Underwater target speed estimation method, device and equipment based on underwater acoustic positioning system

Abstract

The invention provides an underwater target speed estimation method, device and equipment based on an underwater acoustic positioning system, and the method comprises the steps: determining a time delay result and a signal transmission time interval based on a positioning acoustic signal transmitted by a target moving acoustic beacon and a positioning acoustic signal received by an underwater reference array element; target Doppler prior information is determined based on the time delay result and the signal transmission time interval; solving a phase difference integer ambiguity by using target Doppler prior information and a signal transmission time interval so as to determine an initial Doppler estimated value; and if the initial Doppler estimation value does not meet a preset decision feedback threshold, correcting the initial Doppler estimation value by using target Doppler prior information to obtain a current target Doppler estimation value, and further determining an underwater target speed estimation result. The motion speed of the underwater dynamic target can be accurately estimated, Doppler information is provided for an underwater acoustic positioning system in real time for motion compensation, and therefore the underwater acoustic positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic positioning, and in particular to an underwater target speed estimation method, device and equipment based on an underwater acoustic positioning system. Background Art

[0002] In underwater acoustic positioning, due to the wind and waves on the sea surface, turbulent movement in the sea, and the relative movement of the transmitting and receiving platforms, the underwater acoustic channel with low sound speed and narrow available bandwidth has a significant Doppler effect, which makes the transmission signal frame show a certain degree of compression or expansion in the time domain, resulting in difficulties in carrier tracking, accumulation of symbol synchronization errors, and low information transmission reliability, which seriously affects the accuracy of underwater acoustic positioning. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device and equipment for estimating the speed of underwater targets based on a hydroacoustic positioning system, which can accurately estimate the movement speed of underwater dynamic targets and provide Doppler information for motion compensation in real time for the hydroacoustic positioning system, thereby improving the accuracy of hydroacoustic positioning.

[0004] In a first aspect, the present invention provides a method for estimating the speed of an underwater target based on an underwater acoustic positioning system, wherein the underwater acoustic positioning system includes a signal processor, a plurality of underwater reference array elements, and a plurality of mobile acoustic beacons, wherein each mobile acoustic beacon transmits at least two positioning acoustic signals in a polling manner in each working cycle, and each underwater reference array element receives a positioning acoustic signal, and the method is applied to the signal processor, and the method includes: Determine the delay result and signal transmission time interval in the current working cycle based on the positioning sound signal sent by the target mobile acoustic beacon and the positioning sound signal received by the underwater reference array element in the current working cycle; wherein the delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element; Determine the target Doppler prior information based on the time delay result and signal transmission time interval in the current working cycle; The target Doppler prior information and the signal transmission time interval are used to solve the phase difference integer ambiguity to determine the initial Doppler estimation value in the current working cycle; If it is determined according to the target Doppler prior information that the initial Doppler estimation value does not meet the preset decision feedback threshold, the initial Doppler estimation value is corrected using the target Doppler prior information to obtain the target Doppler estimation value under the current working cycle; The underwater target speed estimation result in the current working cycle is estimated according to the target Doppler estimation value, and the underwater target speed estimation result includes the moving speed of the target mobile acoustic beacon relative to the underwater reference array element.

[0005] In one implementation, the signal transmission time interval is the sum of the duration of the protection interval between two positioning sound signals and the duration of the current working cycle; based on the delay result and the signal transmission time interval in the current working cycle, determining the target Doppler prior information includes: Determine the first Doppler prior information based on the ratio between the signal peak time interval and the signal transmission time interval, where the signal peak time interval is the time interval between the peaks of any two positioning acoustic signals sent by the target mobile acoustic beacon; Based on the delay results in the current working cycle and the delay results in the historical working cycle, determine the distance change between the target mobile acoustic beacon and the underwater reference array element in the current working cycle, so as to determine the initial motion speed between the target mobile acoustic beacon and the underwater reference array element in the current working cycle, and determine the second Doppler prior information based on the initial motion speed; The target Doppler prior information is determined according to the first Doppler prior information and the second Doppler prior information.

[0006] In one embodiment, the phase difference integer ambiguity is solved by using the target Doppler prior information and the signal transmission time interval to determine the initial Doppler estimation value in the current working cycle, including: Intercepting the main lobes at the peaks of any two positioning acoustic signals sent by the target mobile acoustic beacon for phase detection to obtain a first correlation peak phase and a second correlation peak phase, and taking the difference between the first correlation peak phase and the second correlation peak phase as the correlation peak main lobe phase difference; According to the correlation peak main lobe phase difference and the signal transmission time interval, the initial Doppler estimation value is split into a phase integral period part and a phase non-integer period part; Determine the Doppler estimation value corresponding to the non-integer periodic part of the phase; and solve the phase difference integer ambiguity based on the target Doppler prior information to determine the Doppler estimation value corresponding to the integer periodic part of the phase using the phase difference integer ambiguity; The sum of the Doppler estimation value corresponding to the non-integer periodic part of the phase and the Doppler estimation value corresponding to the integer periodic part of the phase is used as the initial Doppler estimation value.

[0007] In one embodiment, solving the phase difference integer ambiguity based on the target Doppler prior information to determine the Doppler estimation value corresponding to the phase integer cycle part by using the phase difference integer ambiguity includes: The phase difference integer ambiguity is determined according to the following formula: , ; in, is the phase difference integer ambiguity, is the intermediate parameter, is the target Doppler prior information, is the frequency, is the signal transmission time interval, [] indicates rounding to zero, To round down; The Doppler estimation value corresponding to the phase integral period part is determined according to the following formula: ; in, is the Doppler estimation value corresponding to the phase integral period part, is the target Doppler prior information, is the Doppler estimation value corresponding to the non-integer periodic part of the phase.

[0008] In one embodiment, before determining that the initial Doppler estimation value does not meet a preset decision feedback threshold according to the target Doppler prior information, the method further includes: If the difference between the target Doppler prior information and the initial Doppler estimation value is greater than a preset decision feedback threshold, it is determined that the initial Doppler estimation value does not meet the decision feedback threshold.

