Environment-adaptive passive sonar array element data real-time generation method

Abstract

The invention provides an environment-adaptive passive sonar array element data real-time generation method, which can be used for connecting a target and receiving platform motion situation information in real time, acquiring real-time marine environment data information, forecasting a sound field channel function by using a parabolic equation sound propagation model in a complex marine environment, and generating the passive sonar array element data in real time. Through a multi-module step-by-step parallel computing strategy, real-time simulation generation of passive sonar array element data is achieved, and the method has the advantages of real-time computing, high-precision computing, high universality, high expandability, good environment applicability and the like and has wide application prospects in the aspects of underwater acoustic countermeasure, simulation deduction and auxiliary decision making.

Description

Technical Field

[0001] The invention relates to the field of sonar array element domain data processing, and mainly relates to an environment-adaptive passive sonar array element real-time generation method. Background Art

[0002] It is difficult to obtain actual sonar array element domain data, which requires huge manpower and material resources. The data samples obtained are relatively limited and cannot meet the needs of actual sonar design and performance verification. Therefore, passive sonar array element domain data simulation generation technology is proposed. The purpose of passive sonar array element domain data simulation is to solve the problem of small number of measured sonar array element domain data samples through simulation, and at the same time realize the generalization of data samples under different environments and conditions, so as to support the performance verification of sonar signal processing technology and the design and optimization of new sonars.

[0003] The main generation process of the current passive sonar array element domain data simulation technology is a serial structure, including the following steps. First, set the motion situation information of the receiving array platform and the target; second, set the radiation noise parameters of the underwater target to generate the target radiation noise time domain waveform data; third, set the parameters of the passive sonar receiving array; fourth, according to the motion situation of the receiving array and the target, the receiving array parameters, solve the relative position relationship between the target and the array elements of the receiving platform; fifth, according to the position relationship, use the simple normal wave model to generate the time domain waveform of the sound field channel function on each array element; sixth, use the target radiation noise time domain waveform and the sound field channel function time domain waveform to generate the receiving signal of each array element of the receiving array through convolution operation; seventh, set the ocean environment noise parameters to generate the ocean environment background noise time domain signal of each array element; eighth, sum the received signal with the background noise, and finally generate the passive sonar array element domain simulation data.

[0004] There are many problems with the current passive sonar array data generation method in actual engineering applications, which are mainly reflected in the following points. First, it is difficult to generate data based on the real-time received target and receiving platform motion situation information; second, the adopted underwater acoustic propagation model cannot quickly or even in real time predict the sound field signal function in the ocean environment that is independent of distance; third, the data simulation process usually does not effectively utilize the ocean environment database, resulting in the forecast results that cannot match the environment; fourth, due to the data generation process and architecture problems, real-time data generation cannot be achieved. In order to solve the above problems, the present invention proposes a new real-time and high-precision generation method for passive sonar array data, which solves the problems of real-time guidance of arbitrary motion situation, real-time guidance and response of ocean environment data, rapid calculation of sound field in distance-changing environment, and real-time generation of array data. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an environment-adaptive passive sonar array data real-time generation method.

[0006] The purpose of the present invention is to achieve the following technical solutions. A method for real-time generation of passive sonar array data with environmental self-adaptation, real-time guidance of target and receiving platform motion situation information, acquisition of real-time ocean environment data information, prediction of sound field channel function using parabolic equation sound propagation model in complex ocean environment, and realization of real-time simulation generation of passive sonar array data through multi-module step-by-step parallel calculation strategy, the specific steps are as follows:

[0007] Step 1: Receive the platform motion situation guidance, and receive the latitude and longitude (LonB, LatB) and speed V of the sonar platform in real time. B , heading D B and the immersion depth Z B , the time interval is △T;

[0008] Step 2: Target movement situation induction, real-time receiving of target longitude and latitude (LonT, LatT) and water depth ZT, with a time interval of △T;

