Deep sea reverberation suppression method based on generalized spatial filtering principle

Abstract

The invention particularly relates to a deep sea reverberation suppression method based on a generalized spatial filtering principle. The method comprises the following steps: constructing a three-dimensional scattering function based on an incident glancing angle, a scattering glancing angle and a scattering azimuth angle; constructing and receiving seabed reverberation intensity from a scatterer based on a three-dimensional scattering function; determining the peak moment of the reverberation intensity based on the attenuation characteristic of the seabed reverberation intensity; selecting an reverberation sound ray and a target echo sound ray at a peak moment, constructing an array reverberation copy vector according to the reverberation sound ray, and constructing a target echo copy vector according to the target echo sound ray; constructing a second-order cone programming model based on the reverberation copy vector and the echo copy vector, and solving the second-order cone programming model to obtain a generalized spatial filtering matrix; and suppressing the array reverberation signal by using the generalized spatial filtering matrix. According to the method, reverberation characteristic changes caused by uncertainty of a real marine environment are considered, and the method has good robustness for the reverberation suppression method in the fluctuating deep sea environment.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic detection, and in particular to a deep-sea reverberation suppression method based on the generalized spatial domain filtering principle. Background Art

[0002] In related technologies, ocean reverberation, as a phenomenon formed by the superposition of scattered waves generated by a large number of irregular scatterers at the receiving point, is one of the main factors restricting the detection performance of active sonar. In deep-sea environments, due to the multiple ricocheting effects of transmitted sound waves between the seabed and the sea surface, periodic strong reverberation is generated, resulting in a large number of detection blind spots at short range during high-power detection by active sonar. Suppressing the interference of strong periodic reverberation in the deep sea is of great significance for target detection. Significantly different from the slow attenuation characteristics of shallow waters, deep-sea reverberation has significant periodic characteristics due to the deep-sea transmission effect, and the multiple round-trip ricochets between the seabed and the sea surface form a high local intensity, forming a deep-sea short-range detection blind spot. Reverberation suppression has received widespread attention in the field of target sound detection, but current research is mainly focused on shallow seas with relatively stable reverberation, and there is little research on non-stationary reverberation suppression methods in deep-sea environments.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present invention provides a deep sea reverberation suppression method based on the generalized spatial domain filtering principle, which is used for suppressing reverberation in the deep sea and reducing the blind area of ​​reverberation detection, thereby being able to overcome the defects existing in the prior art to a certain extent.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0006] According to a first aspect of the present invention, a method for suppressing deep sea reverberation based on the generalized spatial domain filtering principle is provided, the method comprising:

[0007] A three-dimensional scattering function is constructed based on the incident grazing angle, the scattered grazing angle and the scattering azimuth angle;

[0008] The seabed reverberation intensity received from the scatterer is constructed based on the three-dimensional scattering function;

[0009] Determine the peak moment of reverberation intensity based on the attenuation characteristics of the seabed reverberation intensity;

[0010] Select the reverberation sound line and the target echo sound line at the peak moment, construct the array reverberation copy vector according to the reverberation sound line, and construct the target echo copy vector according to the target echo sound line;

[0011] A second-order cone programming model is constructed based on the reverberation copy vector and the echo copy vector, and the generalized spatial domain filter matrix is ​​obtained by solving the second-order cone programming model.

[0012] The array reverberation signal is suppressed using a generalized spatial domain filter matrix.

[0013] In some exemplary embodiments, the three-dimensional scattering function is constructed based on the incident grazing angle, the scattered grazing angle and the scattering azimuth, specifically:

[0014]

[0015] Among them, θ inc is the incident grazing angle, θ scatt is the scattering grazing angle, is the scattering azimuth, μ and v are the backscattering intensity and sidescattering intensity respectively, σ is the sidescattering deviation, ΔΩ i,j It is the degree of deviation of the direction of scattered sound rays from the direction of mirror reflection.

[0016] In some exemplary embodiments, the receiving seafloor reverberation intensity from the scatterer based on the three-dimensional scattering function is specifically:

[0017]

[0018] Where, Δs k is the area of ​​each scattering surface element, K is the number of scattering surfaces, I 0 is the pulse signal strength emitted by the sound source, p inc,i and p scatt,j Represent the incident and scattered sound pressures, S represents the scattering function, N and M represent the total number of propagation paths of the incident and outgoing sound rays, respectively; r i represents the distance from the sound source to the seabed scatterer along the i-th path, r j Represents the distance that the sound line travels from the seabed scatterer to the receiver along the jth path.