[0009] In one implementation, the initial Doppler estimation value is corrected using the target Doppler prior information to obtain the target Doppler estimation value in the current working cycle, including: According to the difference between the target Doppler prior information and the initial Doppler estimation value, the phase difference integer ambiguity is corrected to obtain a new phase difference integer ambiguity; Determine a Doppler factor correction value based on the new phase difference integer ambiguity; The sum of the initial Doppler estimation value and the Doppler factor correction value is used as the target Doppler estimation value in the current working cycle.

[0010] In one embodiment, after estimating the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value, the method further includes: According to the underwater target speed estimation result, the time delay result in the current working cycle is corrected; Based on the corrected time delay result, the positioning solution is performed through the principle of geometric spherical intersection to obtain the real-time positioning result of the target mobile acoustic beacon in the current working cycle.

[0011] In a second aspect, the present invention further provides an underwater target speed estimation device based on an underwater acoustic positioning system, wherein the underwater acoustic positioning system includes a signal processor, a plurality of underwater reference array elements and a plurality of mobile acoustic beacons, wherein each mobile acoustic beacon transmits at least two positioning acoustic signals in a polling manner in each working cycle, and each underwater reference array element receives the positioning acoustic signal, and the device is applied to the signal processor, and the device includes: A signal detection module, used to determine the delay result and signal transmission time interval in the current working cycle based on the positioning sound signal sent by the target mobile acoustic beacon and the positioning sound signal received by the underwater reference array element in the current working cycle; wherein the delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element; A priori information determination module is used to determine the target Doppler priori information based on the delay result and the signal transmission time interval in the current working cycle; A Doppler estimation value determination module is used to solve the phase difference integer ambiguity by using the target Doppler prior information and the signal transmission time interval, so as to determine the initial Doppler estimation value in the current working cycle; A Doppler estimation value correction module is used to correct the initial Doppler estimation value using the target Doppler prior information to obtain the target Doppler estimation value under the current working cycle if it is determined that the initial Doppler estimation value does not meet the preset decision feedback threshold according to the target Doppler prior information; The speed estimation module is used to estimate the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value. The underwater target speed estimation result includes the moving speed of the target mobile acoustic beacon relative to the underwater reference array element.

[0012] In a third aspect, the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement any one of the methods provided in the first aspect.

[0013] In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0014] The present invention provides an underwater target speed estimation method, device and equipment based on an underwater acoustic positioning system. The underwater acoustic positioning system includes a signal processor, multiple underwater reference array elements and multiple mobile acoustic beacons. In each working cycle, each mobile acoustic beacon polls and transmits at least two positioning acoustic signals, and each underwater reference array element receives the positioning acoustic signal. First, based on the positioning acoustic signal sent by the target mobile acoustic beacon and the positioning acoustic signal received by the underwater reference array element in the current working cycle, the delay result and the signal transmission time interval in the current working cycle are determined, and the delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element; then, based on the delay result and the signal transmission time interval in the current working cycle, the delay result and the signal transmission time interval in the current working cycle are determined. The target Doppler prior information is determined based on the transmission time interval; the phase difference integer ambiguity is then solved using the target Doppler prior information and the signal transmission time interval to determine the initial Doppler estimation value under the current working cycle; if it is determined based on the target Doppler prior information that the initial Doppler estimation value does not meet the preset decision feedback threshold, the target Doppler prior information is used to correct the initial Doppler estimation value to obtain the target Doppler estimation value under the current working cycle; finally, the underwater target speed estimation result under the current working cycle is estimated based on the target Doppler estimation value, and the underwater target speed estimation result includes the movement speed of the target mobile acoustic beacon relative to the underwater reference array element. The above method aims to utilize the acoustic signal communication and positioning mechanism between the underwater reference array element and the mobile acoustic beacon to complete Doppler estimation and motion compensation in real time and with low complexity during the positioning process. By creating a dual positioning acoustic signal system, a rough Doppler estimation is performed, and the search space of the phase difference integer ambiguity is further compressed to achieve a rapid and accurate solution of the precise target Doppler estimation value. The present invention not only has the advantages of low computational complexity, simple operation, and high accuracy, but also can accurately estimate the movement speed of underwater dynamic targets, and provide Doppler information for the underwater acoustic positioning system in real time for motion compensation, thereby improving the accuracy of underwater acoustic positioning.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a flow chart of a method for estimating underwater target speed based on an underwater acoustic positioning system provided by an embodiment of the present invention; Figure 2 An algorithm flow chart of an underwater target velocity estimation method based on a hydroacoustic positioning system provided by an embodiment of the present invention; Figure 3 A schematic diagram of a mobile acoustic beacon sending a positioning acoustic signal provided by an embodiment of the present invention; Figure 4 A schematic diagram of a lake test scenario setting provided by an embodiment of the present invention; Figure 5 A schematic diagram of a correlation result of dual LFM positioning signals transmitted by polling of beacon 1 and beacon 2 received by reference array element 1 provided in an embodiment of the present invention; Figure 6 A schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 1 provided in an embodiment of the present invention; Figure 7 A schematic diagram of a relative motion speed estimation result between a beacon 2 and a reference array element 1 provided in an embodiment of the present invention; Figure 8 A schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 2 provided in an embodiment of the present invention; Fig. 9 A schematic diagram of a relative motion speed estimation result between a beacon 2 and a reference array element 2 provided in an embodiment of the present invention; Fig.10 A schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 3 provided in an embodiment of the present invention; Fig.11 A schematic diagram of a relative motion speed estimation result between a beacon 2 and a reference array element 3 provided by an embodiment of the present invention; Fig.12 An underwater target speed estimation device based on a hydroacoustic positioning system provided by an embodiment of the present invention; Fig.13 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] At present, the existing hydroacoustic positioning has problems such as carrier tracking difficulties, symbol synchronization error accumulation, and low information transmission reliability, resulting in low hydroacoustic positioning accuracy. Therefore, Doppler estimation and compensation are indispensable key links in the hydroacoustic positioning system. Linear Frequency Modulation (LFM) signal is a commonly used detection signal for active sonar, which has strong autocorrelation and is insensitive to Doppler. Based on this, the present invention provides an underwater target velocity estimation method, device and equipment based on a hydroacoustic positioning system, which can accurately estimate the movement speed of underwater dynamic targets, provide Doppler information for the hydroacoustic positioning system in real time for motion compensation, and thus improve the accuracy of hydroacoustic positioning.

