Underwater acoustic positioning method, system and device and storage medium

Abstract

The invention relates to the field of ocean exploration, and provides an underwater acoustic positioning method, system and device and a storage medium, and the method comprises the steps: determining an optimal frequency band of an acoustic signal, and segmenting the optimal frequency band to form a plurality of signal sub-band frequency bands; determining an orthogonal array meeting a preset condition according to an orthogonal rule; generating a cross correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency band, and determining an optimal pulse width according to the cross correlation coefficient and a preset threshold value; and generating an optimal waveform signal according to the optimal pulse width, and positioning according to the optimal waveform signal. According to the method, the short-time pulse orthogonal signal waveform is designed by utilizing the orthogonality of the array and adopting a frequency hopping method, so that the interference among acoustic signals of underwater multi-node positioning is solved, and multi-node high-precision time delay estimation and accurate positioning are realized.

Description

Technical Field

[0001] The present invention relates to the field of ocean exploration, and more specifically, to a method, system, device and storage medium for underwater acoustic positioning. Background Art

[0002] With the rapid development of marine geophysical exploration, the OBN (Ocean Bottom Node) seismic acquisition node network has been continuously expanded. Tens of thousands of nodes form a synchronous acquisition network to complete the acquisition of seabed seismic data. The greater the grid density, the richer the collected data and the more accurate the classification of seabed topography and underwater minerals. As the grid density increases, the node spacing becomes smaller, and the interference of acoustic positioning signals between nodes increases. The node transponder works on the seabed for a long time, and its own energy is limited. Currently, it can only be powered by an internally installed battery pack. Considering the large-scale deployment of transponder nodes, the orthogonal multiple access coded signals suitable for changes in the marine environment are studied to solve the interference between the positioning signals of nodes in large seismic acquisition networks and realize high-precision delay estimation between nodes, which has urgent application value for the development of marine geophysical exploration. Summary of the invention

[0003] In view of this, the purpose of the embodiments of the present invention is to propose a method, system, electronic device and computer-readable storage medium for underwater acoustic positioning. The present invention utilizes the orthogonality of the array and adopts a frequency hopping method to design a short-time pulse orthogonal signal waveform to solve the interference between acoustic signals in underwater multi-node positioning and achieve high-precision delay estimation and precise positioning of multiple nodes.

[0004] Based on the above-mentioned purpose, one aspect of an embodiment of the present invention provides a method for underwater acoustic positioning, comprising the following steps: determining an optimal frequency band of an acoustic signal, and dividing the optimal frequency band to form a plurality of signal sub-band frequency bands; determining an orthogonal array that meets preset conditions according to an orthogonal rule; generating a mutual correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands, and determining an optimal pulse width according to the mutual correlation coefficient and a preset threshold; and generating an optimal waveform signal according to the optimal pulse width, and performing positioning according to the optimal waveform signal.

[0005] In some embodiments, the step of determining the optimal frequency band of the acoustic signal includes: calculating the absorption coefficient of the acoustic signal frequency according to the maximum working distance of the transponder and the depth of the target sea area, and determining the optimal frequency band of the acoustic signal according to the absorption coefficient.

[0006] In some embodiments, the step of splitting the optimal frequency band to form multiple signal sub-band frequency bands includes: dividing the acoustic signal into multiple signal sub-bands, and setting a serial number for each signal sub-band in sequence; calculating the difference between the end frequency and the start frequency of the optimal frequency band, and dividing the difference by the number of signal sub-bands to obtain a first intermediate value; multiplying the first intermediate value by the serial number of the signal sub-band to obtain a second intermediate value, calculating the sum of the second intermediate value and the start frequency of the optimal frequency band; and calculating the ratio of the system clock to the sum, using the ratio as a division coefficient, and splitting the optimal frequency band according to the division coefficient.

[0007] In some embodiments, the step of determining an orthogonal array that meets preset conditions according to an orthogonal rule includes: presetting an orthogonal array library, and matching an orthogonal array that meets the preset conditions in the orthogonal array library by an enumeration search algorithm.

[0008] In some implementations, the step of matching an orthogonal array that meets a preset condition in the orthogonal array library by an enumeration search algorithm includes: setting a maximum value of a secondary peak value of an autocorrelation function of the orthogonal array not to exceed a preset value.

[0009] In some embodiments, the step of generating the cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands includes: reconnecting the signal sub-band frequency bands in the order of the orthogonal array, and obtaining the cross-correlation coefficient based on the result of the reconnection.