[0009] Step 3, sonar working parameter setting, including setting the sonar working frequency band (FL, FH), sampling frequency Fs, sonar receiving array element spatial position coordinates (X (1: N), Y (1: N), Z (1: N)), where N is the number of array elements, X is the north direction, Y is the east direction, and Z is the depth direction;

[0010] Step 4: topological solution of motion parameters, solving the horizontal distance R(k△T,1:N) between the target and each element of the receiving array at different times, where k represents the time sequence number;

[0011] Step 5: Set the ocean environment parameters required for underwater channel function calculation, including sound velocity profile, seabed topography, and seabed bottom parameters;

[0012] Step 6: Calculate the underwater channel function using the parabolic equation underwater acoustic propagation model to generate the channel function of the target radiation noise reaching each receiving array element under the target motion situation;

[0013] Step 7: Setting the target radiation noise parameters, setting the continuous spectrum, line spectrum and modulation spectrum parameters of the radiation noise as input for generating the target radiation noise signal;

[0014] Step 8: Generate target radiation noise signal;

[0015] Step 9: Sonar target signal generation, generating the signal received by each element of the receiving array after the target radiation noise propagates through the underwater acoustic channel;

[0016] Step 10: Generate sonar array element domain data.

[0017] Furthermore, in step 4, the longitude and latitude of the receiving platform (LonB(k△T), LatB(k△T)) and the longitude and latitude of the target (LonT(k△T), LatT(k△T)) are used to calculate the distance coordinate (X TD (k△T),Y TD (k△T)); According to the receiving platform heading and the array element space coordinates, the coordinates of each array element relative to the array center in the actual situation are calculated as:

[0018]

[0019] The horizontal distance between the target and the array element is:

[0020]

[0021] Furthermore, in step 6, the specific steps are as follows:

[0022] According to the time interval, the broadband channel function frequency sampling interval The frequency number for sound field calculation is: Using the sound velocity profile, seabed topography and seabed parameters at the first time point, the parabolic equation model sound field calculation formula is adopted to quickly obtain the sound field at different frequencies through parallel calculation:

[0023]

[0024] Where p(r) is the sound pressure at distance r, △r is the recursive distance, L p is the order of Padé approximation, a, b are the coefficients of Padé approximation, k0 is the reference wave number;

[0025] The frequency domain expression of the channel function is:

[0026] P(FL:△f:FH,r)=[p(FL,r),p(FL+△f,r),...,p(FH-△f,r),p(FH,r)]

[0027] According to the horizontal distance R(△T:△T:M△T,1:N) between the target and the array element, the frequency domain channel function P of different array elements at different times is obtained. A (FL:△f:FH,△T:△T:M△T,1:N):

[0028] P A (FL:△f:FH,△T:△T:M△T,1:N)=P(FL:△f:FH,R(△T:△T:M△T,1:N))

[0029] The time domain channel function with a duration of 2△T is obtained by using inverse Fourier transform:

[0030] ht(0:1 / Fs:(2△T-1 / Fs),△T:△T:M△T,1:N)=FFT -1 (P A (FL:△f:FH,△T:△T:M△T,1:N)).

[0031] Furthermore, in step 8, a target radiation noise signal is generated. According to the set spectrum parameters, the radiation noise signal expression is:

[0032]

[0033] In the formula, is the line spectrum component of ship radiation noise; n(0:1 / Fs:(△T-1 / Fs)) is random noise; is the modulation component of ship radiation noise, n cav (0:1 / Fs:(△T-1 / Fs)) is a continuous spectrum signal;

[0034] The calculation is performed with a 50% time overlap to maintain the phase continuity of the simulation signal. The signal after the radiation noise signal is overlapped with the △T time is:

[0035] St(0:1 / Fs:(2△T-1 / Fs))=[S(0:1 / Fs:(△T-1 / Fs))0*(1:△T*Fs)].