[0021] To facilitate understanding of this embodiment, first, a method for estimating the speed of an underwater target based on an underwater acoustic positioning system disclosed in an embodiment of the present invention is described in detail. The underwater acoustic positioning system includes a signal processor, a plurality of underwater reference array elements, and a plurality of mobile acoustic beacons. In each working cycle, each mobile acoustic beacon transmits at least two positioning acoustic signals in a polling manner, and each underwater reference array element receives the positioning acoustic signal. The method is applied to the signal processor, see Figure 1 The flowchart of a method for estimating underwater target speed based on an underwater acoustic positioning system is shown, and the method mainly includes the following steps S102 to S110: Step S102, based on the positioning acoustic signal sent by the target mobile acoustic beacon and the positioning acoustic signal received by the underwater reference array element in the current working cycle, determine the delay result and the signal transmission time interval in the current working cycle.

[0022] Among them, the positioning sound signal system is set as a dual linear frequency modulation (LFM) signal. The linear frequency modulation (LFM) signal is a large time-bandwidth product signal. Its outstanding advantages are that the matched filter is insensitive to the Doppler frequency shift of the echo signal and has good autocorrelation. The delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element. The signal transmission time interval is the time interval between the target mobile acoustic beacon sending two positioning sound signals. The signal transmission time interval is equal to the sum of the duration of the protection interval between the two positioning sound signals and the duration of the current working cycle (that is, the LFM signal cycle).

[0023] In one example, the signal processor performs autocorrelation detection on the positioning sound signal sent by the target mobile acoustic beacon and the positioning sound signal received by the underwater reference array element to obtain an autocorrelation sequence, and finds the two peaks corresponding to the dual LFM signal according to the peak value of the autocorrelation sequence to obtain the signal starting point, thereby obtaining the time delay between the target mobile acoustic beacon and each underwater reference array element, and at the same time obtains the time interval between the two peaks (that is, the signal peak time interval), and the sum of the peak value and the duration of the current working cycle is used as the signal transmission time interval.

[0024] Step S104, determining the target Doppler prior information based on the delay result and the signal transmission time interval in the current working cycle.

[0025] In one example, a variety of methods can be used to roughly estimate the initial Doppler prior information. For example, based on the signal transmission time interval and the signal peak time interval (the signal peak time interval is the time interval between any two peaks of the positioning sound signals sent by the target mobile sound beacon), the first Doppler prior information can be roughly estimated using the block estimation method; and the second Doppler prior information can be roughly estimated by combining the delay results in the current working cycle and the delay results in the historical working cycle; finally, the target Doppler prior information is determined in combination with the initial Doppler prior information.

[0026] Step S106, using the target Doppler prior information and the signal transmission time interval to solve the phase difference integer ambiguity, so as to determine the initial Doppler estimation value in the current working cycle.

[0027] In one example, the main board at the two peaks of the autocorrelation sequence is intercepted for phase detection, and the phase difference integer ambiguity is solved in combination with the target Doppler prior information and the signal transmission time interval. The Doppler estimation value corresponding to the integer periodic part of the phase is determined using the phase difference integer ambiguity and the target Doppler prior information. At the same time, the Doppler estimation value corresponding to the non-periodic part of the phase is determined based on the signal transmission time interval, and the sum of the two corresponding Doppler estimation values ​​is used as the initial Doppler estimation value.

[0028] Step S108: If it is determined according to the target Doppler prior information that the initial Doppler estimation value does not meet the preset decision feedback threshold, the initial Doppler estimation value is corrected using the target Doppler prior information to obtain the target Doppler estimation value in the current working cycle.

[0029] In one example, if the absolute value of the difference between the target Doppler prior information and the initial Doppler estimate is greater than or equal to the decision feedback threshold, it can be determined that the initial Doppler estimate does not meet the preset decision feedback threshold. In this case, a new phase difference integer ambiguity is solved based on the target Doppler prior information, and then the Doppler correction value is determined. The initial Doppler estimate is corrected using the Doppler correction value to obtain the target Doppler estimate in the current working cycle.

[0030] Step S110, estimating the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value.

[0031] The underwater target speed estimation result includes the moving speed of the target moving acoustic beacon relative to the underwater reference array element. In one example, the product of the target Doppler estimation value and the sound speed is used as the underwater target speed estimation result in the current working cycle.

[0032] The underwater target velocity estimation method based on the underwater acoustic positioning system provided by the embodiment of the present invention aims to utilize the acoustic signal communication and positioning mechanism between the underwater reference array element and the mobile acoustic beacon to complete Doppler estimation and motion compensation in real time and with low complexity during the positioning process. By creating a dual positioning acoustic signal system, a rough Doppler estimation is performed, and the search space of the phase difference integer ambiguity is further compressed to achieve a rapid and accurate solution of the precise target Doppler estimation value. The present invention not only has the advantages of low computational complexity, simple operation, and high accuracy, but also can accurately estimate the motion speed of underwater dynamic targets, and provide Doppler information for the underwater acoustic positioning system in real time for motion compensation, thereby improving the accuracy of underwater acoustic positioning.

[0033] In view of the problems of increased delay estimation error and reduced positioning accuracy caused by the relative motion between the target and the reference array element in the traditional positioning system, the embodiment of the present invention proposes a low-complexity, real-time method for estimating motion speed and correcting Doppler based on the positioning system. In the embodiment of the present invention, the underwater acoustic positioning system includes a signal processor, multiple underwater reference array elements and multiple mobile acoustic beacons. In each working cycle, each mobile acoustic beacon polls and transmits at least two positioning acoustic signals, and each underwater reference array element receives the positioning acoustic signal. Exemplarily, the positioning system is mainly composed of 3 sets of underwater reference array elements, 1 set of signal processing units and 2 sets of mobile acoustic beacons. The underwater reference array elements are suspended in the water or anchored to the bottom of the water, and the distance and azimuth information of the mobile acoustic beacons are measured to locate the target. The positioning system supports various positioning signals and multiple transceiver positioning modes, and can perform three-dimensional dynamic positioning and tracking of multiple underwater targets at the same time.

