Broadband underwater acoustic source localization method and system based on piezoelectric fiber array

Abstract

The application belongs to the field of underwater acoustic wave detection, and specifically discloses a wideband underwater sound source positioning method and system based on a piezoelectric fiber array, which comprises the following steps: acquiring an output signal of the piezoelectric fiber array when the piezoelectric fiber array is subjected to the action of an underwater sound source to be measured; the piezoelectric fiber array comprises at least one of the following combinations: at least three piezoelectric fibers, three groups of piezoelectric fibers 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 piezoelectric fibers perpendicular to each other and parallel to two coordinate axes to form a plane, and at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers and parallel to any one of the two coordinate axes; and the underwater sound source to be measured is positioned by combining the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source. According to the application, the position of the sound source can be effectively detected.

Description

Technical Field

[0001] The present application relates 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 widely used in many fields. Existing underwater sound source localization methods primarily include single hydrophone localization and sonar array localization. These methods leverage the propagation characteristics of sound waves, determining the location of the sound source by detecting information such as the arrival time difference and sound pressure level difference of the received sound waves. While existing technologies have demonstrated high practicality in a variety of applications, they still have some significant limitations.

[0003] Traditional sonar systems are often limited by the sensitivity and resolution of their sensors. This is particularly true when processing low-frequency sound waves, which can lead to insufficient positioning accuracy to meet high-precision requirements. In complex underwater environments, such as those near ports or coastal areas, existing technologies often struggle to accurately locate sound sources due to multipath effects and ambient noise. Traditional large-scale sonar arrays are bulky, resulting in high installation and maintenance costs and limiting their applicability in certain environments. Summary of the Invention

[0004] In response to the defects of the existing technology, the purpose of this application is to provide a broadband 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:

[0006] Obtaining an output signal of a piezoelectric fiber array when it is located underwater and subjected to 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 a plurality of 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;

[0007] The underwater sound source to be measured is positioned 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.

[0008] It can be understood that the application realizes positioning of an underwater sound source through a piezoelectric fiber array, the piezoelectric fiber array can realize high-sensitivity detection of the underwater sound source, and the output signals of each piezoelectric fiber in the piezoelectric fiber array are fully utilized to realize high-precision positioning of the underwater sound source.

[0009] In a possible implementation, when the piezoelectric fiber array includes at least three piezoelectric fibers respectively, 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.

[0010] Supposing that three coordinate axes are a first coordinate axis, a second coordinate axis, and a third coordinate axis, if a plane in which the at least two mutually perpendicular piezoelectric fibers are located is parallel to a plane in which the first coordinate axis and the second coordinate axis are located, 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 in the at least two piezoelectric fibers.

[0011] The third type of piezoelectric fiber is at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers, which is parallel to the first coordinate axis, and if the third type of piezoelectric fiber is multiple, the direction of the perpendicular line between the multiple piezoelectric fibers is parallel to the third coordinate axis.

[0012] 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:

[0013] For each type of piezoelectric fiber, the output signal when the distance and the azimuth angle of the calibration sound source relative to each type of piezoelectric fiber change is obtained respectively, the output signals of the three types of piezoelectric fibers and the changes of the distance and the azimuth angle of the sound source are nonlinearly fitted 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, the azimuth angle changes along the direction of the second coordinate axis and the first coordinate axis respectively, 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 direction of the third coordinate axis.

[0014] In a possible implementation, the corresponding relationship between the output signal of the piezoelectric fiber array and the relative position of the sound source includes:

[0015] For the first type of piezoelectric fibers, obtaining a first output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each piezoelectric fiber along the third coordinate axis and at different distances from the piezoelectric fiber along the third coordinate axis; and obtaining a second output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​ranging from 0° to 180° along the second coordinate axis when the distance from the calibration sound source to the plane containing the first and second coordinate axes is fixed; the calibration sound source is used to calibrate the piezoelectric fiber array before performing underwater sound source positioning;

[0016] For the second type of piezoelectric fibers, obtaining a third output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the third coordinate axis and at different distances from the piezoelectric fibers along the third coordinate axis; and obtaining a fourth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​along the first coordinate axis ranging from 0° to 180° when the distance from the calibration sound source to the plane containing the first coordinate axis and the second coordinate axis is fixed;