[0036] Furthermore, the step 9 includes the following steps:

[0037] The first target signal received by each array element is obtained by convolving the target radiation noise with the channel function:

[0038] R △T (0:1 / Fs:(2△T-1 / Fs),1:N)

[0039] =St(0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),△T,1:N)

[0040] The target signal in the second time period is:

[0041] R 2△T (△T+0:1 / Fs:(2△T-1 / Fs),1:N)

[0042] =St(△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),2△T,1:N)

[0043] The target signal in the Mth time period is:

[0044] R M△T ((M-1)△T+0:1 / Fs:(2△T-1 / Fs),1:N)

[0045] =St((M-1)△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),M△T,1:N)

[0046] Among them, <·> represents the convolution operation;

[0047] Finally, the target signal Rt received by each array element is obtained by summing the signals in different time periods.

[0048] Furthermore, the step 10 includes the following steps: adding a noise signal to the target signal to obtain the sonar array element domain data Ra under any situation:

[0049] Ra(0:1 / Fs:(t*Fs-1))=Rt(0:1 / Fs:(t*Fs-1))+Nt(0:1 / Fs:(t*Fs-1)).

[0050] Furthermore, the above-mentioned different steps are processed in parallel in time sequence to achieve real-time generation of passive sonar array data.

[0051] The beneficial effects of the present invention are:

[0052] The current passive sonar array meta-domain data simulation technology cannot meet the requirements of real-time calculation. The channel function calculation accuracy is limited, and the target and platform motion status cannot be set in real time, resulting in the passive sonar array data simulator being unable to play an important role in actual engineering applications. The present invention aims to propose a real-time generation method for passive sonar array meta-data based on a parabolic equation model, which can simultaneously have the functions of real-time calculation, accurate prediction and rapid parameter response, and accelerate the application transformation of simulation technology in engineering. The method mainly solves the following problems:

[0053] (1) Solve the problem of high-precision generation of passive sonar array data. The method of the present invention uses a parabolic equation model to replace the environment-independent sound field prediction model (plane wave, cylindrical wave or spherical wave attenuation model) to calculate the underwater sound field and generate a channel function, thereby improving the accuracy of passive sonar array element domain data simulation.

[0054] (2) Solve the problem of matching passive sonar array element domain data with the actual environment. The method of the present invention fully considers the actual marine environment data, and can use the actual marine environment parameters, seabed topography, seabed bottom parameters, etc. when calculating the sound field, thereby improving the environmental applicability of data simulation.

[0055] (3) Solve the problem of real-time generation of passive sonar array element domain data. The method of the present invention uses methods such as parallel calculation of the sound field and synchronous calculation of multiple modules to achieve fast and real-time prediction of passive sonar array element domain data simulation, and can quickly generate massive simulation data to support sonar array design and sonar signal processing method verification.

[0056] (4) Solve the problem of sonar array data generation under arbitrary motion conditions of the target and platform. The method of the present invention adopts a multi-module time-sharing asynchronous design, which can realize the real-time generation of passive sonar array data under arbitrary motion conditions of the target and receiving platform, and can realize the real-time setting and rapid response of motion parameters during the simulation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art or ordinary technicians, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 This is the simulation flow chart of passive sonar array data.

[0059] Figure 2 This is the timing diagram of passive sonar array data simulation. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0061] The present invention proposes a method for real-time generation of passive sonar array data with environmental self-adaptation. The method can real-time guide the target and receiving platform motion situation information, obtain real-time ocean environment data information, use the parabolic equation sound propagation model in complex ocean environment to predict the sound field channel function, and realize the real-time simulation generation of passive sonar array data through multi-module step-by-step parallel calculation strategy. The data simulation process is divided into 10 steps, and the processing flow chart is as follows: Figure 1 The following describes the functions and implementation methods of each step.

[0062] Step 1: Receive platform motion status information

[0063] Responsible for receiving the latitude and longitude (LonB, LatB) and speed V of the sonar platform in real time B , heading DB and the immersion depth Z B , the time interval is △T.

[0064] Step 2: Target movement situation guidance

[0065] Responsible for receiving the target's latitude and longitude (LonT, LatT) and water depth ZT in real time, with a time interval of △T.