[0019] In some exemplary embodiments, determining the peak time of the reverberation intensity based on the attenuation characteristics of the seabed reverberation intensity includes:

[0020] According to the expression of seabed reverberation intensity, a curve of reverberation intensity changing with time is established;

[0021] Read the time corresponding to the peak point of the reverberation intensity, that is, the peak time.

[0022] In some exemplary embodiments, an array reverberation copy vector is constructed according to the reverberation sound line, specifically:

[0023] v k,l =S(ω)*H k,l(ω)(l=1,...L)

[0024]

[0025] Among them, S(ω) is the spectrum of the transmitted signal, H k,l (ω) represents the channel response corresponding to the reverberation signal, which is the product of the channel response from the sound source to the seabed scatterer and the channel response from the seabed scatterer to the receiving array. inc,m represents the channel response of the mth sound ray from the sound source to the seafloor scatterer, h scatt,n represents the channel response of the nth sound ray from the seafloor scatterer to the receiving array, v r,l It represents the frequency domain response of the transmitted signal to the lth array element in the channel where the seabed scatterer reaches the receiving array, and L represents the number of array elements.

[0026] In some exemplary embodiments, constructing a target echo copy vector according to the target echo sound ray is specifically:

[0027]

[0028] Among them, h inc1,m represents the channel response of the mth sound ray from the sound source to the target, h scatt1,n represents the channel response of the nth sound ray from the target to the receiving array, v s,l Represents the frequency domain response of the transmitted signal to the lth array element when the sound source reaches the target channel.

[0029] In some exemplary embodiments, solving the second-order cone programming model to obtain a generalized spatial filter matrix includes:

[0030] Define y = [ε, h T ] T and Let ε = b T y, here Represents 1×L 2 The zero vector of

[0031]

[0032] Among them, δ determines the stopband reverberation attenuation rate, and ξ limits the coefficient size of the spatial matrix filter;

[0033] Use SeDuMi optimization algorithm to solve the above to get the optimal solution of vector y, and take out vector y 2~1+L 2 components and reassemble them into a square matrix, which is the spatial domain filter matrix.

[0034] According to a second aspect of the present invention, there is provided a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for suppressing deep-sea reverberation based on the generalized spatial domain filtering principle described in the first aspect is implemented.

[0035] According to a third aspect of the present invention, there is provided a computer program product having a computer program stored thereon, which, when executed by a processor, implements the deep-sea reverberation suppression method based on the generalized spatial domain filtering principle described in the first aspect.

[0036] According to a fourth aspect of the present invention, there is provided an electronic device, comprising:

[0037] Processor; and

[0038] A memory, configured to store executable instructions of the processor;

[0039] Among them, the processor is configured to implement the deep-sea reverberation suppression method based on the generalized spatial domain filtering principle described in the first aspect above by executing the executable instructions.

[0040] The embodiment of the present invention provides a deep-sea reverberation suppression method based on the principle of generalized spatial domain filtering. The method is based on the established deep-sea seabed reverberation model and combines the deep-sea environment prior information to give a copy vector of strong reverberation interference on the horizontal array. Through the convex optimization design of the linear array generalized spatial domain filter matrix, the array spatial domain response remains unchanged for the expected target signal while achieving suppression of strong periodic reverberation interference. The robustness of the proposed reverberation suppression method in the deep-sea environment is analyzed. Considering the changes in reverberation characteristics caused by the uncertainty of the real ocean environment, the performance and robustness of the reverberation suppression method in the undulating ocean environment are analyzed. The simulation results show that this method has good robustness.

[0041] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0043] Figure 1 The present invention is an exemplary embodiment of a method for implementing deep sea reverberation suppression based on the principle of generalized spatial domain filtering;

[0044] Figure 2is a deep sea sound velocity profile of an exemplary embodiment of the present invention;

[0045] Figure 3 is a curve showing the change of reverberation intensity over time according to an exemplary embodiment of the present invention;

[0046] Figure 4 The contribution of the scatterers to the reverberation intensity of the exemplary embodiment of the present invention;

[0047] Figure 5 Schematic diagram of the sound ray propagation path and reverberation intensity of an exemplary embodiment of the present invention;

[0048] Figure 6 Detection results based on conventional and spatial filter array processing according to an exemplary embodiment of the present invention; (a) reverberation matched filtering result; (b) reverberation matched filtering result after spatial filtering; (c) (reverberation + target) matched filtering result; (d) (reverberation + target) matched filtering result after spatial filtering;

