A passive ranging method for a surface target based on a vertical dual hydrophone, a storage medium and an equipment

Abstract

A kind of water surface target passive ranging method based on vertical double hydrophone, storage medium and equipment, it belongs to the technical field of underwater acoustic detection and array signal processing.The present application solves the problems of small application range of existing water surface target ranging method and complex geometry for ranging.The hydrophone in the present application is placed near the seabed, mainly for positioning the target in the direct sound area, and since the placement method is vertical placement, there is only a depth difference between the two, by performing autocorrelation operation on the received signal of hydrophone, the time delay between deep sea direct sound and seabed reflected sound can be extracted using the obtained hydrophone autocorrelation function, and an equation set is established using the time delay between deep sea direct sound and seabed reflected sound, and then the horizontal distance between the hydrophone and the water surface target is obtained by solving the equation set, the ranging method of the present application can be used for real-time detection of water surface target, and the ranging result of water surface target is obtained.The method of the present application can be applied to water surface target ranging.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater acoustic detection and array signal processing, and particularly relates to a water surface target passive ranging method based on vertical double hydrophones, a storage medium and equipment. BACKGROUND

[0002] At present, the demand for passive positioning technology of underwater targets is becoming more and more urgent, and gradually developing towards deep sea passive detection method. The propagation of sound waves in water has obvious multi-path structure, and the time delay of different paths reaching the hydrophone is closely related to the geometric structure between the sound source position and the hydrophone. For the water surface target, the time delay difference between the direct wave and the sea surface reflected wave is very small, which is difficult to extract; and the seabed topography is mostly flat, and the seabed reflection structure is relatively stable. However, there are relatively few studies on passive positioning using target seabed acoustic reflection. The passive positioning using seabed reflection mainly carries out the following research work: document 1 (Xu Jialu, Guo Lianghao, Ren Yun. Deep sea seabed acoustic reflection zone multi-path time delay difference analysis and near sea surface sound source positioning [J]. Acta Acustica, 2023, 48(04): 618-631. DOI:10.15949 / j.cnki.0371-0025.2023.04.013.) mainly studies 4 sound lines in the seabed acoustic reflection zone. According to the time of 4 sound line paths reaching the receiving point in the seabed acoustic reflection zone, 6 different sound line time delay differences can be obtained. The time delay difference contains the sound source position information, and the distance and depth of the sound source are estimated by extracting the information in the 6 time delay differences, but the geometric structure is relatively complex. Document 2 (Sun Dajun, Lu Mingyang, Mei Jidan, et al. Passive positioning of seabed reflection time delay generalized Radon transform [J]. Acta Acustica, 2023, 48(06): 1142-1153.) proposes a target parameter estimation method based on generalized Radon transform. Through the geometric mathematical model between direct sound and seabed reflected sound, the idea of Radon transform is introduced, and the motion parameters of the water surface uniform straight sailing target are realized by two hydrophones, but it is only suitable for the positioning of straight sailing motion target, and is not suitable for the positioning of non-straight sailing motion target, so the application scope of the positioning method is small.

[0003] In summary, the existing target positioning method has different degrees of limitations in actual application, therefore, based on the existing target positioning technology, the ranging requirements of the water surface target cannot be met, therefore, it is an urgent problem to be solved to propose a new water surface target ranging method. SUMMARY

[0004] The purpose of the present application is to solve the problems of small application scope of the existing water surface target ranging method and complex geometric structure for ranging, and a water surface target passive ranging method based on vertical double hydrophones, a storage medium and equipment are proposed.

[0005] The technical scheme adopted by the present application to solve the above technical problems is: a water surface target passive ranging method based on vertical double hydrophones, which specifically comprises the following steps:

[0006] Step one, respectively perform autocorrelation operation on the received signals of the two hydrophones to obtain autocorrelation functions of the two hydrophones, and the connecting line of the two hydrophones is perpendicular to the water surface;

[0007] Step two, extract seabed reflection time delay τ1 according to the autocorrelation function of the first hydrophone, and extract seabed reflection time delay τ2 according to the autocorrelation function of the second hydrophone;

[0008] Step three, establish an equation group for calculating the horizontal distance between the hydrophone and the water surface target at t time according to the seabed reflection time delay τ1 and the seabed reflection time delay τ2;

[0009] Step four, solve the equation group established in step three to obtain the horizontal distance between the water surface target and the hydrophone;

[0010] Step five, perform steps one to four on the signal received by the hydrophone at each time to obtain the distance history measurement result of the water surface target.