[0034] Based on the above positioning system, the embodiment of the present invention provides a specific implementation of a method for estimating the speed of an underwater target based on an underwater acoustic positioning system. Figure 2The algorithm flow chart of an underwater target speed estimation method based on a hydroacoustic positioning system shown in FIG. 1 includes steps S202 to S212: Step S202, signal detection and correlation operation of received signal: Received signal detection and correlation operation: In the detection intervals set in the two time periods (0~T1) and (T~2*T1), the positioning sound signal received by the underwater reference array element Perform time domain waveform detection of the two beacon positioning signals and the positioning sound signal sent by the target mobile sound beacon Perform correlation operations to obtain the correlation sequence , and estimate the time delay, amplitude and phase parameters of the positioning sound signal.

[0035] Specifically: Taking a linear frequency modulated rectangular pulse sample signal as an example, the expression of the positioning sound signal sent by the target mobile sound beacon is: ; in, is the carrier frequency, is the signal period, is the frequency change rate, is a rectangular function, assuming that the protection interval between the two signals is set to See also Figure 3 The schematic diagram of a mobile acoustic beacon sending a positioning acoustic signal is shown, and underwater reference array elements 1#~3# receive signals. If the polling period is T1, taking a double pulse as an example, the signal processor performs time domain waveform detection and correlation peak detection on the positioning acoustic signals received by underwater reference array element channels 1~3 in the detection intervals set in the two time periods (0~T1) and (T~2*T1).

[0036] In one embodiment, the detection period is selected, and the signal processor receives the positioning sound signal received by the underwater reference array element. Single LFM sample signal transmitted by the target mobile acoustic beacon Do autocorrelation. Under the condition that the noise and signal are uncorrelated, the correlation sequence It can be expressed as: ; in, For delay, is the sequence of the autocorrelation part, The sequence of the cross-correlation part. According to the amplitude of the sequence of the autocorrelation part, the two peaks corresponding to the dual LFM signal are found to obtain the signal starting point, thereby obtaining the time delays t11, t21 and t31 between the 1# mobile acoustic beacon and the three underwater reference array elements, and the time delays t12, t22 and t32 between the 2# mobile acoustic beacon and the three underwater reference array elements, and at the same time, the time interval between the two peaks (that is, the signal peak time interval) is obtained as . According to the duration of the current working cycle (i.e. single LFM signal cycle) , the duration of the protection interval between the two signals The prior information of the signal transmission time interval .

[0037] Step S204: Coarse estimation of Doppler frequency offset: Select the detection period and The amplitude is used to find the two correlation peaks corresponding to the dual LFM signal, and the time interval between the two correlation peaks (that is, the signal peak time interval) is obtained as , according to the signal peak time interval Time interval with signal emission The prior information of Doppler frequency deviation factor is obtained by using the block estimation method, which is the first Doppler prior information. At the same time, combined with the time delay results of the historical working cycle, the distance change and corresponding movement speed of each mobile acoustic beacon relative to each underwater reference array element are obtained, and the second Doppler prior information is obtained as follows: , is the velocity of the mobile acoustic beacon relative to the underwater reference array element, is the speed of sound. and Whether they are consistent, the two will be used as target Doppler prior information , determine whether there is phase ambiguity.

[0038] In the specific implementation, the following steps 1.1 to 1.3 may be included: Step 1.1, based on the ratio between the signal peak time interval and the signal transmission time interval, determine the first Doppler prior information. Specifically, the first Doppler prior information is determined according to the following formula: : ; in, is the signal peak time interval, is the signal transmission time interval.

[0039] Step 1.2, based on the delay results in the current working cycle and the delay results in the historical working cycle, determine the distance change between the target mobile acoustic beacon and the underwater reference array element in the current working cycle, so as to determine the initial movement speed of the target mobile acoustic beacon relative to the underwater reference array element in the current working cycle, and determine the second Doppler prior information based on the initial movement speed.

[0040] Specifically, combined with the delay results of the historical working cycle, the distance change (m) of the mobile acoustic beacon relative to each underwater reference array element can be obtained. Taking the mobile acoustic beacon 1 and the underwater reference array element 1# as an example, the distance change (m) of the mobile acoustic beacon 1# relative to the underwater reference array element 1# in the current working cycle can be obtained as follows: ,in is the speed of sound (m / s), so the speed of the moving acoustic beacon 1# relative to the underwater reference element 1# in the current working cycle , the Doppler factor can be , the same applies to other underwater reference array elements.

[0041] Step 1.3, determine the target Doppler prior information based on the first Doppler prior information and the second Doppler prior information. In one example, if the first Doppler prior information and the second Doppler prior information If the target Doppler prior information is consistent, the target Doppler prior information can be directly obtained. : ; If the first Doppler prior information and the second Doppler prior information If they are inconsistent, one of them can be selected as the target Doppler prior information , or fuse the two (such as weighted average) to obtain the target Doppler prior information .

[0042] Step S206, phase deambiguation judgment: Intercept the main lobe at the peak of any two positioning sound signals sent by the target mobile sound beacon for phase detection to obtain the first correlation peak phase and the second correlation peak phase , the first correlation peak phase Phase with the second correlation peak The difference between them is taken as the correlation peak main lobe phase difference: ; in, is the correlation peak main lobe phase difference, is the phase integer ambiguity, is the non-integer period part of the phase, is the first correlation peak phase, is the second correlation peak phase, is the frequency, is the change in the time interval between two positioning sound signals. According to the judgment result of whether phase ambiguity exists in step S204, if it does not exist, the initial Doppler estimation value is directly output ; If it exists, execute step S208.

[0043] Step S208, phase integer ambiguity calculation: Based on the target Doppler prior information , calculate the target Doppler prior information The absolute value of The quotient of division , based on this quotient, the phase integer ambiguity is solved And the Doppler estimation value corresponding to the phase integral period part , to obtain the initial Doppler estimate For details, please refer to steps 2.1 to 2.3 below: Step 2.1, according to the correlation peak main lobe phase difference and the signal transmission time interval, the initial Doppler estimation value is split into a phase integral period part and a phase non-integer period part: ; in, is the initial Doppler estimate, is the correlation peak main lobe phase difference, , is the frequency, is the signal transmission time interval, is the Doppler estimation value corresponding to the phase integral period part, is the Doppler estimation value corresponding to the non-integer periodic part of the phase.