[0049] Figure 7 FIG. 5 is a variation trend of the reverberation suppression gain according to an exemplary embodiment of the present invention with the standard deviation of the array spacing. DETAILED DESCRIPTION

[0050] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0051] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0052] In view of the shortcomings and deficiencies of the prior art, a reverberation suppression method based on generalized spatial domain filtering is provided in this example implementation. The spatiotemporal variation characteristics of deep-sea bottom reverberation are utilized, combined with environmental prior information, to construct a copy vector of strong reverberation interference on the horizontal array, and the strong periodic reverberation interference suppression is achieved under the condition of no distortion of the target signal through the convex optimization design of the generalized spatial domain filter matrix of the linear array. The simulation results show that the reverberation suppression ratio of the proposed method reaches more than 7dB. Considering the changes in reverberation characteristics caused by the uncertainty of the real ocean environment, the robustness of the reverberation suppression method in the undulating ocean environment is analyzed. The impact of the array response mismatch condition on the performance of the proposed reverberation suppression method is studied, and the results show that the method has good robustness.

[0053] refer to Figure 1 As shown, the following steps may be specifically included:

[0054] Step 1: In order to more accurately describe the formation mechanism of deep seabed reverberation, that is, the process of scattering and reflection of sound waves during propagation, a scattering function is introduced to quantify the process. The scattering function characterizes the geometric and physical characteristics of the interaction between sound waves and obstacles, and can quantitatively analyze the scattering effect experienced by sound waves in underwater environments. The seabed reverberation intensity received by the receiver from the scatterer per unit area is expressed as:

[0055]

[0056] Among them, p inc,i and p scatt,j represents the incident and scattered sound pressures, i and j represent the propagation modes of the incident and outgoing sound rays, S represents the scattering function, N and M represent the total number of propagation paths of the incident and outgoing sound rays, r i represents the distance from the sound source to the seabed scatterer along the i-th path, r j Represents the distance that the sound line travels from the seabed scatterer to the receiver along the jth path.

[0057] Since the local reverberation incident and scattered sound rays are always in the same vertical plane during the propagation process, the scattering function is related to the incident grazing angle θ inc and the scattering angle θ scatt There is a certain spatial geometric relationship. In the case of remote reverberation, the scattering function has a certain geometric relationship with the incident grazing angle and the scattering grazing angle, and also needs the scattering azimuth. Describe the three-dimensional scattering function. Its scattering function is expressed as:

[0058]

[0059] Where, μ and v are the backscatter intensity and sidescatter intensity respectively, σ is the sidescatter deviation; ΔΩi,j The degree of deviation of the direction of the scattered sound rays from the direction of the mirror reflection is determined by the following formula:

[0060]

[0061] In deep sea environment, due to the multipath effect, the number of propagation paths from the sound source through the same scatterer to the receiver is large. The seabed scatterers are divided into a large number of adjacent rectangular facets using a grid. The scatterer at the center of each grid is used to replace the entire facet, and the path of the incident sound line to the facet and the path of the scattered sound line from the facet to the receiving array are counted, as well as the corresponding sound line geometric parameters, amplitude response and propagation delay information. The seabed reverberation intensity at time t is expressed as:

[0062]

[0063] Among them, τ 0 is the length of the transmitted signal pulse, τ is the arrival delay, and the arrival time t = τ inc,i +τ scatt,j , τ inc,i Represents the time it takes for the sound ray to reach the scatterer from the sound source, τ scatt,j represents the time it takes for the scatterer to reach the receiver, I 0 (τ) represents the intensity of the pulse signal emitted by the sound source, and dA(t,τ) represents the area of ​​the scattering surface element. The scattering area is divided into K scattering surface elements, and the area of ​​each scattering surface element is constant and is Δs k , then the scattering intensity received by the receiver is expressed as:

[0064]

[0065] Based on this model, the reverberation intensity value at the receiver at any time after the pulse signal is sent can be calculated.