[0011] Further, the autocorrelation operation on the received signals of the two hydrophones is specifically:

[0012] The signal g1(t) received by the first hydrophone at t time is expressed as:

[0013]

[0014] Wherein, h1(t) represents the impulse response function of the first hydrophone channel at t time, represents convolution, s(t) represents the signal emitted by the target at t time, and n1(t) represents the noise signal received by the first hydrophone at t time;

[0015] The signal g2(t) received by the second hydrophone at t time is expressed as:

[0016]

[0017] Wherein, h2(t) represents the impulse response function of the second hydrophone channel at t time, represents convolution, and n2(t) represents the noise signal received by the second hydrophone at t time;

[0018] Then, the autocorrelation functions of the first hydrophone and the second hydrophone at t time are respectively expressed as:

[0019] R1(τ) = E[g1(t)g1(t-τ)]

[0020] R2(τ) = E[g2(t)g2(t-τ)]

[0021] wherein R1(τ) represents the autocorrelation function of the first hydrophone, R2(τ) represents the autocorrelation function of the second hydrophone, and E[·] represents expectation.

[0022] Further, the impulse response function h1(t) of the first hydrophone channel at the time t is:

[0023]

[0024] wherein N represents the number of eigen-ray lines reaching the hydrophone, a i represents the amplitude of the i-th eigen-ray line, τ 1,i represents the time delay of the i-th eigen-ray line reaching the first hydrophone, i=0 represents the direct wave, and δ(t) is the unit impulse response;

[0025] The impulse response function h2(t) of the second hydrophone channel at the time t is:

[0026]

[0027] wherein τ 2,i represents the time delay of the i-th eigen-ray line reaching the second hydrophone.

[0028] Further, the equation group for calculating the horizontal distance between the hydrophone and the water surface target at the time t is established according to the sea bottom reflection time delay τ1 and the sea bottom reflection time delay τ2, and specifically is:

[0029]

[0030] wherein H is the equivalent reflection depth of the sea bottom, r is the horizontal distance between the water surface target and the hydrophone, H1 is the depth of the first hydrophone, H2 is the depth of the second hydrophone, h is the depth of the water surface target radiation noise signal source, c is the equivalent sound speed in water, τ1 is the sea bottom reflection time delay of the first hydrophone, and τ2 is the sea bottom reflection time delay of the second hydrophone.

[0031] Further, in the step four, the equation group established in the step three is solved by using the multivariate Newton iteration method.

[0032] Further, the specific process of the step four is:

[0033] Step four one, initialize the iteration number k=1, and initialize X 0 =[r0,H0] T, H0 represents an initialized value of the equivalent reflection depth of the seabed, and r0 represents an initialized value of the horizontal distance between the hydrophone and the water surface target;

[0034] Step four two, according to X k Calculate X k+1 = [r k+1 , H k+1 ] T :

[0035]

[0036] wherein G is a Jacobian matrix, represents an iterative increment;

[0037] Step four three, judge whether the iterative increment satisfies wherein ε is a set threshold, and ||·||2 represents the calculation 2 norm;

[0038] If yes, H k+1 is taken as the estimated value of the seabed reflection point depth, and r k+1 is taken as the estimated value of the horizontal distance between the water surface target and the hydrophone.

[0039] If no, let k=k+1, and return to execute step four two.

[0040] Further, the Jacobian matrix G is:

[0041]

[0042] A computer storage medium, the storage medium has at least one instruction, the at least one instruction is loaded and executed by the processor to realize the one kind of water surface target passive ranging method based on vertical double hydrophone.

[0043] A passive ranging device for a water surface target based on a vertical double hydrophone, the device comprising a processor and a memory, the memory having at least one instruction stored therein, the at least one instruction being loaded and executed by the processor to realize the one kind of water surface target passive ranging method based on vertical double hydrophone.

[0044] The beneficial effects of the present application are:

[0045] The hydrophone in the application is laid close to the sea bottom, and is mainly used for positioning the target in the direct sound area, and since the laying mode is vertical laying, only the depth difference exists between the two, the time delay between the deep sea direct sound and the sea bottom reflected sound can be extracted by performing autocorrelation operation on the received signal of the hydrophone, and the horizontal distance between the hydrophone and the water surface target can be obtained by establishing an equation set by using the time delay between the deep sea direct sound and the sea bottom reflected sound, and solving the equation set. The ranging method of the application can be used for real-time detection of the water surface target, and the ranging result of the water surface target can be obtained.

