Sonar buoy array method, device and storage medium in dynamic environment

Abstract

The present application relates to the field of sonar detection array technology, and specifically to a sonar buoy array method, device, and storage medium for dynamic environments. The sonar buoy array method includes: calculating a sonar buoy's minimum operating range parameter based on a selected target area, environmental forecast data for a selected time range, and the sonar buoy's operating threshold; setting the sonar buoy deployment position based on the sonar buoy's minimum operating range parameter so that the overall operating area of the deployment covers the target area; and generating a sonar buoy deployment path based on the sonar buoy deployment position. By calculating the sonar buoy's minimum operating range and deploying the sonar array based on its minimum operating range, the present application enhances the sonar buoy array's ability to adapt to the environment and significantly improves the sonar buoy's stable coverage performance.

Description

Technical Field

[0001] The present application relates to the technical field of sonar detection array deployment, and in particular to a sonar buoy array deployment method, device, and storage medium in a dynamic environment. Background Art

[0002] A sonobuoy array consists of multiple sonobuoys deployed at specific locations to form an array for detecting and locating underwater targets. Existing sonobuoy array methods primarily focus on improving range and deployment efficiency through rational array design.

[0003] In the related art, there are generally three types of array methods. The first is multi-base sonar buoy array: this method analyzes the impact of the array formation factors of the sonar buoy array on the sonar detection area for the multi-base centralized detection mode. The second is the sonar buoy array with a limited number of sonar buoys. Due to the limited number of sonar buoys carried by the aircraft, this method requires analyzing the array formation to maximize the detection area to meet the mission requirements. The third is the target movement route sonar buoy array. This method analyzes the impact of the sonar buoy array deployment area and deployment depth on the target detection probability based on the possible navigation path of the target. Through these array methods, the detection probability and coverage area of the sonar buoy array can be significantly improved to meet the needs of different application scenarios.

[0004] However, traditional sonar buoy arrays typically operate in a passive mode, taking into account factors such as oceanographic conditions, including topography, bottom type, and sound speed, to provide a more comprehensive prediction of array effectiveness. Existing sonar buoy array methods fail to account for dynamic changes in the ocean environment, making it difficult to maintain coverage even after environmental changes, leading to inaccurate detection results. Summary of the Invention

[0005] Regarding related technologies, the sonar buoy array method does not take into account the dynamic changes of the ocean environment. It is difficult to ensure the original coverage area after the environment changes, which affects the detection results.

[0006] In a first aspect, an embodiment of the present application provides a sonobuoy array method in a dynamic environment, the sonobuoy array method comprising:

[0007] Calculate the minimum operating range parameters of the sonobuoy based on the selected target area, environmental forecast data for the selected time range, and the sonobuoy's operating threshold;

[0008] Setting the sonobuoy deployment position according to the sonobuoy's minimum effective range parameter so that the overall effective area of the deployment covers the target area;

[0009] Generate a sonobuoy deployment path based on the sonobuoy deployment location.

[0010] In conjunction with the first aspect, in one embodiment, the step of calculating the minimum operating range of the sonobuoy based on the selected target area, environmental forecast data for the selected time range, and the operating threshold of the sonobuoy includes:

[0011] Divide the selected target area into multiple grid areas;

[0012] Calculate the effective range of sonar buoys in different grid areas and directions based on environmental forecast data and sonar buoy action thresholds;

[0013] The minimum effective range parameters of the sonobuoy are calculated based on the effective range of the sonobuoy in different grid areas and orientations.

[0014] In conjunction with the first aspect, in one embodiment, calculating the sonobuoy's operating range in different grid areas and orientations based on environmental forecast data and the sonobuoy's operating threshold includes:

[0015] Use the ray model to calculate the propagation loss parameters in different grid areas and orientations;

[0016] The effective range of the sonar buoy in different grid areas and orientations is calculated based on the sonar buoy's effective threshold and propagation loss parameters.

[0017] In conjunction with the first aspect, in one embodiment, setting the sonobuoy deployment position according to the minimum operating range parameter of the sonobuoy includes:

[0018] Calculate the minimum effective area of the sonobuoy according to the minimum effective range parameter of the sonobuoy;

[0019] The overall effective area of the sonobuoy array is calculated based on the minimum effective area of the sonobuoy so that the overall effective area completely covers the selected target area.

[0020] In conjunction with the first aspect, in one embodiment, calculating the overall effective area of the sonobuoy array based on the minimum effective area of the sonobuoy includes:

[0021] The minimum number of sonobuoys required to fully cover the target area is calculated based on the target area and minimum operating range parameters;

[0022] Calculate the position coordinates of each sonobuoy in the sonobuoy array when the number of sonobuoys is the minimum.

