Broadband underwater sound source positioning method and system based on piezoelectric fiber array

Abstract

The invention belongs to the field of underwater sound wave detection, and particularly discloses a broadband underwater sound source positioning method and system based on a piezoelectric fiber array, and the method comprises the steps: obtaining an output signal of the piezoelectric fiber array under water under the action of an underwater sound source to be detected; the piezoelectric fiber array comprises at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually vertical planes, and at least one combination of a plurality of piezoelectric fibers forming a spherical surface; the at least three piezoelectric fibers comprise at least two piezoelectric fibers and at least one piezoelectric fiber; the at least two piezoelectric fibers are parallel to a plane formed by the two coordinate axes and are perpendicular to each other; the at least one piezoelectric fiber is not in the same plane with the at least two piezoelectric fibers and is parallel to any coordinate axis in the two coordinate axes; and positioning the underwater sound source to be detected by combining the relationship between the strength of the output signal of the piezoelectric fiber array obtained in advance and the relative position of the underwater sound source. According to the invention, the position of the sound source can be effectively detected.

Description

Technical Field

[0001] The present application belongs to the field of underwater sound wave detection, and more specifically, to a broadband underwater sound source positioning method and system based on a piezoelectric fiber array. Background Art

[0002] Underwater sound source localization is a key technology that is widely used in many fields. Existing underwater sound source localization methods mainly include single hydrophone localization method, sonar array localization method, etc. These methods use the propagation characteristics of sound waves to determine the location of the sound source by receiving information such as the arrival time difference and sound pressure level difference of the sound waves. Although the existing technology has shown high practicality in many applications, it still has some obvious limitations.

[0003] Traditional sonar systems are often limited by the sensitivity and resolution of the sensors they use, especially when processing low-frequency sound waves, and their positioning accuracy is not enough to meet high-precision requirements. In complex underwater environments, such as ports or coastal areas, existing technologies often have difficulty accurately locating sound sources due to multipath effects and environmental noise. Traditional large-scale sonar array equipment is bulky, not only with high installation and maintenance costs, but also limited in application in certain environments. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of this application is to provide a wide-band underwater sound source positioning method and system based on a piezoelectric fiber array, aiming to solve the problems of low accuracy, bulky size and high cost of existing underwater sound source positioning.

[0005] To achieve the above objectives, in a first aspect, the present application provides a broadband underwater sound source localization method based on a piezoelectric fiber array, comprising: Obtaining an output signal of a piezoelectric fiber array when it is located underwater and is acted upon by an underwater sound source to be measured; the piezoelectric fiber array comprises: at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and at least one combination of multiple piezoelectric fibers constituting a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes, and at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers and is parallel to any of the two coordinate axes; The underwater sound source to be measured is positioned based on the pre-acquired relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

[0006] It can be understood that the present application realizes the positioning of underwater sound sources through a piezoelectric fiber array. The piezoelectric fiber array can realize high-sensitivity detection of underwater sound sources and make full use of the output signals detected by each piezoelectric fiber in the piezoelectric fiber array to realize high-precision positioning of underwater sound sources.

[0007] In a possible implementation, when the piezoelectric fiber array includes at least three piezoelectric fibers, the at least three piezoelectric fibers are divided into a first type of piezoelectric fibers, a second type of piezoelectric fibers, and a third type of piezoelectric fibers; Assuming that the three coordinate axes are respectively the first coordinate axis, the second coordinate axis and the third coordinate axis, if the plane where the at least two mutually perpendicular piezoelectric fibers are located is parallel to the plane where the first coordinate axis and the second coordinate axis are located, then the first type of piezoelectric fiber and the second type of piezoelectric fiber are respectively at least one piezoelectric fiber parallel to the first coordinate axis and at least one piezoelectric fiber parallel to the second coordinate axis among the at least two piezoelectric fibers; The third type of piezoelectric fiber is at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers, and is parallel to the first coordinate axis. If there are multiple piezoelectric fibers of the third type, the direction of the vertical connection between the multiple piezoelectric fibers is parallel to the third coordinate axis. The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: For each type of piezoelectric fiber, the output signal of the calibration sound source when the distance and azimuth angle relative to each type of piezoelectric fiber change is obtained respectively, and the output signals of the three types of piezoelectric fibers are nonlinearly fitted with the changes in the distance and azimuth angle of the sound source to obtain the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source; the distance of the calibration sound source relative to the first type of piezoelectric fiber and the second type of piezoelectric fiber changes along the direction of the third coordinate axis, and the azimuth angle changes along the directions of the second coordinate axis and the first coordinate axis respectively, and the distance relative to the third type of piezoelectric fiber changes along the direction of the second coordinate axis, and the azimuth angle changes along the third coordinate axis.