[0046] The method of the application can be realized by only two vertically laid hydrophones, and the ranging result can be obtained by simple geometric ranging structure. Moreover, the water surface target does not need to be limited to straight motion, and the ranging can be realized under non-straight motion, and the application range is wide. Moreover, the calculation amount of the method of the application is small, and the real-time of the ranging is effectively ensured. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a flow chart of a passive ranging method of a water surface target based on vertical double hydrophones of the application;

[0048] Figure 2 is a target motion schematic diagram;

[0049] Figure 3 is a schematic diagram of direct sound wave and sea bottom reflected sound wave;

[0050] Figure 4 is the autocorrelation function of the first hydrophone;

[0051] Figure 5 is the autocorrelation function of the second hydrophone;

[0052] Figure 6 is an error curve diagram in the iteration process of solving the equation set;

[0053] Figure 7 is a calculation result diagram in the iteration process of solving the equation set;

[0054] Figure 8 is a motion target ranging result diagram. DETAILED DESCRIPTION

[0055] Specific implementation one: combining Figure 1 This embodiment is described. The passive ranging method of a water surface target based on vertical double hydrophones of the embodiment specifically comprises the following steps:

[0056] Step one, respectively performing autocorrelation operation on the received signals of the two hydrophones to obtain the autocorrelation functions of the two hydrophones, and the line connecting the two hydrophones is perpendicular to the water surface;

[0057] Step two, extracting seabed reflection time delay τ1 (i.e. the time delay difference between the direct and seabed reflection of the target radiated noise signal reaching the corresponding hydrophone) according to the autocorrelation function of the first hydrophone, and extracting seabed reflection time delay τ2 according to the autocorrelation function of the second hydrophone;

[0058] Step three, based on the virtual source method and according to the seabed reflection time delay τ1 and the seabed reflection time delay τ2, establishing an equation group for calculating the horizontal distance between the hydrophone and the water surface target at time t;

[0059] Step four, solving the equation group established in step three to obtain the horizontal distance between the water surface target and the hydrophone;

[0060] Step five, performing steps one to four on the signal received by the hydrophone at each time to obtain the distance history measurement result of the water surface target.

[0061] In actual application, the iteration initial value at the current time can be selected as the iteration result at the last time to improve the iteration speed. Figure 8 The estimation results at different distances are given, and it can be seen that they basically conform to the true horizontal distance.

[0062] Specific implementation method two: different from the specific implementation method one, the autocorrelation operation is performed on the received signals of the two hydrophones respectively, specifically:

[0063] The signal g1(t) received by the first hydrophone at time t is expressed as:

[0064]

[0065] wherein h1(t) represents the impulse response function of the first hydrophone channel at time t, denotes convolution, s(t) represents the signal emitted by the target at time t, and n1(t) represents the noise signal received by the first hydrophone at time t;

[0066] The signal g2(t) received by the second hydrophone at time t is expressed as:

[0067]

[0068] wherein h2(t) represents the impulse response function of the second hydrophone channel at time t, denotes convolution, and n2(t) represents the noise signal received by the second hydrophone at time t;

[0069] Assuming that the noises received by the two hydrophones are not correlated, and after the signal is band-pass filtered, the autocorrelation functions of the first hydrophone and the second hydrophone at time t are respectively expressed as:

[0070] R1(τ) = E[g1(t)g1(t-τ)]

[0071] R2(τ) = E[g2(t)g2(t-τ)]

[0072] Wherein, R1(τ) represents the autocorrelation function of the first hydrophone, R2(τ) represents the autocorrelation function of the second hydrophone, and E[·] represents expectation.

[0073] Other steps and parameters are the same as those in the first embodiment.

[0074] The autocorrelation functions under different time delays are plotted by using the fact that the seabed reflection coefficient is positive, the phases of the seabed reflected sound and the direct sound are consistent, and the peak value in the autocorrelation function is positive. The peak value position is the seabed reflection time delay calculated at this moment According to the properties of the autocorrelation function, the time delay corresponding to the place with the largest peak value in the autocorrelation function is 0, and the time delay corresponding to the largest peak value in other places is the time delay. Therefore, according to the principle of the autocorrelation function, the seabed reflection time delay τ1 is determined according to the autocorrelation function of the first hydrophone, and the seabed reflection time delay τ2 is determined according to the autocorrelation function of the second hydrophone. The seabed reflection time delay is the arrival time delay difference between the direct wave and the seabed reflected wave.