[0044] Step 2.2, determine the Doppler estimation value corresponding to the non-integer periodic part of the phase; and solve the integer ambiguity of the phase difference based on the target Doppler prior information, so as to determine the Doppler estimation value corresponding to the integer periodic part of the phase using the integer ambiguity of the phase difference.

[0045] Based on the formula provided in step 2.1: ;because , All are known quantities, so the Doppler estimation value corresponding to the non-integer period part of the phase can be directly calculated .

[0046] Based on the formula provided in step 2.1: ;in is the phase difference integer ambiguity to be solved. The Doppler estimation value corresponding to the phase integer period cannot be directly calculated. On this basis, the phase difference integer ambiguity is determined according to the following formula: , ; in, is the phase difference integer ambiguity, is the intermediate parameter, is the target Doppler prior information, is the frequency, is the signal transmission time interval, [] indicates rounding to zero, To round down; The Doppler estimation value corresponding to the phase integral period part is determined according to the following formula: ; in, is the Doppler estimation value corresponding to the phase integral period part, is the target Doppler prior information, is the Doppler estimation value corresponding to the non-integer periodic part of the phase.

[0047] Step 2.3, Doppler estimation corresponding to the phase non-integer period part The Doppler estimate corresponding to the phase integral period part The sum of . Specifically: .

[0048] Step S210, decision feedback to correct integer ambiguity and Doppler estimation value: Further considering that when the true value of the phase difference between the two correlation peaks approaches the periodic boundary of its value range, the phase integer ambiguity is affected by the measurement error. and its corresponding Doppler estimate There is a jump situation, which makes the estimation error larger. To address this problem, the embodiment of the present invention adds a decision feedback step, see the following steps 3.1 to 3.4: Step 3.1: If the difference between the target Doppler prior information and the initial Doppler estimation value is greater than a preset decision feedback threshold, it is determined that the initial Doppler estimation value does not meet the decision feedback threshold.

[0049] Based on the initial Doppler estimate With the target Doppler prior information Compare them and calculate the difference between them, which is recorded as the estimation error , set the decision feedback threshold , if satisfied , then As the target Doppler estimate; if it satisfies , then continue to correct The correction process can be found in the subsequent steps 3.2 to 3.4.

[0050] Step 3.2, according to the difference between the target Doppler prior information and the initial Doppler estimation value, the phase difference integer ambiguity is corrected to obtain a new phase difference integer ambiguity. Specifically, the new phase difference integer ambiguity can be determined according to the following formula: , ; in, is the new phase difference integer ambiguity, is the intermediate parameter, is the target Doppler prior information With the initial Doppler estimate The difference between is the frequency, is the signal transmission time interval, [] indicates rounding to zero, To round down.

[0051] Step 3.3, determine the Doppler factor correction value based on the new phase difference integer ambiguity. Specifically, the Doppler factor correction value can be determined according to the following formula: ; in, is the Doppler factor correction value, is the target Doppler prior information, for, is the intermediate parameter, is the frequency, is the signal transmission time interval.

[0052] Step 3.4, the sum of the initial Doppler estimation value and the Doppler factor correction value is used as the target Doppler estimation value in the current working cycle. Specifically, the corrected initial Doppler estimation value is: The initial Doppler estimate after correction is the same as the target Doppler prior information. If the difference is still greater than the threshold , then repeat the above steps 3.1 to 3.4. If it is less than the threshold , is used as the target Doppler estimate.

[0053] Step S212, positioning motion compensation: In one example, the product of the target Doppler estimation value and the sound speed is used as the underwater target velocity estimation result in the current working cycle: ;in, is the underwater target velocity estimation result, that is, the relative motion velocity between the mobile acoustic beacon and the underwater reference array element, is the target Doppler estimate, is the speed of sound.

[0054] Furthermore, according to the underwater target speed estimation result, the delay result in the current working cycle is corrected, and based on the corrected delay result, the positioning solution is performed through the geometric sphere intersection principle to obtain the real-time positioning result of the target mobile acoustic beacon in the current working cycle. Specifically, according to the underwater target speed estimation result, the delay result between each mobile acoustic beacon and each underwater reference array element is calculated. Further revised to Based on the modified time delay between the mobile acoustic beacon and the three underwater reference array elements, the known coordinates of the transducers 1#~3# of the underwater reference array elements , according to the principle of geometric spherical intersection, the positioning is solved. Taking the 1# mobile acoustic beacon as an example, the real-time positioning result of the 1# mobile acoustic beacon is obtained according to the following formula : ; ; ; The corrected time delay results and real-time positioning results are uploaded to the PC display and control software.

[0055] The embodiments of the present invention aim to solve the problems of increased delay estimation error and reduced positioning accuracy caused by the relative motion between the mobile acoustic beacon and the underwater reference array element in the positioning system. The embodiment of the present invention aims to utilize the acoustic signal communication and positioning mechanism between the positioning array and the beacon unit to complete Doppler estimation and motion compensation in real time and with low complexity during the positioning process. By creating a dual LFM positioning signal system, using historical positioning delay and related sequence block estimation information for rough Doppler estimation, and further compressing the phase ambiguity search space, the precise Doppler factor can be quickly and accurately solved. The embodiments of the present invention have low computational complexity, simple operation and high accuracy. The lake test results show that the method can accurately estimate the movement speed of underwater dynamic targets, provide Doppler information for motion compensation in real time for the underwater acoustic positioning system, and improve positioning accuracy.

[0056] Furthermore, an embodiment of the present invention also provides an application example of an underwater target velocity estimation method based on a hydroacoustic positioning system.