[0008] In a possible implementation, obtaining the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source includes: For the first type of piezoelectric fibers, a calibration sound source is obtained with respect to each of the piezoelectric fibers at a direction angle of 0° on the third coordinate axis, and a first output signal of all the piezoelectric fibers in this category is obtained when the piezoelectric fibers are at different distances along the third coordinate axis; and a second output signal of all the piezoelectric fibers in this category is obtained when the calibration sound source is at a fixed distance from the plane where the first coordinate axis and the second coordinate axis are located, and the calibration sound source direction angle takes different values ​​in the range of 0° to 180° along the second coordinate axis; the calibration sound source is used to calibrate the piezoelectric fiber array before performing underwater sound source positioning; For the second type of piezoelectric fibers, the third output signal of all the piezoelectric fibers in this category is obtained when the direction angle of the calibration sound source relative to each of the piezoelectric fibers on the third coordinate axis is 0° and the piezoelectric fibers are at different distances along the third coordinate axis; and the fourth output signal of all the piezoelectric fibers in this category is obtained when the distance from the calibration sound source to the plane where the first coordinate axis and the second coordinate axis are located is fixed and the direction angle of the calibration sound source along the first coordinate axis takes different values ​​in the range of 0° to 180°; For the third type of piezoelectric fibers, the fifth output signal of all the piezoelectric fibers in this category is obtained when the direction angle of the calibration sound source relative to each of the piezoelectric fibers in the second coordinate axis is 0° and the piezoelectric fibers are at different distances along the second coordinate axis; and the sixth output signal of all the piezoelectric fibers in this category is obtained when the distance from the calibration sound source to the plane where the first coordinate axis and the third coordinate axis are located is fixed and the direction angle of the calibration sound source along the third coordinate axis takes different values ​​in the range of 0° to 180°; Nonlinear fitting is performed on the first output signal, the second output signal, the third output signal and the fourth output signal to obtain a first mapping relationship between the distance and azimuth of the calibration sound source relative to the first plane where the first type of piezoelectric fiber and the second type of piezoelectric fiber are located and the output signals of the first type of piezoelectric fiber and the second type of piezoelectric fiber; the first plane is parallel to the plane where the first coordinate axis and the second coordinate axis are located; By nonlinearly fitting the fifth output signal and the sixth output signal, a second mapping relationship between the distance and azimuth of the calibration sound source relative to the second plane where the third type of piezoelectric fiber is located and the output signal of the third type of piezoelectric fiber is obtained; the second plane is parallel to the plane where the third coordinate axis and the first coordinate axis are located.

[0009] In a possible implementation manner, locating the underwater sound source to be detected includes: Determine the distance and azimuth of the underwater sound source to be measured relative to the first plane and the second plane by combining the first mapping relationship and the second mapping relationship respectively; The underwater sound source to be measured is positioned by combining the position of the piezoelectric fiber array, the distance from the first plane to the second plane, and the direction angle of the underwater sound source to be measured.

[0010] For example, assuming that the first coordinate axis is the x-axis, the second coordinate axis is the y-axis, and the third coordinate axis is the z-axis, the output signals of the first and second piezoelectric fibers can be used to determine the position of the sound source on the xy plane, and the output signal of the third piezoelectric fiber can be used to determine the height of the sound source on the z-axis, thereby realizing the positioning of the underwater sound source by the piezoelectric fiber array.

[0011] In a possible implementation, when the piezoelectric fiber array includes three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes; each group of piezoelectric fibers includes at least two piezoelectric fibers; The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: Assume that the first group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the second coordinate axis are located, the second group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the third coordinate axis are located, and the third group of piezoelectric fibers are parallel to the plane where the third coordinate axis and the second coordinate axis are located; Acquire a first group of output signals of the first group of piezoelectric fibers when the coordinates of the calibration sound source relative to the first group of piezoelectric fibers in the direction of the first coordinate axis change and the coordinates of the second coordinate axis and the third coordinate axis remain unchanged; Acquire the coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and the second group of output signals of the second group of piezoelectric fibers when the coordinates of the first coordinate axis and the second coordinate axis remain unchanged; Acquire a coordinate change of the calibration sound source relative to the third group of piezoelectric fibers in the direction of the second coordinate axis, and a third group of output signals of the third group of piezoelectric fibers when the coordinates of the first coordinate axis and the third coordinate axis remain unchanged; The first group of output signals, the second group of output signals and the third group of output signals are integrated to obtain a mapping relationship between the piezoelectric fiber array output signals and the sound source positions.

[0012] It should be noted that each group of piezoelectric fibers includes at least two piezoelectric fibers that may be parallel or non-parallel to each other. The difference between this positioning method and the previous positioning method is that this solution does not need to measure the direction angle of the sound source, and this solution uses triangulation positioning to locate the underwater sound source.

[0013] In a possible implementation, when the piezoelectric fiber array includes a plurality of piezoelectric fibers forming a spherical surface, the spherical surface is a hemispherical surface, a full spherical surface, or a partial spherical surface; The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: Acquire output signals of the plurality of piezoelectric fibers when the calibration sound source is at different distances and / or different direction angles relative to the spherical surface; The output signals at different distances and / or different direction angles are fitted to obtain a mapping relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source.

[0014] It is understandable that when the piezoelectric fiber array is spherical, the sound source area it can receive is relatively large, and it can capture omnidirectional signals from underwater sound sources, providing a wide range of spatial coverage. In a spherical piezoelectric fiber array, the piezoelectric fiber array covers the entire three-dimensional space, providing extremely high positioning accuracy. As the distance and azimuth of the sound source change, the signal strength received by each piezoelectric fiber in the array will change, so the output signal of the piezoelectric fiber array can reflect the location information of the underwater sound source, and can realize the positioning of the underwater sound source.