[0075] The third embodiment is different from the first or second embodiment in that the impulse response function h1(t) of the first hydrophone at the moment t is:

[0076]

[0077] Wherein, N represents the number of eigenrays reaching the hydrophone, a i represents the amplitude of the i-th eigenray, τ 1,i represents the time delay of the i-th eigenray reaching the first hydrophone, i=0 represents the direct wave, and δ(t) is the unit impulse response.

[0078] The impulse response function h2(t) of the second hydrophone at the moment t is:

[0079]

[0080] Wherein, τ 2,i represents the time delay of the i-th eigenray reaching the second hydrophone.

[0081] Other steps and parameters are the same as those in the first or second embodiment.

[0082] For example, Figure 2As shown, the target motion model top view is given as follows: the y-axis is the north direction, the x-axis is the east direction, the target moves at a constant speed in a straight line northward, the red curve is the target motion trajectory, and the blue circle is the hydrophone position.

[0083] Figure 3 The ray diagram of the direct wave and the seabed reflected wave is given, and it can be seen that the sound path of the target radiation noise signal arriving at the hydrophone through the direct wave and the seabed reflection can be expressed as:

[0084]

[0085] wherein r represents the horizontal distance between the hydrophone and the sound source, H represents the equivalent reflection depth of the seabed, h1 represents the depth of the first hydrophone, d1 represents the depth difference between the two hydrophones, and h represents the distance between the sound source and the sea surface. The time delay of the direct wave and the seabed reflected wave received by the first hydrophone is τ1=(R 1BR -R 1D ) / c, and the time delay of the direct wave and the seabed reflected wave received by the second hydrophone is τ2=(R 2BR -R 2D ) / c, and c is the equivalent sound speed.

[0086] Figure 4 and Figure 5 The autocorrelation functions of the first hydrophone and the second hydrophone receiving a 10-100Hz broadband signal in a deep sea environment are given in Figs. 4 and 5, respectively. The red dotted line in the figures is the seabed reflection time delay of different hydrophones extracted, which increases with the decrease of the distance. At the same time, the seabed reflection time delay of the first hydrophone is greater than that of the second hydrophone.

[0087] According to the above relationship, the following equation group can be established.

[0088] Specific implementation four: different from one of the specific implementations one to three, the equation group for calculating the horizontal distance between the hydrophone and the water surface target at t time is established according to the seabed reflection time delay τ1 and the seabed reflection time delay τ2, and specifically:

[0089] After obtaining the seabed reflection time delay received by different hydrophones, the following equation group can be established according to the simple geometric relationship.

[0090]

[0091] Wherein, H is the equivalent reflection depth of seabed (also known as effective depth, because the low-frequency sound wave has strong penetration, and the seabed has a certain thickness of sediment layer, it often penetrates into the sediment layer, so the actual reflection point depth is not necessarily the depth of seawater, and because of the coupling of the thickness of the sediment layer and the sound speed, it cannot be accurately estimated, for the sake of simplifying the model, the concept of effective depth is introduced to compensate for the propagation of sound wave in the sediment layer), r is the horizontal distance between the water surface target and the hydrophone (because the two hydrophones are vertically arranged, therefore in the present application, the horizontal distance of the target to the two hydrophones is equal), H1 is the depth of the first hydrophone, H2 is the depth of the second hydrophone, h is the depth of the water surface target radiation noise signal source, c is the equivalent sound speed in water, τ1 is the seabed reflection time delay of the first hydrophone, τ2 is the seabed reflection time delay of the second hydrophone.

[0092] The other steps and parameters are the same as one of the first to third embodiments.

[0093] The first term on the right side of each equation represents the distance traveled by the seabed reflection sound ray, the second term represents the distance traveled by the direct sound ray, and the third term represents the product of the sound speed and the seabed reflection time delay (that is, the distance traveled by the seabed reflection sound ray more than the direct sound ray). By solving the equation set, the horizontal distance and the equivalent reflection depth can be obtained, and the solved horizontal distance and the equivalent reflection depth satisfy that F1(r, H) and F2(r, H) are both equal to 0.