[0057] The hydroacoustic positioning test of the embodiment of the present invention was carried out at the Xin'an River test site in Qiandao Lake. The average water depth of the test water area was about 40m~50m. Figure 4A schematic diagram of a lake test scenario setting is shown. First, build a bottom-mounted reference transceiver unit bracket to ensure that the transceiver unit is more than 1.5m away from the bottom. The bottom-mounted reference transceiver unit is retracted and released by the cable, and the reference node transducer is deployed on the bottom. The 1# array element is deployed on the lake bottom at the southwest corner of the pontoon, the 2# array element is deployed on the lake bottom at the northwest corner of the pontoon, and the 3# array element is deployed on the lake bottom in the middle of the east side of the pontoon. Pontoon specifications: about 45m long from north to south and about 22m wide. During the deployment process, the distance between the bottom-mounted transducers 1# and 2# is 48.165m, the distance between 1# and 3# is 31.68m, and the distance between 2# and 3# is 35.09m. The deployment depth is 45m, which is consistent with the actual deployment distance and deployment formation. Then, two beacon transceiver units are fixed at both ends of the 3.76m long fiberglass pipe, and ropes are tied at both ends of the steel pipe to lower the overall structure. At the center of the pontoon, a steel pipe is controlled by double ropes. After it is placed at a certain depth, the ropes are slowly moved horizontally / vertically to make the steel pipe move. The test scene is set as shown in the figure below. During the test, the positioning results of beacon 1# and beacon 2# are recorded, the positioning results during the movement are statistically analyzed, and the mean and variance of the distance between the two are calculated as the criterion for positioning accuracy. The system operating frequency band is 20kHz~30kHz, the working cycle T1 is 1s, and dual LFM signals are emitted as positioning signals. The period of one LFM signal is 5ms, and the interval between the two LFM signals is 100ms. A total of 500 cycles are counted to observe the positioning results and the changes in the movement speed of beacon 1# and beacon 2#.

[0058] Taking the third period, the double LFM positioning signal received by reference element 1 and beacon 2 polling and transmitting as an example, the received signal Sample signal with LFM After correlation, the correlation results in the figure below are obtained. The interval between the two correlation peaks and their phase difference are calculated according to the LFM signal period. , the duration of the protection interval between the two signals The relative motion speed estimation results of beacon 1 and beacon 2 and reference element 1 can be obtained by using the prior information, see Figure 5 The diagram shown is a schematic diagram of the correlation results of the dual LFM positioning signals received by reference array element 1 and transmitted by beacon 2 in a polling manner.

[0059] To verify the accuracy of the speed estimation method of the embodiment of the present invention, the speed estimation result of the method is compared with the following two speed estimation results. The first method is based on the positioning results of each beacon and the reference array element, and the movement speed between the two is obtained by the position vector. The second method combines the delay results of the historical cycle to obtain the distance change and speed of the beacon relative to each reference array element in the current cycle. The three speed estimation results are as follows Figure 6 , Figure 7 As shown, Figure 6is a schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 1, Figure 7 is a schematic diagram of the relative motion speed estimation result between beacon 2 and reference array element 1. Similarly, the relative motion speed estimation results of beacon 1 and beacon 2 and reference array element 2 can be obtained, see Figure 8 FIG. 1 is a schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 2, Fig. 9 The schematic diagram of the relative motion speed estimation result between beacon 2 and reference array element 2 is shown in FIG. Similarly, the relative motion speed estimation results between beacon 1 and beacon 2 and reference array element 3 can be obtained, see Fig.10 FIG. 1 is a schematic diagram of a relative motion speed estimation result between a beacon 1 and a reference array element 3, Fig.11 A schematic diagram of a relative motion speed estimation result between a beacon 2 and a reference array element 3 is shown.

[0060] The test results show that the velocity estimation result of the embodiment of the present invention is consistent with the estimation results of the other two methods, and the estimation error is about 0.02m / s. According to the Doppler value measured above, the positioning delay is compensated, and the spacing result of beacon 1 and beacon 2 after compensation is observed. It can be seen that after Doppler compensation, the spacing result of beacon 1 and beacon 2 increases from 3.71m to 3.74m, which is closer to the actual value of 3.76m, and the positioning error is reduced from 5cm to 2cm, as shown in detail below.

[0061] The change in the distance between two beacons measured by the original uploaded positioning data is:

[0062] According to the measured movement speed, the Doppler correction is performed on the upload delay, and the results are as follows:

[0063] According to the movement speed measured by the correlation peak phase, the upload delay is Doppler corrected:

[0064] In summary, the embodiment of the present invention utilizes the acoustic signal intercommunication and positioning mechanism between the positioning array and the beacon unit to complete Doppler estimation and motion compensation in real time and with low complexity during the positioning process, thereby solving the problems of increased delay estimation error and reduced positioning accuracy caused by the relative motion between the target and the reference array element. By creating a dual LFM positioning signal system, using historical positioning delay and related sequence block estimation information for rough Doppler estimation, and further compressing the phase ambiguity search space, the precise Doppler factor can be quickly and accurately solved. The method has low computational complexity, simple operation and high accuracy. The lake test results show that the method can accurately estimate the movement speed of underwater dynamic targets. The speed estimation result of the present invention is consistent with the movement speed obtained by the position vector of the positioning result, the distance change of the current cycle obtained by combining the historical cycle delay, and the estimation result of the speed method, and the estimation error is about 0.02m / s. According to the Doppler value measured above, the positioning delay is compensated, and the positioning error can be reduced from 5cm to 2cm after Doppler compensation. The experiment proves that the method can provide Doppler information for the underwater acoustic positioning system in real time, and the positioning accuracy can be improved after motion compensation.