[0015] In a possible implementation manner, the plurality of piezoelectric fibers are symmetrically arranged on a spherical surface.

[0016] In a possible implementation manner, the piezoelectric fibers in the piezoelectric fiber array are prepared from a piezoelectric material doped with nanoparticles.

[0017] Specifically, when piezoelectric fibers are doped with nanoparticles, a porous structure can be formed inside them during the thermal stretching process. This porous structure not only enhances the dielectric effect of the fiber, but also significantly improves the piezoelectric properties of the fiber. Through this doping method, the fiber can achieve a strong and consistent response to sound over a wide band, enabling it to have superior acoustic sensing capabilities in various environments. In addition, this porous structure improves the sensitivity and response speed of the material, effectively expanding its applicability in acoustic detection applications. Doping with nanoparticles also improves the mechanical strength and flexibility of the fiber, improves electrical properties and thermal stability, increases environmental adaptability, and improves electrochemical stability. These characteristics make the piezoelectric fiber very suitable for efficient acoustic detection and positioning in multiple environments, providing a new technical path for the development of acoustic sensors and energy harvesting devices.

[0018] In a second aspect, the present application provides a broadband underwater sound source localization device based on a piezoelectric fiber array, comprising: a piezoelectric fiber array and a data processing module; The piezoelectric fiber array comprises: at least one combination of at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and a plurality of piezoelectric fibers constituting a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes, and at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers and parallel to any of the two coordinate axes; the piezoelectric fibers are prepared from a piezoelectric material doped with nanoparticles; The data processing module is used to obtain the output signal of the piezoelectric fiber array when it is located underwater and is affected by an underwater sound source to be measured, and to locate the underwater sound source to be measured based on the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source obtained in advance; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

[0019] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0021] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0022] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0023] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art: The present application provides a wide-band underwater sound source positioning method and system based on a piezoelectric fiber array. By utilizing the high sensitivity and small size advantages of piezoelectric fibers, the accuracy and reliability of sound source positioning can be greatly improved without increasing the volume and cost of the equipment. The present application uses a piezoelectric material doped with silica nanoparticles through thermal stretching technology to manufacture piezoelectric fibers with high sensitivity and excellent acoustic performance, which can achieve high signal-to-noise ratio sound detection in the audio and ultrasonic frequency ranges, especially in water where the signal-to-noise ratio is high; by configuring multiple piezoelectric fibers in a specific geometric array, combined with prior knowledge of the distance and direction changes of the sound source, the system can accurately locate the spatial sound source; in addition, by utilizing the flexibility of the fiber, the system can be applied to other more complex environmental sound wave detection. Through the above analysis, it can be seen that the underwater sound source positioning method based on a piezoelectric fiber array in the present application is technically innovative and progressive, and can effectively solve the problems existing in the prior art. This will not only help promote the development of underwater detection technology, but may also bring broader application prospects to related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of a broadband underwater sound source localization method based on a piezoelectric fiber array provided in an embodiment of the present application; Figure 2 is a structural diagram of a piezoelectric fiber array provided in an embodiment of the present application; FIG3( a ) is a fitting relationship diagram between a sound source distance and a piezoelectric fiber signal intensity provided in an embodiment of the present application; FIG3( b ) is a fitting relationship diagram between a sound source direction angle and a piezoelectric fiber signal intensity provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a piezoelectric fiber heat pulling device provided in an embodiment of the present application; FIG5( a ) is a time domain diagram of a piezoelectric fiber when the sound source provided by an embodiment of the present application is a 15 MHz single-frequency signal; FIG5( b ) is a frequency domain diagram of the piezoelectric fiber when the sound source provided by the embodiment of the present application is a 15 MHz single-frequency signal; Figure 6 This is a result diagram of underwater sound source spatial positioning using a piezoelectric fiber array provided in an embodiment of the present application; Figure 7 This is an architecture diagram of a broadband underwater sound source positioning system based on a piezoelectric fiber array provided in an embodiment of the present application; Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0027] The terms "first", "second", etc. in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, the first coordinate axis and the second coordinate axis are used to distinguish different coordinate axes rather than to describe a specific order of the coordinate axes.

[0028] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0029] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0030] In view of the shortcomings of the above-mentioned prior art, the present application proposes a method for underwater sound source positioning based on a piezoelectric fiber array. This method utilizes the high sensitivity and small size advantages of piezoelectric fibers to greatly improve the accuracy and reliability of sound source positioning without increasing the volume and cost of the equipment. Through the above analysis, it can be seen that the underwater sound source positioning method based on a piezoelectric fiber array in the present application is technically innovative and progressive, and can effectively solve the problems existing in the prior art. This will not only help promote the development of underwater detection technology, but may also bring broader application prospects to related fields; further preferably, such technology is mainly used in multiple fields such as ocean detection, submarine positioning, underwater environment monitoring, and marine life research.