[0023] In combination with the first aspect, in one embodiment, solving the minimum number of sonar buoys required to completely cover the target area based on the target area and the minimum effective distance parameter includes: solving the minimum number of sonar buoys that can completely cover the target area based on a differential evolution algorithm.

[0024] In combination with the first aspect, in one embodiment, calculating the sonobuoy deployment path according to the sonobuoy deployment position includes: calculating the shortest deployment path of the sonobuoy according to the sonobuoy deployment position.

[0025] In combination with the first aspect, in one embodiment, generating the sonar buoy deployment path according to the sonar buoy deployment position includes: using the nearest interpolation method to calculate the shortest deployment path of the sonar buoy.

[0026] In a second aspect, an embodiment of the present application provides a sonar buoy array device in a dynamic environment, the sonar buoy array device comprising:

[0027] an operating range calculation unit, which is used to calculate the minimum operating range parameter of the sonobuoy based on the selected target area, environmental forecast data of the selected time range and the operating threshold of the sonobuoy;

[0028] a buoy position allocation unit, which sets the sonobuoy deployment position according to the minimum effective range parameter of the sonobuoy so that the overall effective area of the deployment covers the target area;

[0029] The path generation unit generates a sonobuoy deployment path according to the sonobuoy deployment position.

[0030] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that a sonar buoy array program is stored on the computer-readable storage medium, wherein when the sonar buoy array program is executed by a processor, the steps of any of the above-mentioned sonar buoy array methods are implemented.

[0031] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0032] This application calculates the minimum effective range of the sonar buoy and deploys the sonar array based on its minimum effective range, thereby enhancing the sonar buoy array's ability to adapt to the environment and significantly improving the sonar buoy's stable coverage performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of a sonar buoy array method in one embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of the sonobuoy's operating range in an embodiment of the present application;

[0035] Figure 3 Schematic diagram of the deployment position of the sonobuoy in the embodiment of the present application;

[0036] Figure 4 This is a planar schematic diagram of the deployment of sonobuoys in an embodiment of the present application;

[0037] Figure 5 A path diagram for deploying sonobuoys in an embodiment of the present application;

[0038] Figure 6 This is a schematic diagram of the hardware structure of the sonar buoy array equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] Regarding related technologies, the sonar buoy array method does not take into account the dynamic changes of the ocean environment. It is difficult to ensure the original coverage area after the environment changes, which affects the detection results.

[0041] In a first aspect, an embodiment of the present application provides a sonobuoy array method in a dynamic environment, the sonobuoy array method comprising:

[0042] Step S1, calculating the minimum operating range parameter of the sonar buoy according to the selected target area, the environmental forecast data of the selected time range and the operating threshold of the sonar buoy.

[0043] The above step S1 includes:

[0044] Step S1a: Divide the selected target area into multiple grid areas.

[0045] In some specific embodiments, the horizontal spacing of the sound source starting points is set to 5 km, and the working depth is 10 m, that is, the selected space is divided into several 5×5 km 2 The area composed of square basic blocks, assuming the area size is , unit is KM 2 , then the number of grids is .in, , .

[0046] Step S1b: Calculate the effective range of the sonar buoy in different grid areas and directions based on the environmental forecast data and the effective threshold of the sonar buoy.

[0047] In some preferred implementations, the ray model can be used to calculate the propagation loss parameters in different grid areas and orientations, and then the effective range of the sonar buoy in different grid areas and orientations can be calculated based on the effective threshold of the sonar buoy and the propagation loss parameters.

[0048] Optionally, a simple normal wave model or a parabolic equation model may be used to calculate the propagation loss parameters.

[0049] It is worth noting that the ray model used in this application has the advantages of being applicable to various terrain conditions and having high computational efficiency, and its strong adaptability to dynamic environments makes it suitable for sound field calculations in dynamic ocean environments.

[0050] In combination with the above preferred implementation manner, in a specific embodiment of the present application, step S1b includes:

[0051] Get The ocean environment forecast data (temperature, salinity) and bottom and topographic data at each moment are used to calculate the sound field using the Bellhop ray model. The frequency is set. , the number of directions is , calculate the distance as , the propagation loss in each area and different directions can be obtained .

[0052] It is worth noting that the time sequence number of the marine environment forecast data in the above embodiment is , the vertical sequence number of the basic grid after area division , Indicates horizontal sequence number, azimuth sequence number , horizontal distance , Indicates the vertical distance, where the horizontal distance Indicates the distance from the sound emission source to the receiving source, vertical distance Refers to the vertical distance from the transmitting source to the receiving source.

[0053] Furthermore, in some specific embodiments, when the target area to be detected is selected to be 50×50 km in horizontal size, 2 For an area with a vertical depth of 500M, obtain environmental forecast data at 8 moments. For example, if the number of sound field calculation directions is 8, the area can be divided into 100 basic blocks of 10×10, where: , , , , , .