[0010] In some embodiments, the step of determining the optimal pulse width based on the mutual correlation coefficient and a preset threshold includes: adjusting the pulse width of each signal sub-band so that the mutual correlation coefficient between different signal sub-bands satisfies a threshold value, and taking the pulse width of each signal sub-band when the mutual correlation coefficient satisfies the threshold value as the optimal pulse width.

[0011] According to another aspect of an embodiment of the present invention, a system for underwater acoustic positioning is provided, comprising: a segmentation module, configured to determine an optimal frequency band of an acoustic signal, and to segment the optimal frequency band to form a plurality of signal sub-band frequency bands; an array module, configured to determine an orthogonal array that meets preset conditions according to an orthogonal rule; a pulse width module, configured to generate a mutual correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands, and to determine an optimal pulse width according to the mutual correlation coefficient and a preset threshold; and an execution module, configured to generate an optimal waveform signal according to the optimal pulse width, and to perform positioning according to the optimal waveform signal.

[0012] According to another aspect of an embodiment of the present invention, there is provided an electronic device, comprising: at least one processor; and a memory, wherein the memory stores computer instructions executable on the processor, and the instructions implement the steps of the above method when executed by the processor.

[0013] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program that implements the above method steps when executed by a processor.

[0014] The present invention has the following beneficial technical effects: utilizing the orthogonality of the array, adopting the frequency hopping method, designing a short-time pulse orthogonal signal waveform, solving the interference between acoustic signals of underwater multi-node positioning, and realizing high-precision delay estimation and precise positioning of multiple nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of an embodiment of the underwater acoustic positioning method provided by the present invention;

[0017] Figure 2 An orthogonal array diagram with 5 primitive elements provided in one embodiment of the present invention;

[0018] Figure 3 A time-frequency diagram of a frequency division multiple access orthogonal underwater acoustic positioning signal provided by an embodiment of the present invention;

[0019] Figure 4 An autocorrelation diagram of a frequency division multiple access orthogonal underwater acoustic positioning signal provided by an embodiment of the present invention;

[0020] Figure 5 A cross-correlation diagram of frequency division multiple access orthogonal underwater acoustic positioning signals provided by an embodiment of the present invention;

[0021] Figure 6 A diagram of the deployment of a transponder on a lake for testing according to an embodiment of the present invention;

[0022] Figure 7 A positioning accuracy evaluation diagram for a lake test provided by an embodiment of the present invention;

[0023] Figure 8 A schematic diagram of an embodiment of the underwater acoustic positioning system provided by the present invention;

[0024] Fig. 9 A schematic diagram of the hardware structure of an embodiment of an electronic device for underwater acoustic positioning provided by the present invention;

[0025] Fig.10 A schematic diagram of an embodiment of a computer storage medium for underwater acoustic positioning provided by the present invention. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0027] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0028] A first aspect of the embodiments of the present invention provides an embodiment of a method for underwater acoustic positioning. Figure 1 Shown is a schematic diagram of an embodiment of the underwater acoustic positioning method provided by the present invention.

[0029] like Figure 1 As shown, the embodiment of the present invention includes the following steps:

[0030] S1. determining an optimal frequency band of an acoustic signal, and dividing the optimal frequency band to form a plurality of signal sub-band frequency bands;

[0031] S2. Determine an orthogonal array that meets preset conditions according to an orthogonal rule;

[0032] S3, generating a cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency band, and determining an optimal pulse width according to the cross-correlation coefficient and a preset threshold; and

[0033] S4. Generate an optimal waveform signal according to the optimal pulse width, and perform positioning according to the optimal waveform signal.

[0034] The ocean acoustic channel is a typical time-frequency dual-extended channel, which is characterized by narrow bandwidth, large Doppler frequency shift and strong background noise. The absorption coefficients of acoustic signals in different frequency bands are exponentially distributed. In order to improve the delay accuracy of multi-node positioning signals and reduce interference between signals, random orthogonal signals with infinite autocorrelation gain and infinite cross-correlation gain are searched according to the convergence conditions to ensure the minimum interference between signals, and the ambiguity function is used to evaluate the performance of the positioning signal waveform.