[0031] Figure 1 is a flow chart of a broadband underwater sound source localization method based on a piezoelectric fiber array provided in an embodiment of the present application; Figure 1 As shown, the following steps are included: Step S101, obtaining an output signal of a piezoelectric fiber array when it is located underwater and is acted upon by an underwater sound source to be detected; the piezoelectric fiber array comprises: at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and at least one combination of multiple piezoelectric fibers constituting a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes and at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers and is parallel to any of the two coordinate axes; In the first embodiment, it can be understood that when the piezoelectric fiber array includes at least three piezoelectric fibers, the at least three piezoelectric fibers are divided into a first type of piezoelectric fiber, a second type of piezoelectric fiber and a third type of piezoelectric fiber; the three coordinate axes are respectively the first coordinate axis, the second coordinate axis and the third coordinate axis, if the plane where the at least two mutually perpendicular piezoelectric fibers are located is parallel to the plane where the first coordinate axis and the second coordinate axis are located, then the first type of piezoelectric fiber and the second type of piezoelectric fiber are respectively at least one piezoelectric fiber parallel to the first coordinate axis and at least one piezoelectric fiber parallel to the second coordinate axis among the at least two piezoelectric fibers; the third type of piezoelectric fiber is at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers, which is parallel to the first coordinate axis, and if there are multiple piezoelectric fibers of the third type, then the direction of the vertical connection between the multiple piezoelectric fibers is parallel to the third coordinate axis.

[0032] Take the first type of piezoelectric fiber, the second type of piezoelectric fiber and the third type of piezoelectric fiber each including two piezoelectric fibers as an example for explanation. Figure 2 As shown, the piezoelectric fiber array is composed of two longitudinally parallel piezoelectric fibers and two transversely parallel piezoelectric fibers that can form a "mouth"-shaped bottom array, and the side surface is composed of two piezoelectric fibers that are parallel to the bottom and have different heights.

[0033] At this time, the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source can be determined as follows: For each type of piezoelectric fiber, the output signal of the calibration sound source when the distance and azimuth angle relative to each type of piezoelectric fiber change is obtained respectively, and the output signals of the three types of piezoelectric fibers are nonlinearly fitted with the changes in the distance and azimuth angle of the sound source to obtain the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source; the distance of the calibration sound source relative to the first type of piezoelectric fiber and the second type of piezoelectric fiber changes along the direction of the third coordinate axis, and the azimuth angle changes along the directions of the second coordinate axis and the first coordinate axis respectively, and the distance relative to the third type of piezoelectric fiber changes along the direction of the second coordinate axis, and the azimuth angle changes along the third coordinate axis.

[0034] Specifically, for example, Figure 2 Fiber 3 and fiber 4 in the array, obtaining a first output signal of all piezoelectric fibers in this category when the direction angle of the calibration sound source relative to each piezoelectric fiber in the z-axis is 0° and the relative piezoelectric fiber is at different distances along the z-axis direction; and obtaining a second output signal of all piezoelectric fibers in this category when the direction angle of the calibration sound source along the y-axis direction takes different values ​​in the range of 0° to 180° when the distance from the calibration sound source to the xy plane is fixed; the calibration sound source is used to calibrate the piezoelectric fiber array before implementing underwater sound source positioning.

[0035] against Figure 21 and 2, obtaining the third output signal of all the piezoelectric fibers in the category when the direction angle of the calibration sound source relative to each of the piezoelectric fibers on the z-axis is 0° and the piezoelectric fibers are at different distances along the z-axis direction; and obtaining the fourth output signal of all the piezoelectric fibers in the category when the direction angle of the calibration sound source along the x-axis direction takes different values ​​in the range of 0° to 180° when the distance from the calibration sound source to the xy plane is fixed; against Figure 2 Fiber 5 and fiber 6 in the figure, obtaining the fifth output signal of all piezoelectric fibers in the category when the direction angle of the calibration sound source relative to each of the piezoelectric fibers on the x-axis is 0° and the piezoelectric fibers are at different distances along the x-axis direction; and obtaining the sixth output signal of all piezoelectric fibers in the category when the direction angle of the calibration sound source along the z-axis direction takes different values ​​in the range of 0° to 180° when the distance from the calibration sound source to the xz plane is fixed; Nonlinear fitting is performed on the first output signal, the second output signal, the third output signal and the fourth output signal to obtain a first mapping relationship between the distance and azimuth of the calibration sound source relative to the first plane (the plane where fiber 1, fiber 2, fiber 3 and fiber 4 are located) where the first type of piezoelectric fiber and the second type of piezoelectric fiber are located and the output signals of the first type of piezoelectric fiber and the second type of piezoelectric fiber; the first plane is parallel to the xy plane; By nonlinear fitting of the fifth output signal and the sixth output signal, a second mapping relationship between the distance and azimuth of the calibration sound source relative to the second plane (the plane where fibers 5 and 6 are located) where the third type of piezoelectric fibers are located and the output signal of the third type of piezoelectric fibers is obtained; the second plane is parallel to the zy plane.

[0036] In some embodiments, Figure 2 The piezoelectric fiber array shown is fixed in a water tank, and the ultrasonic sound source moves in the direction of a 0° angle to obtain the relationship between the distance of different sound sources and the fiber signal intensity. The relationship obtained by linear fitting of the data is:

[0037] The above relationship diagram is shown in FIG3( a ); Y is the signal strength, X is the sound source distance, and A and B represent constants related to the signal strength and the sound source distance, respectively.