[0054] It is worth noting that the above-mentioned maximum calculation distance R can be selected according to actual needs.

[0055] Further, according to the pre-selected target depth , sonobuoy action threshold , combined with the propagation loss calculation results, such as Figure 2As shown, the effective range of the sonar buoy in different grids and directions is obtained. , the calculation method is as follows:

[0056]

[0057] Step S1c: Calculate the minimum operating range parameter of the sonobuoy according to the operating range of the sonobuoy in different grid areas and orientations.

[0058] Specifically, in a dynamic ocean environment, if you want to stably cover the selected area, you need to solve the minimum operating range of the sonar buoy. , the calculation method is as follows:

[0059]

[0060] It is worth noting that the minimum operating distance is Figure 3 and Figure 4 As shown, Figure 3 The lower middle part is the 3D terrain, the center of the circle above is the buoy deployment position, and the effective range is the circular range.

[0061] Step S2: setting the sonobuoy deployment position according to the minimum effective range parameter of the sonobuoy so that the overall effective area of the deployment covers the target area.

[0062] The above step S2 specifically includes:

[0063] Step S2a: Calculate the minimum effective area of the sonobuoy according to the minimum effective range parameter of the sonobuoy.

[0064] Specifically, assuming that A buoys need to be deployed, the coordinates of the ath buoy are ,in , , Then, the grid number corresponding to each buoy is , which corresponds to the minimum action distance for:

[0065]

[0066] The minimum effective area of a corresponding sonobuoy for:

[0067]

[0068] Step S2b: Calculate the overall action area of the sonobuoy array based on the minimum action area of the sonobuoys, so that the overall action area completely covers the selected target area.

[0069] Specifically, the above step S2b includes:

[0070] Step A: Calculate the minimum number of sonar buoys required to completely cover the target area based on the target area and the minimum effective range parameters.

[0071] Specifically, based on the minimum effective area of the sonobuoy calculated in step S2a above, the overall effective area S of the sonobuoy array consisting of A buoys can be expressed as:

[0072]

[0073] In addition, the target area C selected for detection is:

[0074]

[0075] In order to make the overall effective area of the sonobuoy array completely cover the selected area, there is , in order to determine the overall area of action.

[0076] Furthermore, the minimum number of sonar buoys covering the selected area is obtained based on the determined overall action area. .

[0077] In some preferred embodiments, the minimum number of sonar buoys covering the selected area can be obtained by using a differential evolution algorithm to optimize the solution. :

[0078]

[0079] It is understandable that the differential evolution algorithm has the advantages of simple parameters, strong global search capability, fast convergence speed, and high robustness, which can improve the calculation efficiency of the minimum number of sonar buoys.

[0080] Step B: Calculate the position coordinates of each sonar buoy in the sonar buoy array when the number of sonar buoys is the minimum.

[0081] It is worth noting that the position coordinates of each sonar buoy can be determined based on the minimum number of sonar buoys and the array plan obtained in step A above. .

[0082] Step S3: Generate a sonobuoy deployment path according to the sonobuoy deployment position.

[0083] Specifically, it is necessary to calculate the shortest deployment path of the sonobuoy according to the deployment position of the sonobuoy.

[0084] It should be noted that the deployment of buoys depends on aircraft delivery. Therefore, in order to increase the speed of aircraft deployment, the shortest deployment path needs to be formulated.

[0085] In some preferred embodiments, the nearest interpolation method may be used to calculate the shortest deployment path of the sonobuoy.

[0086] In combination with the above preferred implementation manner, specific embodiments of using the nearest insertion method to calculate the shortest placement path include:

[0087] Step S3a: Select a starting vertex .

[0088] Step S3b: Select a vertex that is closest to a vertex in the current path from the vertices that are not added to the path. .

[0089] Step S3c: insert the selected vertex into the optimal position in the path, such as and , to meet the total distance increased after insertion Minimum, that is:

[0090]

[0091] Step S3d, repeat steps S3b and S3c until all vertices are added to the path, and redefine the sequence number of each point in the path in order ,in , and find the total path length :

[0092] ;

[0093] Step S3e, by selecting the set of points on the outermost edge of the sonobuoy array As a set of starting points, , , and calculate the total path length respectively ,in .

[0094] Step S3f, solve and obtain the path number corresponding to the shortest total path :

[0095]

[0096] Finally, select the serial number The corresponding starting point , obtaining the shortest path calculated based on the nearest insertion method, which can assist the aircraft in achieving the goal of deploying sonar buoys as quickly as possible according to this path.

[0097] It is worth noting that in the face of complex ocean environments and large-scale buoy arrays, the nearest insertion method can be used to quickly generate an approximate optimal solution and quickly obtain the shortest deployment path.