[0017] For the third type of piezoelectric fibers, obtaining a fifth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the second coordinate axis and at different distances from the piezoelectric fibers along the second coordinate axis; and obtaining a sixth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​along the third coordinate axis ranging from 0° to 180° when the distance from the calibration sound source to the plane containing the first coordinate axis and the third coordinate axis is fixed;

[0018] 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 a first plane where the first and second piezoelectric fibers are located, and the output signals of the first and second piezoelectric fibers; the first plane is parallel to the plane where the first and second coordinate axes are located;

[0019] 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 where the third type piezoelectric fiber is located and the output signal of the third type piezoelectric fiber is obtained; the second plane is parallel to the plane where the third coordinate axis and the first coordinate axis are located.

[0020] In one possible implementation, locating the underwater sound source to be detected includes:

[0021] 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;

[0022] 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.

[0023] 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 type of piezoelectric fiber and the second type of piezoelectric fiber can be used to determine the position of the sound source on the xy plane, and the output signal of the third type of 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.

[0024] 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;

[0025] 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:

[0026] 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;

[0027] Acquiring 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;

[0028] Acquiring a coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and obtaining a 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;

[0029] Obtaining 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;

[0030] The first group of output signals, the second group of output signals and the third group of output signals are combined to obtain a mapping relationship between the piezoelectric fiber array output signals and the sound source positions.

[0031] It should be noted that each group of piezoelectric fibers includes at least two piezoelectric fibers that can 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 require measuring the direction angle of the sound source, and this solution uses triangulation positioning to locate the underwater sound source.

[0032] 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;

[0033] 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:

[0034] Obtaining output signals of the plurality of piezoelectric fibers when a calibration sound source is at different distances and / or different directional angles relative to the spherical surface;

[0035] The output signals at different distances and / or different directional 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.

[0036] It is understood that when the piezoelectric fiber array is spherical, the area it can receive sound sources is relatively large, enabling it to capture omnidirectional signals from underwater sound sources and providing extensive 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 also change. Therefore, the output signal of the piezoelectric fiber array can reflect the location information of the underwater sound source, enabling the location of the underwater sound source.

[0037] In a possible implementation, the plurality of piezoelectric fibers are symmetrically arranged on a spherical surface.

[0038] In a possible implementation, the piezoelectric fibers in the piezoelectric fiber array are made of a piezoelectric material doped with nanoparticles.

[0039] Specifically, when nanoparticles are doped into the piezoelectric fiber, a porous structure can be formed inside it 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 bandwidth, giving it 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.

[0040] 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;

[0041] The piezoelectric fiber array comprises at least one of at least three piezoelectric fibers, three groups of piezoelectric fibers parallel to three mutually perpendicular planes, and a plurality of 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 piezoelectric fibers are made of a piezoelectric material doped with nanoparticles;

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In a fifth aspect, the present application provides a computer program product, which, when executed on a processor, enables the processor to execute the method described in the first aspect or any possible implementation of the first aspect.

[0046] 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.

[0047] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies:

[0048] 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 thermal stretching technology and piezoelectric materials doped with silica nanoparticles 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 and combining 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 the piezoelectric fiber array of the present application is technically innovative and progressive, and can effectively solve the problems existing in the existing technology. 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

[0049] Figure 1 This 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;

[0050] Figure 2 This is a structural diagram of a piezoelectric fiber array provided in an embodiment of the present application;

[0051] FIG3( a ) is a fitting relationship diagram of a sound source distance and a piezoelectric fiber signal intensity provided in an embodiment of the present application;

[0052] FIG3( b ) is a diagram showing a fitting relationship between a sound source direction angle and a piezoelectric fiber signal intensity provided in an embodiment of the present application;

[0053] Figure 4 This is a schematic diagram of a piezoelectric fiber heat pulling device provided in an embodiment of the present application;

[0054] FIG5( a ) is a time domain diagram of a piezoelectric fiber when the sound source is a 15 MHz single-frequency signal provided in an embodiment of the present application;

[0055] FIG5( b ) is a frequency domain diagram of the piezoelectric fiber when the sound source provided by an embodiment of the present application is a 15 MHz single-frequency signal;

[0056] Figure 6 This is a diagram showing the results of underwater sound source spatial positioning using a piezoelectric fiber array provided in an embodiment of the present application;

[0057] Figure 7 This is an architecture diagram of a broadband underwater sound source localization system based on a piezoelectric fiber array provided in an embodiment of the present application;

[0058] Figure 8It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0060] The term "and / or" as used herein describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The symbol " / " as used herein indicates that the related objects are in an "or" relationship, for example, A / B means either A or B.