[0094] Moreover, because there are complex sediment layers in the deep sea seabed, when the sound wave is reflected on the seabed, the actual seabed reflection point is not necessarily the depth of the sea (the depth from the sea surface to the seabed), if the depth of the sea is taken as the actual seabed reflection point for calculation, there will be a large ranging error, therefore, the present application vertically arranges two hydrophones and introduces the equivalent reflection depth, and based on the equivalent reflection depth, the horizontal distance and the equivalent reflection depth are solved, which improves the accuracy of the horizontal distance solution, and solves the problem that a large ranging error will occur when the depth of the sea is taken as the seabed reflection point.

[0095] The fifth embodiment is different from one of the first to fourth embodiments in that in the step four, the equation set established in the step three is solved by using a multivariate Newton iteration method.

[0096] The other steps and parameters are the same as one of the first to fourth embodiments.

[0097] The sixth embodiment is different from one of the first to fifth embodiments in that the specific process of the step four is as follows:

[0098] Step four one, initialize the iteration number k = 1, and initialize X 0 = [r0, H0] TH0 represents the initialized value of the equivalent reflection depth of the seabed (which can be selected as the actual ocean depth, i.e., the depth from the sea surface to the surface of the sediment layer), and r0 represents the initialized value of the horizontal distance between the hydrophone and the water surface target;

[0099] Step four two, according to X k Calculate X k+1 = [r k+1 , H k+1 ] T :

[0100]

[0101] wherein G is a Jacobian matrix, represents an iterative increment;

[0102] Step four three, judge whether the iterative increment satisfies wherein ε is a set threshold value (the specific value can be set according to the actual situation), and ‖·‖2 represents the calculation of the 2-norm;

[0103] If yes, H k+1 is taken as the estimated value of the depth of the seabed reflection point, and r k+1 is taken as the estimated value of the horizontal distance between the water surface target and the hydrophone.

[0104] If no, let k=k+1, and return to execute step four two.

[0105] The other steps and parameters are the same as one of the first to fifth embodiments.

[0106] The equation group established in step three is a nonlinear equation group, and after the initial value is given, the iteration is continuously carried out until the iteration is terminated after the iteration stopping condition is reached. The iteration termination condition set by the present application is that the 2-norm value of the iterative increment is less than 10 -3 . Figure 6 and Figure 7 The iterative process at the first time is given, the horizontal distance between the hydrophone and the water surface target at this time is 7238.48 meters, the initial value is selected as X=[5000; 4360], it can be seen that with the progress of the iterative process, the errors of the two equations are moving in the negative gradient direction, and the errors are gradually approaching to zero, and the initial value is also gradually approaching to the true value. Finally, the estimated result obtained by iteration is 7729.89 meters, which is close to the true value. Since there is obvious sound ray bending phenomenon in the deep sea, the theoretical error exists in the virtual source model, but in general, the error is acceptable.

[0107] The seventh embodiment is different from one of the first to sixth embodiments in that the Jacobian matrix G is:

[0108]

[0109] Other steps and parameters are the same as one of embodiments one to six.

[0110] Embodiment eight: a computer storage medium of the embodiment, the storage medium stores at least one instruction, the at least one instruction is loaded and executed by the processor to realize the vertical double hydrophone based passive ranging method of the water surface target.

[0111] It should be understood that the instructions include the computer program product, software or computerized method corresponding to any method described in the present application; the instructions can be used to program a computer system, or other electronic devices. The computer storage medium can include a readable medium having instructions stored thereon, which can include but not limited to magnetic storage medium, optical storage medium; magneto-optical storage medium includes read-only memory, random access memory, erasable programmable memory such as, and flash memory layer, or other types of media suitable for storing electronic instructions.

[0112] Embodiment nine: the embodiment is a vertical double hydrophone based passive ranging device of water surface target, the device includes a processor and a memory, it should be understood that any device described in the present application includes a processor and a memory, the device can also include other units, modules that display, interact, process, control, etc. Through signals or instructions and other functions;

[0113] The memory stores at least one instruction, the at least one instruction is loaded and executed by the processor to realize the vertical double hydrophone based passive ranging method of the water surface target.

[0114] The above examples of the present application are only to illustrate the calculation model and calculation process of the present application, and are not limited to the embodiments of the present application. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can also be made, here it is impossible to enumerate all the embodiments, any changes or variations derived from the technical solution of the present application still within the protection scope of the present application.