[0066] Step 2: Based on the established reverberation model, determine the contribution of the scatterer to the reverberation intensity at different times. According to the generalized spatial filtering theory, a specific filter is designed in combination with the spatial response of the towed linear array so that the filter's response to the reverberation copy vector at a specific moment (peak moment) is greatly attenuated, while the target echo copy vector is distorted as little as possible. Based on this principle, the reverberation signal in certain areas (i.e., the source of the reverberation at the suppression moment) can be eliminated while retaining the target echo signal in a specific area to achieve reverberation suppression. The reverberation suppression problem of generalized spatial filtering can be described as:

[0067]

[0068] Among them, V r is the reverberation copy vector generated in a specific area, V sis the target echo copy vector, R s represents the seafloor scatterer area, S T represents the target area. However, in actual signal processing, equation (6) is too idealized and the conditions for achieving it are relatively strict. Assuming there is a target and K scatterers, the optimization design problem of the filter can be expressed as:

[0069]

[0070] Among them, ε represents a non-negative variable, δ determines the stopband reverberation attenuation rate, and ξ limits the coefficient size of the spatial domain matrix filter.

[0071] Among them, the reverberation copy vector V of the kth scatterer r,k It can be expressed as:

[0072]

[0073] The target echo copy vector in the channel is expressed as:

[0074]

[0075] Where S(ω) is the spectrum of the transmitted signal, represents the three-dimensional scattering function, h inc,m represents the channel response of the mth sound ray from the sound source to the seafloor scatterer, h scatt,n Represents the channel response of the nth sound ray from the seafloor scatterer to the receiving array. k,l (ω) represents the channel response corresponding to the reverberation signal, h inc1,m represents the channel response of the mth sound ray from the sound source to the target, h scatt1,n represents the channel response of the nth sound ray from the target to the receiving array, v r,l 、v s,l represents the frequency domain response of the transmitted signal to the lth array element under two different channels, and L represents the number of array elements.

[0076] In order to solve the matrix filter, it is necessary to convert the matrix into a vector and decompose the matrix H into L row vectors by row, that is, H T =[h 1 ,…,h L ], and define the column vector

[0077] h=[h 1 T ,×h L T ] T (10)

[0078] Define y = [ε, h T ] T and Let ε = b T y, here Represents 1×L 2 The zero vector of , further transform equation (7):

[0079]

[0080] in, Indicates L 2 ×L 2 Identity matrix.

[0081] In this way, the constrained optimization problem is expressed as a second-order cone programming form. After the SeDuMi model is used to solve the optimal solution of the vector y, its 2~1+L 2 components and reassemble them into a square matrix, which is the required matrix filter.

[0082] Step 3: According to the reverberation field model and echo intensity calculation, the simulated array reverberation receiving signal is processed by beam forming and matched filtering in turn to obtain the beam output BTR diagram when there is no target. The simulated array target echo signal is inserted into the reverberation to obtain the beam output BTR diagram when there is a target. Compare the results of the reverberation receiving signal before and after spatial filtering, make a section along the beam angle where the target is located, and take the average value at the peak moment as the energy estimate. Calculate the reverberation energy and target echo energy before reverberation suppression, and then obtain the reverberation suppression ratio.

[0083] The reverberation suppression method based on generalized spatial filtering proposed in the present invention utilizes the reverberation model to determine the contribution of scatterers to the reverberation intensity, and suppresses the reverberation in a specific area based on the spatial response characteristics of the horizontal towed array of deep-sea reverberation, thereby reducing the short-range detection blind area.

[0084] Below, each step of the deep sea reverberation suppression method based on the generalized spatial domain filtering principle in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0085] The background information is as follows: the simulation environment is a typical deep sea area in the South China Sea. The transmitted signal is a CW pulse signal with a frequency of 500Hz and a pulse width of 1s. The sound source depth is 40m, the receiving depth is 100m, the horizontal distance between the receiving hydrophone and the sound source is 1km, the sea depth is 4000m, the target intensity is 10dB, the sound source level is 220dB, the target with a depth of 100m is located at 45° of the array, and the distance from the target to the center of the array is 9.2km. The sound propagation is simulated using the sound line model, and the reverberation intensity attenuation is calculated in combination with the established reverberation model.

[0086] The simulated reverberation intensity curve over time is as follows: Figure 3As shown, it can be seen that there are multiple obvious peaks in the underwater reverberation intensity, and obvious peaks exist at 5.3 s, 10.6 s, and 15.9 s. The interval between the periodic occurrences of the peaks is 5.3 s, which is approximately 2H / c (where H and c are the seawater depth and the sound speed respectively), and the deep-sea reverberation intensity decays periodically with time.