[0061] In the specification and claims herein, the terms "first," "second," and the like are used to distinguish between different objects, rather than to describe a specific order of objects. For example, the terms "first coordinate axis" and "second coordinate axis" are used to distinguish between different coordinate axes, rather than to describe a specific order of the axes.

[0062] In the embodiments of this 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 this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0063] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0064] In response to 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 significantly 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.

[0065] 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:

[0066] Step S101, obtaining an output signal of a piezoelectric fiber array when it is located underwater and subjected to an underwater sound source to be measured; the piezoelectric fiber array includes: 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 forming a spherical surface; the at least three piezoelectric fibers include: 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;

[0067] 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; assuming that the three coordinate axes are 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.

[0068] 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 with parallel bottom surfaces and different heights.

[0069] 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:

[0070] 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; 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.

[0071] Specifically, for example, Figure 2 Fiber 3 and fiber 4 in the array are used to obtain the first output signal of all piezoelectric fibers in the category when the direction angle of the calibration sound source relative to each piezoelectric fiber on the z-axis is 0° and the relative distance from the piezoelectric fiber along the z-axis is different; and the second output signal of all piezoelectric fibers in the category when the direction angle of the calibration sound source along the y-axis 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.

[0072] against Figure 2 obtaining, for each of the piezoelectric fibers 1 and 2, a 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 along the z-axis is 0° and the distance relative to the piezoelectric fibers along the z-axis is different; and obtaining, for each of the piezoelectric fibers 1 and 2, a fourth output signal of all the piezoelectric fibers in the category when the direction angle of the calibration sound source along the x-axis is different and ranges from 0° to 180° when the distance from the calibration sound source to the xy plane is fixed;

[0073] against Figure 2 obtaining, for each of the piezoelectric fibers 5 and 6, a fifth output signal of all the piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the x-axis and at different distances from the piezoelectric fibers along the x-axis; and obtaining, for each of the piezoelectric fibers 5 and 6, a sixth output signal of all the piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the z-axis and at different values ​​ranging from 0° to 180°, when the distance from the calibration sound source to the xz plane is fixed;

[0074] 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 a first plane (the plane where fibers 1, 2, 3, and 4 are located) where the first and second piezoelectric fibers are located, and the output signals of the first and second piezoelectric fibers; the first plane is parallel to the xy plane;

[0075] By nonlinearly fitting the fifth and sixth output signals, a second mapping relationship is obtained 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 piezoelectric fibers are located and the output signal of the third type piezoelectric fibers; the second plane is parallel to the zy plane.

[0076] In some embodiments, Figure 2 The piezoelectric fiber array shown is fixed in a water tank. The ultrasonic sound source moves in the direction of 0° 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:

[0077]

[0078] 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.

[0079] Furthermore, the piezoelectric fiber array was fixed in a water tank, the distance from the sound source was controlled to 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:

[0080]

[0081] The above relationship diagram is shown in FIG3(b); Y is the signal strength, It is the angular representation of the sound source direction angle, and C, D and F represent constants related to the signal strength and the sound source direction angle respectively.

[0082] 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 sound source and the signal without the sound source; after determining the frequency of the sound source, start collecting the signal intensity of each piezoelectric fiber at this frequency. The present application first processes the signal intensity of fiber 1 and fiber 2, and brings the measured signal intensity into the distance and azimuth relationship formula to 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.

[0083] For example, the signal strength measured by two parallel fibers can be combined with the distance-intensity relationship and the azimuth-intensity relationship. The nonlinear equations can be solved using MATLAB to determine the distance of the sound source from the two fibers and the angle formed with the plane of the fiber array, thereby obtaining the specific location signal of the sound source. The sound source position information obtained by three sets of parallel fiber arrays can be combined to ultimately determine the spatial location of the sound source.