[0066] Step 3: Sonar working parameter settings

[0067] Responsible for setting the sonar working frequency band (FL, FH), sampling frequency Fs, and sonar receiving array element spatial position coordinates (X(1:N), Y(1:N), Z(1:N)), where N is the number of array elements, X is the north direction, Y is the east direction, and Z is the depth direction.

[0068] Step 4: Motion parameter topology solution

[0069] Responsible for calculating the horizontal distance R(k△T,1:N) between the target and each element of the receiving array at different times, where k represents the time sequence number.

[0070] Using the longitude and latitude of the receiving platform (LonB(k△T), LatB(k△T)) and the longitude and latitude of the target (LonT(k△T), LatT(k△T)), the distance coordinate (X TD (k△T),Y TD (k△T)). According to the receiving platform heading and the array element space coordinates, the coordinates of each array element relative to the array center can be calculated as follows:

[0071]

[0072] Therefore, the horizontal distance between the target and the array element is:

[0073]

[0074] Step 5: Ocean environment parameter settings

[0075] Responsible for setting the sound velocity profile, seabed topography, seabed parameters, etc. required for underwater channel calculation. With the support of the marine environment database, the longitude and latitude (LonB (k△T), LatB (k△T)) and (LonT (k△T), LatT (k△T)) of the target and receiving platform can be used to quickly generate three types of data in an environmentally adaptive manner.

[0076] Step 6: Underwater channel function calculation

[0077] Responsible for generating the channel function of the target radiation noise reaching each receiving array element under the target motion situation. In order to ensure the fidelity and environmental adaptability of the channel function, the parabolic equation underwater acoustic propagation model is used instead of the currently commonly used simple normal wave model or ray model to improve the accuracy and speed of sound field calculation in complex ocean environments.

[0078] The calculation of the broadband channel function using the parabolic model still requires a certain amount of calculation time and cannot be completed within the time interval △T. Assume that the required time length is T = M△T. Therefore, in order to make the passive sonar array data simulation meet the real-time requirements, the following approximate method is used for the sound field calculation: within the time T, the terrain between the target and the receiving platform changes slowly, and the unified seabed terrain parameters and ocean environment parameters can be used.

[0079] According to the time interval, the broadband channel function frequency sampling interval The frequency number for sound field calculation is: By using the sound velocity profile, seabed topography and seabed parameters at the first time point and the parabolic equation model sound field calculation formula, the sound field at different frequencies can be quickly obtained through parallel calculation:

[0080]

[0081] Where p(r) is the sound pressure at distance r, △r is the recursive distance, L p is the order of Padé approximation, a, b are the coefficients of Padé approximation, and k0 is the reference wave number.

[0082] The frequency domain expression of the channel function is:

[0083] P(FL:△f:FH,r)=[p(FL,r),p(FL+△f,r),...,p(FH-△f,r),p(FH,r)]

[0084] According to the horizontal distance R(△T:△T:M△T,1:N) between the target and the array element, the frequency domain channel function P of different array elements at different times can be obtained: A (FL:△f:FH,△T:△T:M△T,1:N):

[0085] P A (FL:△f:FH,△T:△T:M△T,1:N)=P(FL:△f:FH,R(△T:△T:M△T,1:N))

[0086] The time domain channel function with a duration of 2△T can be obtained by using the inverse Fourier transform:

[0087] ht(0:1 / Fs:(2△T-1 / Fs),△T:△T:M△T,1:N)=FFT -1(P A (FL:△f:FH,△T:△T:M△T,1:N))

[0088] Step 7: Target Radiated Noise Parameter Setting

[0089] Responsible for setting the continuous spectrum, line spectrum and modulation spectrum parameters of the radiated noise as input for generating the target radiated noise signal.

[0090] Step 8: Target Radiated Noise Signal Generation

[0091] Responsible for generating the target radiation noise signal. According to the set spectrum parameters, the radiation noise signal expression is:

[0092]

[0093] In the formula, is the line spectrum component of ship radiation noise; n(0:1 / Fs:(△T-1 / Fs)) is random noise; is the modulation component of ship radiation noise, n cav (0:1 / Fs:(△T-1 / Fs)) is a continuous spectrum signal.