[0035] The embodiment of the present invention first selects the optimal acoustic frequency band according to the absorption coefficient of the acoustic signal based on the action distance requirement of the transponder, and designs the optimal frequency divider to complete the division of the signal sub-band. Secondly, according to the orthogonal rule, an enumeration search algorithm is used to quickly search for an orthogonal array that meets the design requirements, and the orthogonality of the array is evaluated. Finally, the mutual correlation coefficient of the generated signal is calculated, and the optimal pulse width of the generated waveform is calculated according to the set threshold to complete the signal design.

[0036] An optimal frequency band of the acoustic signal is determined, and the optimal frequency band is divided to form a plurality of signal sub-band frequency bands.

[0037] In some embodiments, the step of determining the optimal frequency band of the acoustic signal includes: calculating the absorption coefficient of the acoustic signal frequency according to the maximum working distance of the transponder and the depth of the target sea area, and determining the optimal frequency band of the acoustic signal according to the absorption coefficient.

[0038] The absorption coefficient of the acoustic signal at different depths is calculated as follows:

[0039]

[0040] Where α is the absorption coefficient of the acoustic signal, h is the depth of the transponder, and f is the frequency of the signal.

[0041] In some embodiments, the step of splitting the optimal frequency band to form multiple signal sub-band frequency bands includes: dividing the acoustic signal into multiple signal sub-bands, and setting a serial number for each signal sub-band in sequence; calculating the difference between the end frequency and the start frequency of the optimal frequency band, and dividing the difference by the number of signal sub-bands to obtain a first intermediate value; multiplying the first intermediate value by the serial number of the signal sub-band to obtain a second intermediate value, calculating the sum of the second intermediate value and the start frequency of the optimal frequency band; and calculating the ratio of the system clock to the sum, using the ratio as a division coefficient, and splitting the optimal frequency band according to the division coefficient.

[0042] The frequency division coefficient is calculated as follows:

[0043]

[0044] Where Div is the frequency division coefficient, Clock sys is the system clock, f L is the start and end frequency of the frequency band, f H is the end frequency of the frequency band, N is the number of subbands, and n is the sequence number of each subband, starting from 0 and ending at N-1.

[0045] An orthogonal array that meets preset conditions is determined according to the orthogonal rule.

[0046] In some embodiments, the step of determining an orthogonal array that meets preset conditions according to an orthogonal rule includes: presetting an orthogonal array library, and matching an orthogonal array that meets the preset conditions in the orthogonal array library by an enumeration search algorithm.

[0047] In some implementations, the step of matching an orthogonal array that meets a preset condition in the orthogonal array library by an enumeration search algorithm includes: setting a maximum value of a secondary peak value of an autocorrelation function of the orthogonal array not to exceed a preset value.

[0048] One of the criteria for determining an orthogonal array, the specific setting of the permutation array is:

[0049] P=(p ij ) is an M-order permutation array if and only if for any integers τ, d, where 1≤i,j≤M, |τ|≤M-1, |d|≤M-1 and τ and d are different, it is 0. Where P is an array, p ij is the value of the array value at the i-th row and j-th column, and M is the dimension of the array.

[0050] The second criterion for orthogonal arrays is that the maximum value of the secondary peak value of the array's autocorrelation function does not exceed 1. The specific calculation method is as follows:

[0051]

[0052] where R(τ,d) is the correlation coefficient between row delay τ and column delay d, and M is the dimension of the array.

[0053] The array is a permutation array of order (M-1). The necessary and sufficient condition for the array to be an orthogonal array is that the placement function satisfies the following formula:

[0054] y(k)=ηλ k (modM),1≤k≤M-1

[0055] Where y(k) is the array value, k is the subscript, λ is the primitive element of the Galois field, and η is the non-zero element of the Galois field. Figure 2 An orthogonal array diagram with 5 primitive elements provided by the present invention.

[0056] A cross-correlation coefficient of the acoustic signal is generated according to the orthogonal array and the signal sub-band frequency band, and an optimal pulse width is determined according to the cross-correlation coefficient and a preset threshold.

[0057] In some embodiments, the step of generating the cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands includes: reconnecting the signal sub-band frequency bands in the order of the orthogonal array, and obtaining the cross-correlation coefficient based on the result of the reconnection.

[0058] The orthogonal array is combined with the frequency modulation pattern to reconnect the sub-band frequencies in the order of the orthogonal array y(k), which is specifically implemented as follows:

[0059] s=cat(f_table(y(k)),k=0...M-1

[0060] Where s is the signal, f_table is the subband frequency table, cat() means sequential concatenation of data, y(k) is the data of the array, and M is the dimension of the array.