[0084] 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:

[0085] Based on the output signal of the piezoelectric fiber array, respectively determining the distance and azimuth of the underwater sound source to be measured relative to the first plane and the second plane in combination with the first mapping relationship and the second mapping relationship;

[0086] 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.

[0087] 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:

[0088] 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;

[0089] Acquiring 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;

[0090] Acquiring a coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and obtaining a 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;

[0091] Obtaining 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;

[0092] The first group of output signals, the second group of output signals and the third group of output signals are combined to obtain a mapping relationship between the piezoelectric fiber array output signals and the sound source positions.

[0093] Further preferably, each group of piezoelectric fibers may include at least two fibers. The following description is made taking the example of each group of piezoelectric fibers including two fibers:

[0094] The planar position of the sound source is determined by placing a pair of piezoelectric fibers in the XY, YZ and XZ planes respectively. Combined with the acquisition of multi-dimensional information by these piezoelectric fibers, the three-dimensional position of the underwater sound source is further determined through triangulation.

[0095] 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:

[0096]

[0097]

[0098] 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, 、 、 、 Represent the correlation coefficients respectively.

[0099] Similarly, the coordinates of the sound source on the y-axis and z-axis can be obtained, thus achieving three-dimensional positioning of the sound source. The advantage of this method is that it can also accurately locate the sound source even when the direction angle cannot be accurately measured.

[0100] 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;

[0101] 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:

[0102] Obtaining output signals of the plurality of piezoelectric fibers when a calibration sound source is at different distances and / or different directional angles relative to the spherical surface;

[0103] The output signals at different distances and / or different directional 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.

[0104] It is understandable that when the piezoelectric fiber array is spherical, the sound source area it receives is the largest, capable of capturing omnidirectional signals from underwater sound sources and 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 to 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.

[0105] 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.

[0106] 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.

[0107] The purpose of this application is to provide a convenient and accurate 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 also have a higher spatial resolution.

[0108] In a specific embodiment, the piezoelectric fibers used in the piezoelectric fiber array of the present application are prepared as follows: first, a preform is prepared consisting of a piezoelectric material (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 wire, silver wire, gold wire, etc.). The preform is then drawn into a fiber shape by a hot drawing method. The thickness of the piezoelectric fibers is controlled by controlling the temperature of the heating zone during the hot drawing process. The preparation apparatus is described in detail in the following. Figure 4 shown.

[0109] 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 over 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 and charge separation speed of the material; at low frequencies, the fiber can deform over a larger range, thereby generating 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.

[0110] 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.

[0111] In a further embodiment, the present application provides a method for underwater sound source localization based on a piezoelectric fiber array, comprising the following steps:

[0112] 1.1) Build a piezoelectric fiber spatial array.

[0113] 1.2) Test the acoustic performance of each fiber and normalize the results.

[0114] 1.3) Collect data and perform linear fitting to obtain the relationship between the sound source distance and the received signal strength.

[0115] 1.4) Collect data and perform fitting to obtain the relationship between the angle between the sound source and the fiber array and the received signal strength

[0116] 1.5) Collect the output signals of the six piezoelectric fibers.

[0117] 1.6) Substitute the relationship between the sound source distance and azimuth into the signal strength expression. Demodulate the acquired signal strength to obtain information about the sound source distance and azimuth, thereby locating the sound source.

[0118] The solution provided in this application is verified by the following examples:

[0119] Example 1:

[0120] The test system of this application includes a signal generator, an ultrasonic transducer, a preamplifier, and an oscilloscope. First, the signal generator emits a sinusoidal signal of the desired frequency. This signal is converted into an acoustic signal by the ultrasonic transducer. This signal is then transmitted to the copper wire via a piezoelectric fiber, converting the acoustic signal into an electrical signal. The electrical signal is then amplified by the preamplifier and collected and displayed by the oscilloscope.