[0038] Furthermore, the piezoelectric fiber array was fixed in a water tank, the sound source distance was controlled to be 10 cm, and the fiber signal intensity corresponding to different sound source direction angles was collected. Then, the relationship between the sound source direction angle and the signal intensity was obtained through nonlinear fitting:

[0039] The above relationship diagram is shown in FIG3(b); Y is the signal strength, It is the angular representation of the direction angle of the sound source, and C, D and F represent constants related to the signal strength and the direction angle of the sound source respectively.

[0040] The embodiment of the present application can perform a fast Fourier transform on the output signal of the collected piezoelectric fiber, first determine the frequency of the sound source signal by comparing the signal with the signal without the sound source; after determining the frequency of the sound source, start collecting the signal strength of each piezoelectric fiber at this frequency. The present application first processes the signal strength of fiber 1 and fiber 2, and brings the measured signal strength into the distance and azimuth relationship, and can obtain the distance and azimuth from the sound source to fiber 1 and fiber 2, thereby determining the position of the sound source on the xz plane. Similarly, using the same demodulation method to process the signal data of fiber 3 and fiber 4, fiber 5 and fiber 6, the position of the sound source on the yz plane and the xy plane can be obtained, and combined to obtain the specific position of the sound source in the water.

[0041] For example, the signal strength measured by two parallel fibers can be combined with the distance-intensity relationship and the direction angle-intensity relationship, and the distance of the sound source from the two fibers and the angle formed with the fiber array plane can be obtained by solving the nonlinear equations in MATLAB, thereby obtaining the specific position signal of the sound source. The sound source position information obtained by the three sets of parallel fiber arrays is combined to finally obtain the spatial position of the sound source.

[0042] Further preferably, after the piezoelectric fiber array is calibrated, during actual positioning, the piezoelectric fiber output signal is used to locate the underwater sound source to be measured, including: Based on the output signal of the piezoelectric fiber array, respectively combining the first mapping relationship and the second mapping relationship, determining the distance and azimuth of the underwater sound source to be measured relative to the first plane and the second plane; The underwater sound source to be measured is positioned by combining the position of the piezoelectric fiber array, the distance from the first plane to the second plane, and the direction angle of the underwater sound source to be measured.

[0043] In a second embodiment, when the plurality of piezoelectric fibers include three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by the following method: Assume that the first group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the second coordinate axis are located, the second group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the third coordinate axis are located, and the third group of piezoelectric fibers are parallel to the plane where the third coordinate axis and the second coordinate axis are located; Acquire a first group of output signals of the first group of piezoelectric fibers when the coordinates of the calibration sound source relative to the first group of piezoelectric fibers in the direction of the first coordinate axis change and the coordinates of the second coordinate axis and the third coordinate axis remain unchanged; Acquire the coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and the second group of output signals of the second group of piezoelectric fibers when the coordinates of the first coordinate axis and the second coordinate axis remain unchanged; Acquire a coordinate change of the calibration sound source relative to the third group of piezoelectric fibers in the direction of the second coordinate axis, and a third group of output signals of the third group of piezoelectric fibers when the coordinates of the first coordinate axis and the third coordinate axis remain unchanged; The first group of output signals, the second group of output signals and the third group of output signals are integrated to obtain a mapping relationship between the piezoelectric fiber array output signals and the sound source positions.

[0044] Further preferably, each group of piezoelectric fibers may include at least 2 fibers. The following description is made taking each group of piezoelectric fibers as an example: The planar position of the sound source is determined by placing a pair of piezoelectric fibers in the XY, YZ and XZ planes respectively, and the three-dimensional position of the underwater sound source is further determined by triangulation combined with the acquisition of multi-dimensional information by these piezoelectric fibers.

[0045] Specifically, in the XY plane, the relationship between the intensity of the output signal of multiple piezoelectric fibers and the relative position of the underwater sound source is:

[0046]

[0047] in, For the sound source Axis coordinates, is the coordinate of fiber 1 on the x-axis, D is the distance between the two fibers, is the mapping relationship between the output signal of the first group of piezoelectric fibers and the coordinates of the sound source in the XY plane obtained in advance; wherein, A 1 represents the output signal strength of fiber 1, A 2 represents the output signal strength of fiber 2, represents the distance between fiber 1 and the sound source, represents the distance between fiber 2 and the sound source, , , , Respectively represent the correlation coefficient.

[0048] Similarly, the coordinates of the sound source on the y-axis and z-axis can be obtained, thereby realizing three-dimensional positioning of the sound source. The advantage of this method is that it can accurately locate the sound source even when the direction angle cannot be accurately measured.

[0049] In a third embodiment, when the piezoelectric fiber array includes a plurality of piezoelectric fibers forming a spherical surface, the spherical surface is a hemispherical surface, a full spherical surface, or a partial spherical surface; The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: Acquire output signals of the plurality of piezoelectric fibers when the calibration sound source is at different distances and / or different direction angles relative to the spherical surface; The output signals at different distances and / or different direction angles are fitted to obtain a mapping relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source.