[0061] The specific implementation is as follows:

[0062]

[0063] Where R(s i ,s j ) is the signal s i ,s j is the mutual correlation coefficient of , s is the signal.

[0064] In some embodiments, the step of determining the optimal pulse width based on the mutual correlation coefficient and a preset threshold includes: adjusting the pulse width of each signal sub-band so that the mutual correlation coefficient between different signal sub-bands satisfies a threshold value, and taking the pulse width of each signal sub-band when the mutual correlation coefficient satisfies the threshold value as the optimal pulse width.

[0065] Adjust the pulse width of each sub-band symbol. When the correlation coefficient between different signals meets the set threshold (as shown in the following formula), the orthogonal signal generation is completed. Otherwise, the pulse width of the signal needs to be further increased.

[0066] max(R(s i ,s j ))≤Thr

[0067] Where R(s i ,s j ) is the signal s i ,s j The mutual correlation coefficient, max() is the calculated maximum value, and Thr is the correlation coefficient threshold.

[0068] Figure 3 The time-frequency diagram of the frequency division multiple access orthogonal underwater acoustic positioning signal provided by the present invention; Figure 4 The autocorrelation diagram of the frequency division multiple access orthogonal underwater acoustic positioning signal provided by the present invention; Figure 5 The cross-correlation diagram of the frequency division multiple access orthogonal underwater acoustic positioning signal provided by the present invention.

[0069] An optimal waveform signal is generated according to the optimal pulse width, and positioning is performed according to the optimal waveform signal.

[0070] Figure 6The layout diagram of the transponder lake test provided by the present invention is as follows: Figure 6 As shown, the embodiment of the present invention was tested and verified in a reservoir, transponder nodes were deployed on the bottom of the lake, and the performance was verified using an acoustic positioning system. During the test, 10 groups of frequency division multiple access orthogonal hydroacoustic positioning signals were emitted, and the performance met the requirements of geophysical exploration positioning. Figure 7 This is a positioning accuracy assessment diagram for the lake test provided by the present invention.

[0071] The embodiment of the present invention utilizes the orthogonality of the array and adopts a frequency hopping method to design a short-time pulse orthogonal signal waveform to solve the interference between acoustic signals in underwater multi-node positioning, providing a solution for improving the positioning accuracy of large-scale and large-area submarine oil and gas exploration.

[0072] It should be pointed out in particular that the various steps in the various embodiments of the above-mentioned underwater acoustic positioning method can be cross-linked, replaced, added, and deleted. Therefore, these reasonable permutations, combinations and transformations of the underwater acoustic positioning method should also fall within the scope of protection of the present invention, and the scope of protection of the present invention should not be limited to the embodiments.

[0073] Based on the above purpose, the second aspect of the embodiment of the present invention provides a system for underwater acoustic positioning. Figure 8 As shown, the system 200 includes the following modules: a segmentation module, configured to determine the optimal frequency band of the acoustic signal, and to segment the optimal frequency band to form a plurality of signal sub-band frequency bands; an array module, configured to determine an orthogonal array that meets a preset condition according to an orthogonal rule; a pulse width module, configured to generate a mutual correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands, and to determine an optimal pulse width according to the mutual correlation coefficient and a preset threshold; and an execution module, configured to generate an optimal waveform signal according to the optimal pulse width, and to perform positioning according to the optimal waveform signal.

[0074] In some embodiments, the segmentation module is configured to calculate an absorption coefficient of the acoustic signal frequency according to a maximum working distance of the transponder and a depth of the target sea area, and determine an optimal frequency band of the acoustic signal according to the absorption coefficient.

[0075] In some embodiments, the segmentation module is configured to: divide the acoustic signal into multiple signal sub-bands, and set a serial number for each signal sub-band in order; calculate the difference between the end frequency and the start frequency of the optimal frequency band, and divide the difference by the number of signal sub-bands to obtain a first intermediate value; multiply the first intermediate value by the serial number of the signal sub-band to obtain a second intermediate value, calculate the sum of the second intermediate value and the start frequency of the optimal frequency band; and calculate the ratio of the system clock to the sum, use the ratio as a division coefficient, and divide the optimal frequency band according to the division coefficient.

[0076] In some embodiments, the array module is configured to: pre-set an orthogonal array library, and match an orthogonal array that meets preset conditions in the orthogonal array library through an enumeration search algorithm.

[0077] In some embodiments, the array module is configured to: set the maximum value of the secondary peak value of the autocorrelation function of the orthogonal array to not exceed a preset value.