[0121] Figure 5(a) shows the electrical waveform of a 15 MHz ultrasonic signal collected by the piezoelectric fiber in this application. A fast Fourier transform of this waveform yields the frequency domain characteristics shown in Figure 5(b). The piezoelectric fiber performs exceptionally well at 15 MHz, achieving an excellent signal-to-noise ratio of 67.4 dB. This high signal-to-noise ratio is maintained across a wide frequency range from 1 MHz to 30 MHz.

[0122] The piezoelectric fiber system in this application utilizes highly sensitive piezoelectric materials and an advanced fiber structure design, resulting in exceptional acoustic performance across a wide frequency range. By doping the piezoelectric fiber with silica nanoparticles and employing thermal stretching to form a porous piezoelectric layer, the material's capacitance effect is enhanced while also boosting its piezoelectric performance. This structural innovation enables the fiber to effectively respond to sound waves and convert them into electrical signals across a wide range of frequencies, particularly in the ultrasonic band.

[0123] The performance of the piezoelectric fiber enables 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.

[0124] Embodiment 2:

[0125] In this embodiment, three identical piezoelectric fibers are placed in parallel with a distance of 10 cm between each other. The ultrasonic transducer moves along the x-axis direction and moves on a plane 5 cm away from the plane where the piezoelectric fibers are located. During the movement of the ultrasonic transducer, it can be found that the signal intensity of the piezoelectric fiber presents an inverse relationship with the distance from the ultrasonic transducer to the fiber. This relationship is very obvious and regular, providing an important basis for sound source positioning. Figure 6 is a result map of underwater sound source spatial positioning by a piezoelectric fiber array provided by an embodiment of the present application; as shown in Figure 6 by analyzing these data, the present application can relatively accurately infer the position of the sound source relative to the piezoelectric fiber, with an average error of 1.2 cm and a relatively small error, thereby realizing accurate sound source positioning.

[0126] This arrangement and measurement method not only enables effective detection of the sound source position, but also provides important experimental data support for further optimization of the test system and sound source positioning algorithm.

[0127] Figure 7 is a wideband underwater sound source positioning system architecture based on a piezoelectric fiber array provided by an embodiment of the present application; as shown in Figure 7 , it comprises a piezoelectric fiber array 710 and a data processing module 720;

[0128] The piezoelectric fiber array 710 comprises at least one combination of at least three piezoelectric fibers, three groups of piezoelectric fibers 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 piezoelectric fibers parallel to two coordinate axes to form a plane and at least one piezoelectric fiber not in the same plane as the at least two piezoelectric fibers and parallel to any coordinate axis of the two coordinate axes; the piezoelectric fiber is prepared from a piezoelectric material doped with nanoparticles;

[0129] The data processing module 720 is configured to acquire the output signal of the piezoelectric fiber array when it is affected by the underwater sound source to be measured underwater, and combine the relationship between the intensity of the output signal of the piezoelectric fiber array and the relative position of the underwater sound source to position the underwater sound source to be measured; the relative position is the relative position between the piezoelectric fiber array and the underwater sound source.

[0130] It should be understood that the above system is used to execute the method in the above embodiment, the corresponding program module in the system, the implementation principle and technical effect are similar to the description in the above method, and the working process of the system can refer to the corresponding process in the above method, which will not be repeated here.

[0131] Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, as shown in the figure, which can 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 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the method in the above embodiment. Figure 8

[0132] In addition, the logical instructions in the memory 830 described above can be realized in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium, includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the embodiments of the present application.

[0133] Based on the method in the above embodiment, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, when the computer program runs on the processor, so that the processor executes the method in the above embodiment.

[0134] Based on the method in the above embodiment, the embodiment of the present application provides a computer program product, when the computer program product runs on the processor, so that the processor executes the method in the above embodiment.

[0135] It can be understood that the processor in the embodiment of the present application can be a central processing unit (CPU), and can also be 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 can be a microprocessor, or any conventional processor.​

[0136] 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, which 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 an integral part of the processor. The processor and storage medium can be located in an ASIC.

[0137] The above embodiments can be implemented in whole or in part using software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions. When loaded and executed on a computer, the computer program instructions fully or partially produce the processes or functions described in the embodiments of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via 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 can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state drive (SSD)).