[0094] In order to maintain the phase continuity of the simulation signal, a 50% time overlap calculation is used. The signal after the radiation noise signal is supplemented with the overlap of △T time is:

[0095] St(0:1 / Fs:(2△T-1 / Fs))=[S(0:1 / Fs:(△T-1 / Fs))0*(1:△T*Fs)]

[0096] Step 9: Sonar Target Signal Generation

[0097] It is responsible for generating the signal received by each element of the receiving array after the target radiation noise propagates through the underwater acoustic channel. The first target signal received by each element can be obtained by convolving the target radiation noise with the channel function:

[0098] R △T (0:1 / Fs:(2△T-1 / Fs),1:N)

[0099] =St(0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),△T,1:N)

[0100] The target signal in the second time period is:

[0101] R 2△T (△T+0:1 / Fs:(2△T-1 / Fs),1:N)

[0102] =St(△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),2△T,1:N)

[0103] The target signal in the Mth time period is:

[0104] R M△T ((M-1)△T+0:1 / Fs:(2△T-1 / Fs),1:N)

[0105] =St((M-1)△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),M△T,1:N)

[0106] Here, <·> represents the convolution operation.

[0107] Finally, the target signal Rt received by each array element is obtained by summing the signals in different time periods, that is:

[0108] Rt(0:1 / Fs:(△T-1 / Fs),1:N)=R △T (0:1 / Fs:(△T-1 / Fs),1:N)

[0109] Rt(△T+(0:1 / Fs:(△T-1 / Fs)),1:N)=R △T (△T+(0:1 / Fs:(△T-1 / Fs)),1:N)+R 2△T (0:1 / Fs:(△T-1 / Fs),1:N)

[0110] Rt(2△T+(0:1 / Fs:(△T-1 / Fs)),1:N)=R 2△T (△T+(0:1 / Fs:(△T-1 / Fs)),1:N)+R 3△T (0:1 / Fs:(△T-1 / Fs),1:N) ...

[0112] Rt((M-1)△T+(0:1 / Fs:(△T-1 / Fs)),1:N)=R (M-1)△T (△T+(0:1 / Fs:(△T-1 / Fs)),1:N)+R M△T (0:1 / Fs:(△T-1 / Fs),1:N)

[0113] Rt(M△T+(0:1 / Fs:(△T-1 / Fs)),1:N)=R M△T (△T+(0:1 / Fs:(△T-1 / Fs)),1:N)+R (M+1)△T (0:1 / Fs:(△T-1 / Fs),1:N) ...

[0115] Step 10: Sonar array element domain data generation

[0116] Responsible for generating passive sonar array element domain data. By adding noise signals to the above target signals, the sonar array element domain data Ra in any situation can be obtained:

[0117] Ra(0:1 / Fs:(t*Fs-1))=Rt(0:1 / Fs:(t*Fs-1))+Nt(0:1 / Fs:(t*Fs-1))

[0118] In order to realize the real-time generation of passive sonar array data, different steps are processed in parallel in time sequence. Figure 2 The passive sonar array data simulation timing diagram is given. Label 1 represents the receiving platform motion situation induction, label 2 represents the target motion situation induction, label 3 represents the sonar working parameter setting, label 4 represents the motion parameter topology solution, label 5 represents the ocean environment parameter setting, label 6 represents the target radiation noise parameter setting, label 7 represents the target radiation noise signal generation, label 8 represents the underwater channel function calculation, label 9 represents the sonar target signal generation, and label 10 represents the sonar array element domain data generation. It can be seen from the timing diagram that the 0~3T time period is the data simulation establishment process, where 0~T is the situation induction stage, T~2T is the situation solution and radiation noise generation or induction stage, and 2T~3T is the channel calculation and array data generation stage. After 3T (usually seconds) of time preparation, the data real-time simulation output stage is entered, and all modules can realize real-time operation, and finally the real-time generation of passive sonar array data in any situation and complex ocean environment is realized.