[0065] On the basis of the above-mentioned embodiments, an embodiment of the present invention provides an underwater target speed estimation device based on an underwater acoustic positioning system, wherein the underwater acoustic positioning system comprises a signal processor, a plurality of underwater reference array elements and a plurality of mobile acoustic beacons, wherein each mobile acoustic beacon transmits at least two positioning acoustic signals in a polling manner in each working cycle, and each underwater reference array element receives the positioning acoustic signal. The device is applied to the signal processor, see Fig.12 The device for estimating underwater target speed based on the hydroacoustic positioning system shown in the figure mainly includes the following parts: The signal detection module 1202 is used to determine the delay result and signal transmission time interval in the current working cycle based on the positioning acoustic signal sent by the target mobile acoustic beacon and the positioning acoustic signal received by the underwater reference array element in the current working cycle; wherein the delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element; A priori information determination module 1204 is used to determine the target Doppler priori information based on the delay result and the signal transmission time interval in the current working cycle; The Doppler estimation value determination module 1206 is used to solve the phase difference integer ambiguity by using the target Doppler prior information and the signal transmission time interval to determine the initial Doppler estimation value in the current working cycle; The Doppler estimation value correction module 1208 is used to correct the initial Doppler estimation value by using the target Doppler prior information to obtain the target Doppler estimation value under the current working cycle if it is determined that the initial Doppler estimation value does not meet the preset decision feedback threshold according to the target Doppler prior information; The speed estimation module 1210 is used to estimate the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value, and the underwater target speed estimation result includes the moving speed of the target mobile acoustic beacon relative to the underwater reference array element.

[0066] The underwater target speed estimation device based on the underwater acoustic positioning system provided by the embodiment of the present invention aims to utilize the acoustic signal communication and positioning mechanism between the underwater reference array element and the mobile acoustic beacon to complete Doppler estimation and motion compensation in real time and with low complexity during the positioning process. By creating a dual positioning acoustic signal system, a rough Doppler estimation is performed, and the search space of the phase difference integer ambiguity is further compressed to achieve a rapid and accurate solution of the precise target Doppler estimation value. The present invention not only has the advantages of low computational complexity, simple operation, and high accuracy, but also can accurately estimate the movement speed of underwater dynamic targets, and provide Doppler information for the underwater acoustic positioning system in real time for motion compensation, thereby improving the accuracy of underwater acoustic positioning.

[0067] In one implementation, the signal transmission time interval is the sum of the duration of the protection interval between two positioning sound signals and the duration of the current working cycle; the prior information determination module 1204 is specifically used to: Determine the first Doppler prior information based on the ratio between the signal peak time interval and the signal transmission time interval, where the signal peak time interval is the time interval between the peaks of any two positioning acoustic signals sent by the target mobile acoustic beacon; Based on the delay results in the current working cycle and the delay results in the historical working cycle, determine the distance change between the target mobile acoustic beacon and the underwater reference array element in the current working cycle, so as to determine the initial motion speed between the target mobile acoustic beacon and the underwater reference array element in the current working cycle, and determine the second Doppler prior information based on the initial motion speed; The target Doppler prior information is determined according to the first Doppler prior information and the second Doppler prior information.

[0068] In one implementation, the Doppler estimation value determination module 1206 is specifically configured to: Intercepting the main lobes at the peaks of any two positioning acoustic signals sent by the target mobile acoustic beacon for phase detection to obtain a first correlation peak phase and a second correlation peak phase, and taking the difference between the first correlation peak phase and the second correlation peak phase as the correlation peak main lobe phase difference; According to the correlation peak main lobe phase difference and the signal transmission time interval, the initial Doppler estimation value is split into a phase integral period part and a phase non-integer period part; Determine the Doppler estimation value corresponding to the non-integer periodic part of the phase; and solve the phase difference integer ambiguity based on the target Doppler prior information to determine the Doppler estimation value corresponding to the integer periodic part of the phase using the phase difference integer ambiguity; The sum of the Doppler estimation value corresponding to the non-integer periodic part of the phase and the Doppler estimation value corresponding to the integer periodic part of the phase is used as the initial Doppler estimation value.

[0069] In one implementation, the Doppler estimation value determination module 1206 is specifically configured to: The phase difference integer ambiguity is determined according to the following formula: , ; in, is the phase difference integer ambiguity, is the intermediate parameter, is the target Doppler prior information, is the frequency, is the signal transmission time interval, [] indicates rounding to zero, To round down; The Doppler estimation value corresponding to the phase integral period part is determined according to the following formula: ; in, is the Doppler estimation value corresponding to the phase integral period part, is the target Doppler prior information, is the Doppler estimation value corresponding to the non-integer periodic part of the phase.

[0070] In one implementation, the Doppler estimation value correction module 1208 is specifically configured to: If the difference between the target Doppler prior information and the initial Doppler estimation value is greater than a preset decision feedback threshold, it is determined that the initial Doppler estimation value does not meet the decision feedback threshold.

[0071] In one implementation, the Doppler estimation value correction module 1208 is specifically configured to: According to the difference between the target Doppler prior information and the initial Doppler estimation value, the phase difference integer ambiguity is corrected to obtain a new phase difference integer ambiguity; Determine a Doppler factor correction value based on the new phase difference integer ambiguity; The sum of the initial Doppler estimation value and the Doppler factor correction value is used as the target Doppler estimation value in the current working cycle.

[0072] In one embodiment, a positioning module is further included, which is used to: According to the underwater target speed estimation result, the time delay result in the current working cycle is corrected; Based on the corrected time delay result, the positioning solution is performed through the principle of geometric spherical intersection to obtain the real-time positioning result of the target mobile acoustic beacon in the current working cycle.

[0073] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0074] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0075] Fig.13 A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 130, a memory 131, a bus 132 and a communication interface 133, wherein the processor 130, the communication interface 133 and the memory 131 are connected via the bus 132; the processor 130 is used to execute an executable module stored in the memory 131, such as a computer program.

[0076] The memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0077] The bus 132 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.13 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0078] Among them, the memory 131 is used to store programs, and the processor 130 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any of the embodiments of the present invention can be applied to the processor 130 or implemented by the processor 130.

[0079] The processor 130 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 130. The above processor 130 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the above method in combination with its hardware.