[0138] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0139] Those skilled in the art can easily understand that the above description is only the preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A broadband underwater sound source localization method based on a piezoelectric fiber array, characterized in that: include: Obtaining 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 includes: 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 forming a spherical surface; the at least three piezoelectric fibers include: 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; Positioning 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; When the piezoelectric fiber array includes three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, and 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 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; Acquiring 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; Acquiring a coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and obtaining a 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; Obtain the coordinate change of the calibration sound source relative to the third group of piezoelectric fibers in the direction of the second coordinate axis, and the 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; and obtain the mapping relationship between the piezoelectric fiber array output signal and the sound source position by combining the first group of output signals, the second group of output signals and the third group of output signals.

2. The method according to claim 1, characterized in 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 fibers, a second type of piezoelectric fibers, and a third type of piezoelectric fibers; Assume that the three coordinate axes are a first coordinate axis, a second coordinate axis, and a 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; 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 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, obtaining a first output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each piezoelectric fiber along the third coordinate axis and at different distances from the piezoelectric fiber along the third coordinate axis; and obtaining a second output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​ranging from 0° to 180° along the second coordinate axis when the distance from the calibration sound source to the plane containing the first and second coordinate axes is fixed; 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, obtaining a third output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the third coordinate axis and at different distances from the piezoelectric fibers along the third coordinate axis; and obtaining a fourth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​along the first coordinate axis ranging from 0° to 180° when the distance from the calibration sound source to the plane containing the first coordinate axis and the second coordinate axis is fixed; For the third type of piezoelectric fibers, obtaining a fifth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of 0° relative to each of the piezoelectric fibers along the second coordinate axis and at different distances from the piezoelectric fibers along the second coordinate axis; and obtaining a sixth output signal of all piezoelectric fibers in the category when the calibration sound source has a direction angle of different values ​​along the third coordinate axis ranging from 0° to 180° when the distance from the calibration sound source to the plane containing the first coordinate axis and the third coordinate axis 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 a first plane where the first and second piezoelectric fibers are located, and the output signals of the first and second piezoelectric fibers; the first plane is parallel to the plane where the first and second coordinate axes are located; 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 where the third type piezoelectric fiber is located and the output signal of the third type 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 measured 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.

5. The method according to claim 1, wherein 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: Obtaining output signals of the plurality of piezoelectric fibers when a calibration sound source is at different distances and / or different directional angles relative to the spherical surface; The output signals at different distances and / or different directional 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.

6. The method according to claim 5, characterized in that The plurality of piezoelectric fibers are symmetrically arranged on the spherical surface.

7. The method according to any one of claims 1 to 6, characterized in that The piezoelectric fibers in the piezoelectric fiber array are prepared from piezoelectric materials doped with nanoparticles.

8. 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 of at least three piezoelectric fibers, three groups of piezoelectric fibers parallel to three mutually perpendicular planes, and a plurality of 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 piezoelectric fibers are made of a piezoelectric material doped with nanoparticles; When the piezoelectric fiber array comprises three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes, each group of piezoelectric fibers comprises at least two piezoelectric fibers; The data processing module is used to obtain 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, and to locate the underwater sound source to be measured based on a previously obtained 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; The data processing module is configured to, when the piezoelectric fiber array includes three groups of piezoelectric fibers respectively parallel to three mutually perpendicular planes and each group of piezoelectric fibers includes at least two piezoelectric fibers, assume that the first group of piezoelectric fibers is parallel to the plane where the first coordinate axis and the second coordinate axis are located, the second group of piezoelectric fibers is parallel to the plane where the first coordinate axis and the third coordinate axis are located, and the third group of piezoelectric fibers is parallel to the plane where the third coordinate axis and the second coordinate axis are located; Acquiring 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; Acquiring a coordinate change of the calibration sound source relative to the second group of piezoelectric fibers in the direction of the third coordinate axis, and obtaining a 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; Obtain the coordinate change of the calibration sound source relative to the third group of piezoelectric fibers in the direction of the second coordinate axis, and the 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; and obtain the mapping relationship between the piezoelectric fiber array output signal and the sound source position by combining the first group of output signals, the second group of output signals and the third group of output signals.

9. 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 7.

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