[0087] Taking the reverberation arriving at the 15.9 s moment as an example, analyzing all the sound rays that propagate through the source-scatterer-receiver path, and combining the scattering intensity at the seabed action position (determined by the scattering position, incident angle, scattering angle, etc. of the sound ray), we obtain Figure 4 the contribution of the seabed scatterers to the reverberation intensity in []. It can be seen that at the peak moment, the contribution of the seabed scatterers to the reverberation intensity shows an elliptical ring shape, and different seabed reflection times correspond to different elliptical rings. Combining with the acoustic propagation ray model, Figure 5 the number of sound rays in the propagation mode from the emission source to the receiver and the corresponding reverberation intensity are given. It can be seen that affected by the multipath effect, there are many types of sound ray propagation modes. Among them, the number of sound rays propagating along the paths that contact the sea surface and the seabed three times respectively is the largest, that is, Figure 5 the reverberation caused by the scatterers near the origin in [], and the energy of this part of the reverberation is also the strongest. The distribution of the seabed scatterers that contribute to the reverberation is related to the relative positions of the sound source and the receiver. After the sound source emits a signal, as time increases, the propagation range of the sound rays expands, and the scattering regions that contribute to the reverberation gradually increase.

[0088] According to the reverberation model, the contribution of the seabed scatterers to the reverberation intensity at the peak moment can be obtained. The sound rays that reach the receiving array through the seabed scatterers and the sound rays that reach the receiving array through the target echo are screened respectively. Using the sound ray information, the array reverberation copy vector and the target echo copy vector are constructed respectively, and substituting them into the second-order cone programming model, the spatial domain filtering matrix is obtained. The specific process of designing the spatial domain matrix filter for reverberation suppression is as follows:

[0089] (1) Model the entire sea area to obtain the time-space domain information of the deep-sea periodic reverberation;

[0090] (2) Screen the reverberation sound rays and the target echo sound rays that reach the receiving array at the suppression moment respectively;

[0091] (3) Construct the copy vectors V r,k and V s of the reverberation and the target echo respectively according to equations (8) and (9), k = 1,..., K;

[0092] (4) Rewrite equation (7) into the form of equation (11), use the second-order cone programming method to find the optimal solution of y under the constraint conditions, and recover the target matrix H from it.

[0093] According to the reverberation field model and echo intensity calculation, the simulated array receiving signal-to-mixing ratio is about -4.9dB. The simulated 64-element reverberation receiving signal is processed by beamforming and matched filtering in turn to obtain the beam output BTR diagram when there is no target, as shown in Figure 6 By inserting the simulated 64-element target echo signal into the reverberation, we can obtain the beam output BTR diagram when the target exists, as shown in Figure 6 (b) As shown in the figure. By comparing the two figures, it can be seen that the target echo signal has been "annihilated" in the reverberation. According to the designed generalized spatial filter, the presence or absence of the target is considered respectively, and the matched filtering result is obtained after spatial filtering. Figure 6 (a) and Figure 6 (c) By comparison, it can be seen Figure 6 (d) A bright spot appeared at 45° around 15.9s, which was the target. Figure 6 (a)) and after spatial filtering ( Figure 6 (c)) results, a section is made along the beam angle of 45° where the target is located, and the average value of 15.8 to 16.0 seconds is taken as the energy estimation value. The reverberation energy before reverberation suppression is about 85.6 dB, and the target echo energy is about 80.7 dB. After generalized spatial domain filtering, the reverberation energy is about 77.2 dB, the target echo energy remains basically unchanged, and the reverberation suppression gain is 8.4 dB.

[0094] In order to further analyze the robustness of the reverberation suppression method based on the generalized spatial filtering principle, it is assumed that the disturbance obeys a Gaussian distribution with a mean of 0 and a standard deviation of 1 to 5 m (interval of 0.5 m). 50 groups of samples are taken for each standard deviation, and the reverberation suppression gain obtained from the 50 groups of samples is averaged as the reverberation suppression gain under the standard deviation. The reverberation suppression gain is simulated to change with the standard deviation of the array spacing. Figure 7 As shown, it can be seen that as the disturbance standard deviation becomes larger and larger, the reverberation suppression gain decreases, but in the standard deviation range of 0 to 3m, the reverberation suppression gain reaches more than 6.3dB, the reverberation suppression effect is good, and the suppression method has good robustness.

[0095] This embodiment shows that, in response to the problem of strong periodic reverberation interference in deep-sea active detection, the present invention proposes a method for suppressing strong periodic reverberation of the deep seabed based on the principle of generalized spatial domain filtering from the perspective of reverberation characteristics research and reverberation suppression. The reverberation suppression ratio of the proposed method reaches more than 7dB, realizing the suppression of strong periodic reverberation interference under the condition of no distortion of the target signal.