[0050] It is understandable that when the piezoelectric fiber array is spherical, the sound source area it receives is the largest, and it can capture omnidirectional signals from underwater sound sources, providing extensive spatial coverage. In a spherical array, the piezoelectric fibers cover the entire three-dimensional space, providing extremely high positioning accuracy. As the distance and azimuth of the sound source change, the signal strength received by each piezoelectric fiber in the array will change. Specifically, these signal strength changes manifest as a nonlinear relationship between the distance and azimuth angle from the underwater sound source. By calibrating and fitting the signal strength at different positions and different azimuth angles, an accurate mapping relationship can be established, thereby achieving high-precision underwater sound source positioning.

[0051] In summary, it should be noted that the signal strength of different piezoelectric fibers will have some deviations, but the law of signal strength changing with the position of the sound source is consistent. The error caused by the difference in acoustic properties of different fibers can be reduced by collecting the signal strength of each piezoelectric fiber in the piezoelectric fiber array and then normalizing it.

[0052] Step S102, locating the underwater sound source to be measured based on the pre-acquired relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

[0053] The purpose of this application is to provide a convenient and correct method for underwater sound source positioning. This application can effectively simplify the device for underwater sound source positioning, reduce the cost of test equipment and have a higher spatial resolution.

[0054] In a specific embodiment, the preparation method of the piezoelectric fiber used in the piezoelectric fiber array of the present application is as follows: first prepare a preform composed of piezoelectric materials (including but not limited to PVDF, PVDF copolymers, titanate compounds, etc.) doped with nanoparticles (including but not limited to silicon-based nanoparticles, carbon-based nanoparticles, metal nanoparticles, etc.) and conductive filaments (including but not limited to copper wires, silver wires, gold wires, etc.). Then, the preform is drawn into a fiber shape by a hot drawing method, and the thickness of the piezoelectric fiber is controlled by controlling the temperature of the heating area during the hot drawing process. The preparation device is shown in FIG. Figure 4 shown.

[0055] It should be noted that the piezoelectric fibers in this application are prepared by doping piezoelectric materials with nanoparticles, and the microstructure of the fibers is precisely controlled by a hot stretching process to form a new type of piezoelectric fiber with a highly ordered piezoelectric phase and a uniform porous structure. These porous structures not only provide a larger surface area to enhance charge generation, but also optimize the mechanical damping properties and vibration modes of the fibers. Combined with the piezoelectric fiber array designed in this application, the piezoelectric fiber array can effectively respond to sound waves in a wide frequency range from 50 Hz to 30 MHz. At high frequencies, the ability of the fiber to quickly respond to short-wavelength sound waves is due to the doping of nanoparticles, which enhances the sensitivity of the material and the speed of charge separation; at low frequencies, the fiber can deform over a large range to generate electrical signals. This unique structural design and material combination enables the piezoelectric fibers of this application to be used for efficient acoustic detection and positioning in a variety of environments, showing excellent application potential.

[0056] In one example, the nanoparticles may be doped at a ratio of 9.1 wt %, and the overall thickness of the piezoelectric fiber is not less than 0.6 mm.

[0057] In a further embodiment, the underwater sound source localization method based on the piezoelectric fiber array provided in the present application comprises the following steps: 1.1) Build a piezoelectric fiber spatial array.

[0058] 1.2) Test the acoustic performance of each fiber and normalize the results.

[0059] 1.3) Collect data and perform linear fitting to obtain the relationship between the sound source distance and the received signal strength.

[0060] 1.4) Collect data for fitting and obtain the relationship between the angle between the sound source and the fiber array and the received signal strength 1.5) Collect the output signals of the six piezoelectric fibers.

[0061] 1.6) Substitute the relationship between the sound source distance and the azimuth angle into the signal strength expression, demodulate the acquired signal strength, and obtain the information of the sound source distance and azimuth angle, thereby realizing the location of the sound source.

[0062] The solution provided in this application is verified by the following examples: Embodiment 1: The test system of the present application includes a signal generator, an ultrasonic converter, a preamplifier and an oscilloscope. First, the signal generator emits a sine wave signal of the required frequency, which is converted into an acoustic signal by the ultrasonic converter, and then transmitted to the copper wire through the piezoelectric fiber to convert the acoustic signal into an electrical signal. Subsequently, the electrical signal is amplified by the preamplifier and collected and displayed by the oscilloscope.

[0063] Figure 5(a) shows the electrical signal waveform of the 15MHz ultrasonic signal collected by the piezoelectric fiber in this application. The frequency domain characteristics shown in Figure 5(b) can be obtained by fast Fourier transforming this waveform. The piezoelectric fiber performs well at a frequency of 15MHz, with an excellent signal-to-noise ratio of 67.4dB, and shows a high signal-to-noise ratio in a wide frequency range of 1MHz to 30MHz.

[0064] The piezoelectric fiber system of this application uses highly sensitive piezoelectric materials and advanced fiber structure design, which enables it to exhibit excellent acoustic performance over a wide frequency range. By doping silica nanoparticles in the piezoelectric fiber and using thermal stretching technology to form a piezoelectric layer with a porous structure, not only the capacitance effect of the material is enhanced, but also its piezoelectric performance is improved. This structural innovation enables the fiber to effectively respond to sound waves and convert them into electrical signals in the low-frequency to high-frequency range, especially in the ultrasonic frequency band.