[0119] The core technical content of the present invention lies in the proposal of a real-time generation method for passive sonar array data in arbitrary situations and actual ocean environments. The method can simultaneously meet the functions of real-time guidance of targets and arbitrary motion situations of receiving platforms, rapid parallel calculation of channel functions of parabolic equation models in actual ocean environments, and real-time generation of array data, and has great engineering application value.

[0120] (1) The new method can receive motion situation information in real time. During the simulation process, the situation can be set and changed in real time to better adapt to the real-time battlefield environment.

[0121] (2) During the simulation process, the new method can use the real-time position information to obtain the sound velocity profile, seabed topography and seabed sediment parameters from the marine environment database, thereby improving the realism and environmental adaptability of the simulation.

[0122] (3) The new method uses the parabolic equation model to replace the attenuation model, simple normal wave model and ray model, which can improve the flexibility and accuracy of underwater channel function prediction.

[0123] (4) The passive sonar array data real-time generation architecture proposed by the new method adopts a step-by-step parallel strategy, which can compress the real-time computing response time to seconds, achieve rapid response of motion parameters, and solve key problems for the engineering transformation application of data simulation.

[0124] The real-time generation method of passive sonar array data proposed in the present invention can guide or set the target and receiving platform movement status in real time, and can change relevant simulation parameters at any time during the simulation process. It adopts actual ocean environment data and high-precision underwater acoustic propagation model in complex environment, and has the advantages of real-time calculation, high-precision calculation, strong versatility, strong scalability, good environmental applicability, etc. It has broad application prospects in underwater acoustic confrontation, simulation deduction, and auxiliary decision-making.

[0125] Glossary of relevant technical terms

[0126] Step-by-step parallelism: Some of the 10 steps in the passive sonar real-time simulation process have a sequential relationship and some are calculated in parallel on different computer threads.

[0127] Environmental adaptation: During the simulation process, the actual ocean environment parameters can be read according to the motion situation to generate high-precision signal function prediction results.

[0128] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for real-time generation of environment-adaptive passive sonar array data, characterized in that: Real-time guidance of target and receiving platform motion situation information, acquisition of real-time ocean environment data information, prediction of acoustic field channel function using parabolic equation acoustic propagation model in complex ocean environment, and real-time simulation generation of passive sonar array data through multi-module step-by-step parallel calculation strategy. The specific steps are as follows: Step 1: Receive the platform motion situation guidance, and receive the latitude and longitude (LonB, LatB) and speed V of the sonar platform in real time. B , heading D B and the immersion depth Z B , the time interval is △T; Step 2: Target movement situation induction, real-time receiving of target longitude and latitude (LonT, LatT) and water entry depth ZT, with a time interval of △T; Step 3, sonar working parameter setting, including setting the sonar working frequency band (FL, FH), sampling frequency Fs, sonar receiving array element spatial position coordinates (X (1: N), Y (1: N), Z (1: N)), where N is the number of array elements, X is the north direction, Y is the east direction, and Z is the depth direction; Step 4: topological solution of motion parameters, solving the horizontal distance R(k△T,1:N) between the target and each element of the receiving array at different times, where k represents the time sequence number; Step 5: Set the ocean environment parameters required for underwater channel function calculation, including sound velocity profile, seabed topography, and seabed bottom parameters; Step 6: Use the parabolic equation underwater acoustic propagation model to calculate the underwater channel function, and generate the channel function of the target radiation noise reaching each receiving array element under the target motion situation; Step 7: Setting the target radiation noise parameters, setting the continuous spectrum, line spectrum and modulation spectrum parameters of the radiation noise as input for generating the target radiation noise signal; Step 8: Generate target radiation noise signal; Step 9: Sonar target signal generation, generating the signal received by each element of the receiving array after the target radiation noise propagates through the underwater acoustic channel; Step 10: Generate sonar array element domain data.