[0078] In some implementations, the pulse width module is configured to: reconnect the signal sub-band frequency segments in an orthogonal array order, and obtain the cross-correlation coefficient based on a result of the reconnection.

[0079] In some embodiments, the pulse width module is configured to: adjust the pulse width of each signal subband so that the correlation coefficient between different signal subbands meets a threshold value, and use the pulse width of each signal subband when the correlation coefficient meets the threshold value as the optimal pulse width.

[0080] Based on the above purpose, the third aspect of an embodiment of the present invention proposes an electronic device, comprising: at least one processor; and a memory, the memory storing computer instructions that can be run on the processor, the instructions being executed by the processor to implement the following steps: S1, determining the optimal frequency band of the acoustic signal, and dividing the optimal frequency band to form a plurality of signal sub-band frequency bands; S2, determining an orthogonal array that meets preset conditions according to an orthogonal rule; S3, generating a mutual correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands, and determining an optimal pulse width according to the mutual correlation coefficient and a preset threshold; and S4, generating an optimal waveform signal according to the optimal pulse width, and performing positioning according to the optimal waveform signal.

[0081] In some embodiments, the step of determining the optimal frequency band of the acoustic signal includes: calculating the absorption coefficient of the acoustic signal frequency according to the maximum working distance of the transponder and the depth of the target sea area, and determining the optimal frequency band of the acoustic signal according to the absorption coefficient.

[0082] In some embodiments, the step of splitting the optimal frequency band to form multiple signal sub-band frequency bands includes: dividing the acoustic signal into multiple signal sub-bands, and setting a serial number for each signal sub-band in sequence; calculating the difference between the end frequency and the start frequency of the optimal frequency band, and dividing the difference by the number of signal sub-bands to obtain a first intermediate value; multiplying the first intermediate value by the serial number of the signal sub-band to obtain a second intermediate value, calculating the sum of the second intermediate value and the start frequency of the optimal frequency band; and calculating the ratio of the system clock to the sum, using the ratio as a division coefficient, and splitting the optimal frequency band according to the division coefficient.

[0083] In some embodiments, the step of determining an orthogonal array that meets preset conditions according to an orthogonal rule includes: presetting an orthogonal array library, and matching an orthogonal array that meets the preset conditions in the orthogonal array library by an enumeration search algorithm.

[0084] In some implementations, the step of matching an orthogonal array that meets a preset condition in the orthogonal array library by an enumeration search algorithm includes: setting a maximum value of a secondary peak value of an autocorrelation function of the orthogonal array not to exceed a preset value.

[0085] In some embodiments, the step of generating the cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency bands includes: reconnecting the signal sub-band frequency bands in the order of the orthogonal array, and obtaining the cross-correlation coefficient based on the result of the reconnection.

[0086] In some embodiments, the step of determining the optimal pulse width based on the mutual correlation coefficient and a preset threshold includes: adjusting the pulse width of each signal sub-band so that the mutual correlation coefficient between different signal sub-bands satisfies a threshold value, and taking the pulse width of each signal sub-band when the mutual correlation coefficient satisfies the threshold value as the optimal pulse width.

[0087] like Fig. 9 FIG. 1 is a schematic diagram of the hardware structure of an embodiment of the electronic device for underwater acoustic positioning provided by the present invention.

[0088] As Fig. 9 Taking the device shown as an example, the device includes a processor 301 and a memory 302.

[0089] The processor 301 and the memory 302 may be connected via a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0090] The memory 302 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for underwater acoustic positioning in the embodiment of the present application. The processor 301 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 302, that is, realizing the method for underwater acoustic positioning.

[0091] The memory 302 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created according to the use of the underwater acoustic positioning method, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 302 may optionally include a memory remotely arranged relative to the processor 301, and these remote memories may be connected to the local module via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] Computer instructions 303 corresponding to one or more underwater acoustic positioning methods are stored in the memory 302, and when executed by the processor 301, the underwater acoustic positioning method in any of the above method embodiments is executed.

[0093] Any one embodiment of the electronic device that executes the above-mentioned underwater acoustic positioning method can achieve the same or similar effect as any corresponding one of the above-mentioned method embodiments.

[0094] The present invention also provides a computer-readable storage medium, which stores a computer program for executing the method for underwater acoustic positioning when executed by a processor.