[0065] The properties of this piezoelectric fiber enable it to efficiently collect ultrasonic signals and provide clear and reliable frequency domain information, providing a solid foundation for the performance and accuracy of the test system.

[0066] Embodiment 2: In this embodiment, three identical piezoelectric fibers are placed in parallel with a distance of 10 cm from each other. The ultrasonic converter moves along the x-axis and moves on a plane 5 cm away from the plane where the piezoelectric fibers are located. During the movement of the ultrasonic converter, it can be found that the signal intensity of the piezoelectric fiber and the distance from the ultrasonic converter to the fiber show an inverse relationship. This relationship is very obvious and regular, which provides an important basis for sound source localization. Figure 6 is a result diagram of underwater sound source spatial positioning using a piezoelectric fiber array provided in an embodiment of the present application; Figure 6 As shown, by analyzing these data, the present application can relatively accurately infer the position of the sound source relative to the piezoelectric fiber, and the average error can be controlled to 1.2 cm, which is a relatively small error, thereby achieving accurate sound source positioning.

[0067] This arrangement and measurement method can not only effectively detect the location of the sound source, but also provide important experimental data support for further optimization of the test system and sound source localization algorithm.

[0068] Figure 7 is an architecture diagram of a broadband underwater sound source positioning system based on a piezoelectric fiber array provided in an embodiment of the present application; Figure 7 As shown, it includes: a piezoelectric fiber array 710 and a data processing module 720; The piezoelectric fiber array 710 comprises: at least one combination of at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and a plurality of piezoelectric fibers constituting a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes, and at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers and parallel to any of the two coordinate axes; the piezoelectric fibers are made of a piezoelectric material doped with nanoparticles; The data processing module 720 is used to obtain the output signal of the piezoelectric fiber array when it is located underwater and is affected by an underwater sound source to be measured, and to locate the underwater sound source to be measured based on the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source obtained in advance; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

[0069] It should be understood that the above-mentioned system is used to execute the methods in the above-mentioned embodiments. The implementation principles and technical effects of the corresponding program modules in the system are similar to those described in the above-mentioned methods. The working process of the system can refer to the corresponding process in the above-mentioned method and will not be repeated here.

[0070] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, such as Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the method in the above embodiment.

[0071] In addition, the logic instructions in the above-mentioned memory 830 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 this understanding, the technical solution of the present application, 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 a number of 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 application.

[0072] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0073] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0074] It is understandable that the processor in the embodiment of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0075] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0076] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0077] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0078] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A broadband underwater sound source localization method based on a piezoelectric fiber array, characterized in that: include: Acquiring an output signal of the piezoelectric fiber array when it is located underwater and is acted upon by an underwater sound source to be measured; The piezoelectric fiber array comprises: at least one combination of at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and multiple piezoelectric fibers forming a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes, and at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers and is parallel to any of the two coordinate axes; The underwater sound source to be measured is positioned based on the pre-acquired relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

2. The method according to claim 1, characterized in that When the piezoelectric fiber array comprises at least three piezoelectric fibers, the at least three piezoelectric fibers are divided into a first type of piezoelectric fibers, a second type of piezoelectric fibers, and a third type of piezoelectric fibers; Assuming that the three coordinate axes are respectively the first coordinate axis, the second coordinate axis and the third coordinate axis, if the plane where the at least two mutually perpendicular piezoelectric fibers are located is parallel to the plane where the first coordinate axis and the second coordinate axis are located, then the first type of piezoelectric fiber and the second type of piezoelectric fiber are respectively at least one piezoelectric fiber parallel to the first coordinate axis and at least one piezoelectric fiber parallel to the second coordinate axis among the at least two piezoelectric fibers; The third type of piezoelectric fiber is at least one piezoelectric fiber that is not in the same plane as the at least two piezoelectric fibers, and is parallel to the first coordinate axis. If there are multiple piezoelectric fibers of the third type, the direction of the vertical connection between the multiple piezoelectric fibers is parallel to the third coordinate axis. The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: For each type of piezoelectric fiber, the output signal of the calibration sound source when the distance and azimuth angle relative to each type of piezoelectric fiber change is obtained respectively, and the output signals of the three types of piezoelectric fibers are nonlinearly fitted with the changes in the distance and azimuth angle of the sound source to obtain the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source; the distance of the calibration sound source relative to the first type of piezoelectric fiber and the second type of piezoelectric fiber changes along the direction of the third coordinate axis, and the azimuth angle changes along the directions of the second coordinate axis and the first coordinate axis respectively, and the distance relative to the third type of piezoelectric fiber changes along the direction of the second coordinate axis, and the azimuth angle changes along the third coordinate axis.