[0080] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0081] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0082] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for estimating underwater target velocity based on a hydroacoustic positioning system, characterized in that: The underwater acoustic positioning system includes a signal processor, a plurality of underwater reference array elements and a plurality of mobile acoustic beacons. In each working cycle, each of the mobile acoustic beacons transmits at least two positioning acoustic signals in a polling manner, and each of the underwater reference array elements receives the positioning acoustic signals. The method is applied to the signal processor, and the method includes: Determine the delay result and signal transmission time interval in the current working cycle based on the positioning acoustic signal sent by the target mobile acoustic beacon and the positioning acoustic signal received by the underwater reference array element in the current working cycle; wherein the delay result includes the delay value of the target mobile acoustic beacon relative to the underwater reference array element; Determining target Doppler prior information based on the time delay result and the signal transmission time interval in the current working cycle; Resolving the phase difference integer ambiguity by using the target Doppler prior information and the signal transmission time interval to determine the initial Doppler estimation value in the current working cycle; If it is determined according to the target Doppler prior information that the initial Doppler estimation value does not meet the preset decision feedback threshold, the initial Doppler estimation value is corrected using the target Doppler prior information to obtain the target Doppler estimation value under the current working cycle; The underwater target speed estimation result in the current working cycle is estimated according to the target Doppler estimation value, and the underwater target speed estimation result includes the moving speed of the target mobile acoustic beacon relative to the underwater reference array element.

2. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 1 is characterized in that: The signal transmission time interval is the sum of the duration of the protection interval between two positioning sound signals and the duration of the current working cycle; Determining target Doppler prior information based on the time delay result and the signal transmission time interval in the current working cycle includes: Determine first Doppler prior information based on a ratio between a signal peak time interval and the signal transmission time interval, wherein the signal peak time interval is a time interval between any two peaks of the positioning acoustic signals sent by the target mobile acoustic beacon; Based on the time delay result in the current working cycle and the time delay result in the historical working cycle, determine the change in the distance between the target mobile acoustic beacon and the underwater reference array element in the current working cycle to determine the initial movement speed of the target mobile acoustic beacon relative to the underwater reference array element in the current working cycle, and determine the second Doppler prior information based on the initial movement speed; Target Doppler priori information is determined according to the first Doppler priori information and the second Doppler priori information.

3. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 1 is characterized in that: Resolving the phase difference integer ambiguity by using the target Doppler prior information and the signal transmission time interval to determine the initial Doppler estimation value in the current working cycle, including: Intercepting the main lobes at the peaks of any two positioning acoustic signals sent by the target mobile acoustic beacon for phase detection to obtain a first correlation peak phase and a second correlation peak phase, and taking the difference between the first correlation peak phase and the second correlation peak phase as the correlation peak main lobe phase difference; Splitting the initial Doppler estimation value into a phase integral period part and a phase non-integer period part according to the correlation peak main lobe phase difference and the signal transmission time interval; Determine the Doppler estimation value corresponding to the non-integer periodic part of the phase; and solve the phase difference integer ambiguity based on the target Doppler prior information to determine the Doppler estimation value corresponding to the integer periodic part of the phase using the phase difference integer ambiguity; The sum of the Doppler estimation value corresponding to the phase non-integer periodic part and the Doppler estimation value corresponding to the phase full periodic part is used as the initial Doppler estimation value.

4. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 3 is characterized in that: Solving the phase difference integer ambiguity based on the target Doppler prior information to determine the Doppler estimation value corresponding to the phase integer period part by using the phase difference integer ambiguity, including: The phase difference integer ambiguity is determined according to the following formula: ， ； in, is the phase difference integer ambiguity, is the intermediate parameter, is the target Doppler prior information, is the frequency, is the signal transmission time interval, [] indicates rounding to zero, To round down; The Doppler estimation value corresponding to the phase integral period part is determined according to the following formula: ； in, is the Doppler estimation value corresponding to the phase integral period part, is the target Doppler prior information, is the Doppler estimation value corresponding to the phase non-integral period part.

5. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 1, characterized in that: Before determining, based on the target Doppler prior information, that the initial Doppler estimation value does not satisfy a preset decision feedback threshold, the method further includes: If the difference between the target Doppler priori information and the initial Doppler estimation value is greater than a preset decision feedback threshold, it is determined that the initial Doppler estimation value does not meet the decision feedback threshold.

6. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 1, characterized in that: The initial Doppler estimation value is corrected by using the target Doppler prior information to obtain the target Doppler estimation value in the current working cycle, including: According to the difference between the target Doppler prior information and the initial Doppler estimation value, the phase difference integer ambiguity is corrected to obtain a new phase difference integer ambiguity; Determine a Doppler factor correction value based on the new phase difference integer ambiguity; The sum of the initial Doppler estimation value and the Doppler factor correction value is used as the target Doppler estimation value in the current working cycle.

7. The underwater target velocity estimation method based on the hydroacoustic positioning system according to claim 1, characterized in that: After estimating the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value, the method further includes: According to the underwater target speed estimation result, correcting the time delay result in the current working cycle; Based on the corrected time delay result, positioning solution is performed through the principle of geometric spherical intersection to obtain the real-time positioning result of the target mobile acoustic beacon in the current working cycle.

8. An underwater target speed estimation device based on a hydroacoustic positioning system, characterized in that: The underwater acoustic positioning system includes a signal processor, a plurality of underwater reference array elements and a plurality of mobile acoustic beacons. In each working cycle, each of the mobile acoustic beacons transmits at least two positioning acoustic signals in a polling manner, and each of the underwater reference array elements receives the positioning acoustic signals. The device is applied to the signal processor, and the device includes: A signal detection module, configured to determine a delay result and a signal transmission time interval in the current working cycle based on the positioning acoustic signal sent by the target mobile acoustic beacon and the positioning acoustic signal received by the underwater reference array element in the current working cycle; wherein the delay result includes a delay value of the target mobile acoustic beacon relative to the underwater reference array element; A priori information determination module, used to determine the target Doppler priori information based on the delay result and the signal transmission time interval in the current working cycle; A Doppler estimation value determination module, used to solve the phase difference integer ambiguity by using the target Doppler prior information and the signal transmission time interval, so as to determine the initial Doppler estimation value in the current working cycle; A Doppler estimation value correction module is used to correct the initial Doppler estimation value using the target Doppler prior information to obtain the target Doppler estimation value under the current working cycle if it is determined that the initial Doppler estimation value does not meet a preset decision feedback threshold according to the target Doppler prior information; The speed estimation module is used to estimate the underwater target speed estimation result in the current working cycle according to the target Doppler estimation value, and the underwater target speed estimation result includes the movement speed of the target mobile acoustic beacon relative to the underwater reference array element.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 7.

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