, r S represents the radius of the reconstructed sphere, Q represents the highest order of the spherical spectrum, and k represents the wave number (k = (2π / λ), λ represents the wavelength).

[0068] It should be noted that the high-order spherical wave spectrum contributes very little to the reconstructed surface sound pressure and is easily disturbed by noise, so the use of a finite order for calculation can not only simplify the calculation but also stabilize the model.

[0069] In another embodiment of the present application, a sound source localization device is further provided, comprising:

[0070] A collection module, used to collect acoustic quantity information of a target water area, where the target water area is a placement area of ​​a compact four-element hydrophone array;

[0071] A first calculation module is used to calculate the acoustic quantity information using a spherical-spherical near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical wave spectrum of a holographic surface sound pressure;

[0072] The second calculation and positioning module is used to calculate the sound pressure spherical spectrum approximation of a preset reconstructed spherical radius according to the sound pressure spherical spectrum approximation of the holographic surface, and to calculate the reconstructed sound pressure of the reconstructed sphere according to the sound pressure spherical spectrum approximation, and to locate the sound source according to the reconstructed sound pressure.

[0073] It should be noted that the sound source localization device provided in this embodiment corresponds to the above-mentioned sound source localization method, which will not be described in detail here.

[0074] Based on any of the above embodiments, another embodiment of the present invention further provides an electronic device, which may include: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor may call logic instructions in the memory to execute the above method.

[0075] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0076] On the other hand, an embodiment of the present invention further provides a storage medium on which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor to execute the sound source localization method provided in the above embodiments.

[0077] On the other hand, the technical solution of the present invention, in essence or in other words, the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0078] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0079] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A compact four-element hydrophone array, characterized in that: It comprises a regular tetrahedron structure and a supporting device, wherein the regular tetrahedron structure is arranged on the supporting device; The regular tetrahedron framework comprises a regular tetrahedron composed of a plurality of square rigid brackets, a hydrophone bracket arranged at four vertices of the regular tetrahedron, and a hydrophone arranged on the hydrophone bracket.

2. The compact four-element hydrophone array according to claim 1, characterized in that: The regular tetrahedron structure also includes a four-way connector, a circular rigid bracket and a six-way connector; The square rigid brackets are connected to each other through the four-way connector, the six-way connector is respectively connected to the supporting device and the circular rigid bracket, and the other end of the circular rigid bracket is connected to the square rigid bracket.

3. The compact four-element hydrophone array according to claim 2, characterized in that: The support device comprises a support rod and a support base. One end of the support rod is connected to the support base via a five-way connector, and the other end is connected to the six-way connector.

4. The compact four-element hydrophone array according to claim 2, characterized in that: The four-way connector is provided with multi-directional square through holes inside, which match with the ends of the square rigid bracket, and the angle between any two square through holes is 60°. The six-way connector is located at the geometric center of the regular tetrahedron structure.

5. A sound source localization method based on the compact four-element hydrophone array according to claims 1 to 4, characterized in that: Methods include: Acoustic quantity information of a target water area is collected, where the target water area is a placement area of ​​a compact four-element hydrophone array; The acoustic quantity information is calculated using a sphere-to-sphere near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical spectrum of sound pressure on a holographic surface; The sound pressure spherical spectrum approximation of the preset reconstructed spherical radius is calculated according to the sound pressure spherical spectrum approximation of the holographic surface, and the reconstructed sound pressure of the reconstructed sphere is calculated according to the sound pressure spherical spectrum approximation, and the sound source is located according to the reconstructed sound pressure.

6. The method according to claim 5, characterized in that The method of calculating the acoustic quantity information by using a spherical-spherical near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical wave spectrum of sound pressure on a holographic surface includes: The acoustic quantity information is calculated according to the following formula to obtain the approximate value of the spherical spectrum of the holographic surface sound pressure: In the formula, r H represents the radius of the holographic sphere, M represents the number of discrete points on the holographic sphere, Q represents the highest order of the spherical spectrum to be calculated, 0≤n≤Q, -n≤m≤n, "⊥" represents conjugation, w i Represents the position weight of each discrete point, p(r H ,θ i ,φ i ) indicates that the radius is r H The sound pressure at discrete points on the holographic sphere is represents the normalized spherical harmonics, θ i ,φ i They represent the ascent angle and azimuth angle at each discrete point in the spherical coordinate system respectively.

7. The method according to claim 6, characterized in that The step of calculating and obtaining an approximate value of a spherical spectrum of sound pressure of a preset reconstructed spherical radius according to the approximate value of the spherical spectrum of sound pressure on the holographic surface comprises: According to the approximate value of the spherical spectrum of the holographic surface sound pressure The following formula is used to calculate the approximate value of the sound pressure spherical spectrum of the preset reconstructed spherical radius: In the formula, j n (kr) represents the spherical Bessel function, r S represents the radius of the reconstructed sphere, and k represents the wave number.

8. A sound source localization device, characterized in that: The device comprises: A collection module, used to collect acoustic quantity information of a target water area, where the target water area is a placement area of ​​a compact four-element hydrophone array; A first calculation module is used to calculate the acoustic quantity information using a spherical-spherical near-field acoustic holographic transformation algorithm to obtain an approximate value of a spherical wave spectrum of a holographic surface sound pressure; The second calculation and positioning module is used to calculate the sound pressure spherical spectrum approximation of a preset reconstructed spherical radius according to the sound pressure spherical spectrum approximation of the holographic surface, and to calculate the reconstructed sound pressure of the reconstructed sphere according to the sound pressure spherical spectrum approximation, and to locate the sound source according to the reconstructed sound pressure.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor runs the computer program to implement the method according to any one of claims 5 to 7.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 5 to 7 is implemented.

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