[0095] like Fig.10 FIG. 1 is a schematic diagram of an embodiment of the computer storage medium for underwater acoustic positioning provided by the present invention. Fig.10 Taking the computer storage medium shown as an example, the computer readable storage medium 401 stores a computer program 402 that performs the above method when executed by a processor.

[0096] Finally, it should be noted that a person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program of the underwater acoustic positioning method can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium of the program can be a disk, an optical disk, a read-only storage memory (ROM) or a random access memory (RAM), etc. The above-mentioned computer program embodiment can achieve the same or similar effect as any of the corresponding aforementioned method embodiments.

[0097] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope disclosed in the embodiments of the present invention as defined in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless explicitly limited to the singular.

[0098] It should be understood that, as used herein, the singular forms "a", "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations including one or more of the associated listed items.

[0099] The serial numbers of the embodiments disclosed in the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0101] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the embodiments of the present invention as above, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A method for underwater acoustic positioning, characterized in that: The steps include: Determining an optimal frequency band of an acoustic signal, and dividing the optimal frequency band to form a plurality of signal sub-band frequency bands; Determine an orthogonal array that meets preset conditions according to an orthogonal rule; generating a cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency band, and determining an optimal pulse width according to the cross-correlation coefficient and a preset threshold; and An optimal waveform signal is generated according to the optimal pulse width, and positioning is performed according to the optimal waveform signal.

2. The method for underwater acoustic positioning according to claim 1, characterized in that: The step of determining the optimal frequency band of the acoustic signal comprises: The absorption coefficient of the acoustic signal frequency is calculated according to the maximum working distance of the transponder and the depth of the target sea area, and the optimal frequency band of the acoustic signal is determined according to the absorption coefficient.

3. The method for underwater acoustic positioning according to claim 2, characterized in that: The step of dividing the optimal frequency band to form a plurality of signal sub-band frequency bands comprises: Divide the acoustic signal into a plurality of signal sub-bands, and set a sequence number for each signal sub-band in sequence; Calculating a difference between an end frequency and a start frequency of the optimal frequency band, and dividing the difference by the number of signal sub-bands to obtain a first intermediate value; multiplying the first intermediate value by the sequence number of the signal sub-band to obtain a second intermediate value, and calculating a sum of the second intermediate value and the start frequency of the optimal frequency band; and The ratio of the system clock to the sum is calculated, the ratio is used as a frequency division coefficient, and the optimal frequency band is divided according to the frequency division coefficient.

4. The method for underwater acoustic positioning according to claim 1, characterized in that: The step of determining an orthogonal array that meets a preset condition according to an orthogonal rule comprises: An orthogonal array library is preset, and an orthogonal array meeting preset conditions is matched in the orthogonal array library through an enumeration search algorithm.

5. The method for underwater acoustic positioning according to claim 4, characterized in that: The step of matching an orthogonal array that meets a preset condition in the orthogonal array library by an enumeration search algorithm comprises: The maximum value of the secondary peak value of the autocorrelation function of the orthogonal array is set not to exceed a preset value.

6. The method for underwater acoustic positioning according to claim 1, characterized in that: The step of generating a cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency band comprises: The signal sub-band frequency segments are reconnected in the order of an orthogonal array, and the cross-correlation coefficient is obtained based on the result of the reconnection.

7. The method for underwater acoustic positioning according to claim 6, characterized in that: The step of determining the optimal pulse width according to the mutual correlation coefficient and the preset threshold comprises: The pulse width of each signal sub-band is adjusted so that the cross-correlation coefficient between different signal sub-bands satisfies a threshold value, and the pulse width of each signal sub-band when the cross-correlation coefficient satisfies the threshold value is used as the optimal pulse width.

8. An underwater acoustic positioning system, characterized in that: include: A segmentation module, configured to determine an optimal frequency band of an acoustic signal, and segment the optimal frequency band to form a plurality of signal sub-band frequency bands; An array module, configured to determine an orthogonal array that meets a preset condition according to an orthogonal rule; A pulse width module, configured to generate a cross-correlation coefficient of the acoustic signal according to the orthogonal array and the signal sub-band frequency band, and determine an optimal pulse width according to the cross-correlation coefficient and a preset threshold; as well as An execution module is configured to generate an optimal waveform signal according to the optimal pulse width and perform positioning according to the optimal waveform signal.

9. An electronic device, characterized in that: include: at least one processor; as well as A memory storing computer instructions executable on the processor, wherein the instructions, when executed by the processor, implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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