Claims

1. A passive ranging method for surface targets based on vertical dual hydrophones, characterized in that, The method specifically comprises the following steps: Step one, performing autocorrelation operation on the received signals of the two hydrophones respectively to obtain autocorrelation functions of the two hydrophones, and the connecting line of the two hydrophones is perpendicular to the water surface; Step two, extracting seabed reflection time delay τ1 according to the autocorrelation function of the first hydrophone, and extracting seabed reflection time delay τ2 according to the autocorrelation function of the second hydrophone; Step three, establishing an equation group for calculating the horizontal distance between the hydrophone and the water surface target at t time according to the seabed reflection time delay τ1 and the seabed reflection time delay τ2; Step four, solving the equation group established in step three to obtain the horizontal distance between the water surface target and the hydrophone; Step five, performing steps one to four on the signals received by the hydrophone at each time to obtain the distance history measurement result of the water surface target.

2. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 1, characterized in that, The autocorrelation operation on the received signals of the two hydrophones is specifically: The signal g1(t) received by the first hydrophone at t time is expressed as: where h1(t) represents the impulse response function of the first hydrophone channel at time t, represents a convolution, s(t) represents the signal emitted by the target at time t, and n1(t) represents the noise signal received by the first hydrophone at time t; The signal g2(t) received by the second hydrophone at t time is expressed as: where h2(t) represents the impulse response function of the second hydrophone channel at time t, denotes a convolution, and n2(t) represents the noise signal received by the second hydrophone at time t. Then the autocorrelation functions of the first hydrophone and the second hydrophone at t time are respectively expressed as: R1(τ)=E[g1(t)g1(t-τ)] R2(τ)=E[g2(t)g2(t-τ)] Wherein, R1(τ) represents the autocorrelation function of the first hydrophone, R2(τ) represents the autocorrelation function of the second hydrophone, and E[·] represents expectation.

3. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 2, characterized in that, The impulse response function h1(t) of the first hydrophone channel at t time is: where N represents the number of eigenrays reaching the hydrophone, a i represents the amplitude of the ith eigenray, τ 1,i represents the time delay of the ith eigenray reaching the first hydrophone, i = 0 represents the direct wave, and δ(t) is the unit impulse response; The impulse response function h2(t) of the second hydrophone channel at t time is: where τ 2,i represents the time delay of the i-th eigenray reaching the second hydrophone.

4. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 3, characterized in that, The equation group for calculating the horizontal distance between the hydrophone and the water surface target at t time according to the seabed reflection time delay τ1 and the seabed reflection time delay τ2 is specifically: Wherein, H is the equivalent reflection depth of the seabed, r is the horizontal distance between the water surface target and the hydrophone, H1 is the depth of the first hydrophone, H2 is the depth of the second hydrophone, h is the depth of the water surface target radiation noise signal source, c is the equivalent sound speed in water, τ1 is the seabed reflection time delay of the first hydrophone, and τ2 is the seabed reflection time delay of the second hydrophone.

5. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 4, characterized in that, In step four, the equation group established in step three is solved by using a multivariate Newton iteration method.

6. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 5, characterized in that, The specific process of step four is: Step four, initialize iteration number k = 1 and initialize X 0 = [r0, H0] T H0 represents the initialization value of the equivalent reflection depth of the seabed, and r0 represents the initialization value of the horizontal distance between the hydrophone and the surface target. Step four two, according to X k Calculate X k+1 = [r k+1 , H k+1 ] T : where G is the Jacobian matrix, denotes the iteration increment; Step four three, judge whether the iteration increment satisfies where ε is a set threshold value, and ||·||2 represents the calculation of 2-norm. If yes, then H k+1 As an estimate of the depth of the sea bottom reflection point, r k+1 As an estimate of the horizontal distance between the surface target and the hydrophone; If not, let k=k+1, and return to step four two.

7. The passive ranging method of surface targets based on vertical dual hydrophones according to claim 6, characterized in that, The Jacobian matrix G is:

8. A computer storage medium, characterized in that The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the passive ranging method of the water surface target based on the vertical double hydrophone according to any one of claims 1 to 7.

9. A passive range device for surface targets based on vertical dual hydrophones, characterized in that, The device comprises a processor and a memory, and the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the passive ranging method of the water surface target based on the vertical double hydrophone according to any one of claims 1 to 7.

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