2. The method for real-time generation of environment-adaptive passive sonar array data according to claim 1, characterized in that: In step 4, the longitude and latitude of the receiving platform (LonB(k△T), LatB(k△T)) and the longitude and latitude of the target (LonT(k△T), LatT(k△T)) are used to calculate the distance coordinate (X) of the target relative to the platform using the earth coordinate system. TD (k△T),Y TD (k△T)); According to the receiving platform heading and array element space coordinates, the coordinates of each array element relative to the array center in actual situation are calculated as: The horizontal distance between the target and the array element is:

3. The method for real-time generation of environment-adaptive passive sonar array data according to claim 2, characterized in that: In step 6, the specific steps are as follows: According to the time interval, the broadband channel function frequency sampling interval The frequency number for sound field calculation is: Using the sound velocity profile, seabed topography and seabed parameters at the first time point, the parabolic equation model sound field calculation formula is adopted to quickly obtain the sound field at different frequencies through parallel calculation: Where p(r) is the sound pressure at distance r, △r is the recursive distance, L p is the order of Padé approximation, a, b are the coefficients of Padé approximation, k0 is the reference wave number; The frequency domain expression of the channel function is: P(FL:△f:FH,r)=[p(FL,r),p(FL+△f,r),...,p(FH-△f,r),p(FH,r)] According to the horizontal distance R(△T:△T:M△T,1:N) between the target and the array element, the frequency domain channel function P of different array elements at different times is obtained. A (FL:△f:FH,△T:△T:M△T,1:N): P A (FL:△f:FH,△T:△T:M△T,1:N)=P(FL:△f:FH,R(△T:△T:M△T,1:N)) The time domain channel function with a duration of 2△T is obtained by using the inverse Fourier transform: ht(0:1 / Fs:(2△T-1 / Fs),△T:△T:M△T,1:N)=FFT -1 (P A (FL:△f:FH,△T:△T:M△T,1:N))。 4. The method for real-time generation of environment-adaptive passive sonar array data according to claim 3, characterized in that: In step 8, a target radiation noise signal is generated. According to the set spectrum parameters, the radiation noise signal expression is: In the formula, is the line spectrum component of ship radiation noise; n(0:1 / Fs:(△T-1 / Fs)) is random noise; is the modulation component of ship radiation noise, n cav (0:1 / Fs:(△T-1 / Fs)) is a continuous spectrum signal; The calculation is performed with a 50% time overlap to maintain the phase continuity of the simulation signal. The signal after the radiation noise signal is overlapped with the △T time is: St(0:1 / Fs:(2△T-1 / Fs))=[S(0:1 / Fs:(△T-1 / Fs))0*(1:△T*Fs)].

5. The method for real-time generation of environment-adaptive passive sonar array data according to claim 4, characterized in that: The step 9 includes the following steps: The first target signal received by each array element is obtained by convolving the target radiation noise with the channel function: R △T (0:1 / Fs:(2△T-1 / Fs),1:N) =St(0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),△T,1:N) The target signal in the second time period is: R 2△T (△T+0:1 / Fs:(2△T-1 / Fs),1:N) =St(△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),2△T,1:N) The target signal in the Mth time period is: R M△T ((M-1)△T+0:1 / Fs:(2△T-1 / Fs),1:N) =St((M-1)△T+0:1 / Fs:(2△T-1 / Fs))·ht(0:1 / Fs:(2△T-1 / Fs),M△T,1:N) Among them, <·> represents the convolution operation; Finally, the target signal Rt received by each array element is obtained by summing the signals in different time periods.

6. The method for real-time generation of environment-adaptive passive sonar array data according to claim 5, characterized in that: The step 10 includes the following steps: adding a noise signal to the target signal to obtain the sonar array element domain data Ra under any situation: Ra(0:1 / Fs:(t*Fs-1))=Rt(0:1 / Fs:(t*Fs-1))+Nt(0:1 / Fs:(t*Fs-1)).

7. The method for real-time generation of environment-adaptive passive sonar array data according to claim 6, characterized in that: The above-mentioned different steps are processed in parallel in time sequence to realize the real-time generation of passive sonar array data.

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