[0096] It should be noted that, as another aspect, the present application also provides a storage medium, which may be included in an electronic device; or may exist independently without being assembled into the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments.

[0097] In one embodiment, the present application provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0098] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0099] Other embodiments of the invention will readily occur to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0100] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A deep sea reverberation suppression method based on the generalized spatial domain filtering principle, characterized in that: The method comprises: A three-dimensional scattering function is constructed based on the incident grazing angle, the scattered grazing angle and the scattering azimuth angle; The seabed reverberation intensity received from the scatterer is constructed based on the three-dimensional scattering function; Determine the peak moment of reverberation intensity based on the attenuation characteristics of the seabed reverberation intensity; Select the reverberation sound line and the target echo sound line at the peak moment, construct the array reverberation copy vector according to the reverberation sound line, and construct the target echo copy vector according to the target echo sound line; A second-order cone programming model is constructed based on the reverberation copy vector and the echo copy vector, and the generalized spatial domain filter matrix is ​​obtained by solving the second-order cone programming model. The array reverberation signal is suppressed using a generalized spatial domain filter matrix.

2. The method according to claim 1, characterized in that The three-dimensional scattering function is constructed based on the incident grazing angle, the scattered grazing angle and the scattering azimuth, specifically: Among them, θ inc is the incident grazing angle, θ scatt is the scattering grazing angle, is the scattering azimuth, μ and v are the backscattering intensity and sidescattering intensity respectively, σ is the sidescattering deviation, ΔΩ i,j It is the degree of deviation of the direction of scattered sound rays from the direction of mirror reflection.

3. The method according to claim 2, characterized in that The method of constructing the seabed reverberation intensity received from the scatterer based on the three-dimensional scattering function is specifically as follows: Among them, Δs k is the area of ​​each scattering surface element, K is the number of scattering surface elements, I0 is the pulse signal intensity emitted by the sound source, p inc,i and p scatt,j Represent the incident and scattered sound pressures, S represents the scattering function, N and M represent the total number of propagation paths of the incident and outgoing sound rays, respectively; r i represents the distance from the sound source to the seabed scatterer along the i-th path, r j Represents the distance that the sound line travels from the seabed scatterer to the receiver along the jth path.

4. The method according to claim 3, characterized in that The step of determining the peak moment of the reverberation intensity based on the attenuation characteristics of the seabed reverberation intensity comprises: According to the expression of seabed reverberation intensity, a curve of reverberation intensity changing with time is established; Read the time corresponding to the peak point of the reverberation intensity, that is, the peak time.

5. The method according to claim 1, characterized in that Construct the array reverberation copy vector according to the reverberation sound line, specifically: v k,l =S(ω)*H k,l (ω)(l=1,...L) Among them, S(ω) is the spectrum of the transmitted signal, H k,l (ω) represents the channel response corresponding to the reverberation signal, which is the product of the channel response from the sound source to the seabed scatterer and the channel response from the seabed scatterer to the receiving array. inc,m represents the channel response of the mth sound ray from the sound source to the seafloor scatterer, h scatt,n represents the channel response of the nth sound ray from the seafloor scatterer to the receiving array, v r,l It represents the frequency domain response of the transmitted signal to the lth array element in the channel where the seabed scatterer reaches the receiving array, and L represents the number of array elements.

6. The method according to claim 5, characterized in that The target echo copy vector is constructed according to the target echo sound line, specifically: Among them, h inc1,m represents the channel response of the mth sound ray from the sound source to the target, h scatt1,n represents the channel response of the nth sound ray from the target to the receiving array, v s,l Represents the frequency domain response of the transmitted signal to the lth array element when the sound source reaches the target channel.

7. The method according to claim 6, characterized in that The second-order cone programming model is solved to obtain a generalized spatial domain filter matrix, including: Define y = [ε, h T ] T and Let ε = b T y, here Represents 1×L 2 The zero vector of Among them, δ determines the stopband reverberation attenuation rate, and ξ limits the coefficient size of the spatial matrix filter; Use SeDuMi optimization algorithm to solve the above to get the optimal solution of vector y, and take out vector y 2~1+L 2 components and reassemble them into a square matrix, which is the spatial domain filter matrix.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the deep-sea reverberation suppression method based on the generalized spatial domain filtering principle as described in any one of claims 1 to 7 is implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the deep-sea reverberation suppression method based on the generalized spatial domain filtering principle described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the deep-sea reverberation suppression method based on the generalized spatial domain filtering principle described in any one of claims 1 to 7 by executing the executable instructions.

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