3. The method according to claim 2, characterized in that The obtaining of the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source includes: For the first type of piezoelectric fibers, a calibration sound source is obtained with respect to each of the piezoelectric fibers at a direction angle of 0° on the third coordinate axis, and a first output signal of all the piezoelectric fibers in this category is obtained when the piezoelectric fibers are at different distances along the third coordinate axis; and a second output signal of all the piezoelectric fibers in this category is obtained when the calibration sound source is at a fixed distance from the plane where the first coordinate axis and the second coordinate axis are located, and the calibration sound source direction angle takes different values ​​in the range of 0° to 180° along the second coordinate axis; the calibration sound source is used to calibrate the piezoelectric fiber array before performing underwater sound source positioning; For the second type of piezoelectric fibers, the third output signal of all the piezoelectric fibers in this category is obtained when the direction angle of the calibration sound source relative to each of the piezoelectric fibers on the third coordinate axis is 0° and the piezoelectric fibers are at different distances along the third coordinate axis; and the fourth output signal of all the piezoelectric fibers in this category is obtained when the distance from the calibration sound source to the plane where the first coordinate axis and the second coordinate axis are located is fixed and the direction angle of the calibration sound source along the first coordinate axis takes different values ​​in the range of 0° to 180°; For the third type of piezoelectric fibers, the fifth output signal of all the piezoelectric fibers in this category is obtained when the direction angle of the calibration sound source relative to each of the piezoelectric fibers in the second coordinate axis is 0° and the piezoelectric fibers are at different distances along the second coordinate axis; and the sixth output signal of all the piezoelectric fibers in this category is obtained when the distance from the calibration sound source to the plane where the first coordinate axis and the third coordinate axis are located is fixed and the direction angle of the calibration sound source along the third coordinate axis takes different values ​​in the range of 0° to 180°; Nonlinear fitting is performed on the first output signal, the second output signal, the third output signal and the fourth output signal to obtain a first mapping relationship between the distance and azimuth of the calibration sound source relative to the first plane where the first type of piezoelectric fiber and the second type of piezoelectric fiber are located and the output signals of the first type of piezoelectric fiber and the second type of piezoelectric fiber; the first plane is parallel to the plane where the first coordinate axis and the second coordinate axis are located; By nonlinearly fitting the fifth output signal and the sixth output signal, a second mapping relationship between the distance and azimuth of the calibration sound source relative to the second plane where the third type of piezoelectric fiber is located and the output signal of the third type of piezoelectric fiber is obtained; the second plane is parallel to the plane where the third coordinate axis and the first coordinate axis are located.

4. The method according to claim 3, characterized in that Positioning the underwater sound source to be detected includes: Determine the distance and azimuth of the underwater sound source to be measured relative to the first plane and the second plane by combining the first mapping relationship and the second mapping relationship respectively; The underwater sound source to be measured is positioned by combining the position of the piezoelectric fiber array, the distance from the first plane to the second plane, and the direction angle of the underwater sound source to be measured.

5. The method according to claim 1, characterized in that When the piezoelectric fiber array includes three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes; each group of piezoelectric fibers includes at least two piezoelectric fibers; The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: Assume that the first group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the second coordinate axis are located, the second group of piezoelectric fibers are parallel to the plane where the first coordinate axis and the third coordinate axis are located, and the third group of piezoelectric fibers are parallel to the plane where the third coordinate axis and the second coordinate axis are located; Acquire a first group of output signals of the first group of piezoelectric fibers when the coordinates of the calibration sound source relative to the first group of piezoelectric fibers in the direction of the first coordinate axis change and the coordinates of the second coordinate axis and the third coordinate axis remain unchanged; Acquire the coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and the second group of output signals of the second group of piezoelectric fibers when the coordinates of the first coordinate axis and the second coordinate axis remain unchanged; Acquire a coordinate change of the calibration sound source relative to the third group of piezoelectric fibers in the direction of the second coordinate axis, and a third group of output signals of the third group of piezoelectric fibers when the coordinates of the first coordinate axis and the third coordinate axis remain unchanged; The first group of output signals, the second group of output signals and the third group of output signals are integrated to obtain a mapping relationship between the piezoelectric fiber array output signals and the sound source positions.

6. The method according to claim 1, characterized in that When the piezoelectric fiber array includes a plurality of piezoelectric fibers forming a spherical surface, the spherical surface is a hemispherical surface, a full spherical surface or a partial spherical surface; The relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source is determined by: Acquire output signals of the plurality of piezoelectric fibers when the calibration sound source is at different distances and / or different direction angles relative to the spherical surface; The output signals at different distances and / or different direction angles are fitted to obtain a mapping relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source.

7. The method according to claim 6, characterized in that The plurality of piezoelectric fibers are symmetrically arranged on the spherical surface.

8. The method according to any one of claims 1 to 7, characterized in that: The piezoelectric fibers in the piezoelectric fiber array are prepared from piezoelectric materials doped with nanoparticles.

9. A broadband underwater sound source localization device based on a piezoelectric fiber array, characterized in that: include: Piezoelectric fiber array and data processing module; The piezoelectric fiber array comprises: at least one combination of at least three piezoelectric fibers, three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and a plurality of piezoelectric fibers constituting a spherical surface; the at least three piezoelectric fibers comprise: at least two mutually perpendicular piezoelectric fibers parallel to a plane formed by two coordinate axes, and at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers and parallel to any of the two coordinate axes; the piezoelectric fibers are prepared from a piezoelectric material doped with nanoparticles; The data processing module is used to obtain the output signal of the piezoelectric fiber array when it is located underwater and is affected by an underwater sound source to be measured, and to locate the underwater sound source to be measured based on the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source obtained in advance; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

10. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 8.

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