[0098] Based on the above-mentioned sonobuoy array method, this application provides a specific implementation case, which includes:

[0099] First, a specific detection time period is selected, and a 30*20 square kilometer sea area is selected to extract marine environment forecast data. At the same time, the propagation loss is calculated using bellhop, and the current buoy action distance is calculated based on the buoy action threshold. The visualization is as follows: Figure 2 shown.

[0100] Then, according to the calculated effective distance, the deployment position of the sonar buoy is calculated based on the differential evolution algorithm, and the calculation results are visualized as follows: Figure 3 、 Figure 4 As shown in the figure (all showing minimum effective distances), 55 sonar buoys can be used to achieve stable coverage of the area under dynamic ocean conditions.

[0101] Finally, the shortest deployment navigation path for the buoy deployment location is solved based on the nearest insertion method, as follows: Figure 5 As shown, the length of the path is 207.04 kilometers, which allows the aircraft to navigate along this path and achieve rapid deployment of sonar buoys.

[0102] In a second aspect, the present application provides a sonar buoy array device in a dynamic ocean environment, the sonar buoy array device comprising: an effective range calculation unit, a buoy position allocation unit and a path generation unit; wherein,

[0103] The effective range calculation unit is used to calculate the minimum effective range parameter of the sonar buoy based on the selected target area, the environmental forecast data of the selected time range and the effective threshold of the sonar buoy; the buoy position allocation unit is used to set the sonar buoy deployment position according to the minimum effective range parameter of the sonar buoy so that the overall effective area of the deployment covers the target area; the path generation unit is used to generate the sonar buoy deployment path according to the sonar buoy deployment position.

[0104] In a third aspect, an embodiment of the present application provides a sonar buoy array device, which can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0105] Reference Figure 6 , Figure 6 Schematic diagram of the hardware structure of the sonar buoy array device involved in the embodiment of the present application. In the embodiment of the present application, the sonar buoy array device may include a processor, a memory, a communication interface and a communication bus.

[0106] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0107] Communication interfaces include input / output (I / O), physical, and logical interfaces, which interconnect components within the sonobuoy array and other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber, and ATM interfaces; user devices can include displays and keyboards.

[0108] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0109] The processor can be a general-purpose processor that can invoke a sonobuoy deployment program stored in memory and execute the sonobuoy deployment method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The methods executed when the sonobuoy deployment program is invoked can be referenced in the various embodiments of the sonobuoy deployment method of this application and will not be further described here.

[0110] Those skilled in the art will understand that Figure 6 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0111] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0112] The readable storage medium of the present application stores a sonar buoy array program, wherein when the sonar buoy array program is executed by the processor, the steps of the sonar buoy array method as described above are implemented.

[0113] Among them, the method implemented when the sonar buoy array program is executed can refer to the various embodiments of the sonar buoy array method of this application, and will not be repeated here.

[0114] In summary, the present invention improves the traditional deployment mode based on a fixed effective distance to one based on the ocean environment, which can effectively increase the effective range and reduce redundant areas. The introduction of a dynamic ocean environment change model enables the buoy array to have the ability to stably cover a specific area within a certain period of time, enhances the sonar buoy array's ability to adapt to the environment, and significantly improves the sonar buoy's stable coverage performance. By utilizing the advantages of the nearest insertion method with its flexibility and strong search capabilities, the buoy array path is shortened, the deployment time is accelerated, and the aircraft deployment speed is increased to meet the needs of rapid sonar buoy deployment in dynamic ocean environments.

[0115] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0116] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0117] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0118] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0119] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0120] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0121] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A sonar buoy array method in a dynamic environment, characterized in that: The sonobuoy array method comprises: Calculate the minimum operating range parameters of the sonobuoy based on the selected target area, environmental forecast data for the selected time range, and the sonobuoy's operating threshold; The sonobuoy deployment position is set according to the sonobuoy's minimum effective range parameter so that the overall effective area of the deployment covers the target area; Generate a sonobuoy deployment path based on the sonobuoy deployment position; The step of calculating the minimum operating distance of the sonar buoy based on the selected target area, environmental forecast data of the selected time range, and the operating threshold of the sonar buoy includes: Divide the selected target area into multiple grid areas; Calculate the effective range of sonar buoys in different grid areas and directions based on environmental forecast data and sonar buoy action thresholds; The minimum effective range parameters of the sonar buoy are calculated based on the effective range of the sonar buoy in different grid areas and orientations.

2. The sonobuoy deployment method in a dynamic environment as claimed in claim 1, characterized in that: The calculation of the sonar buoy's effective range in different grid areas and directions based on the environmental forecast data and the sonar buoy's effective threshold includes: Use the ray model to calculate the propagation loss parameters in different grid areas and orientations; The effective range of the sonar buoy in different grid areas and orientations is calculated based on the sonar buoy's effective threshold and propagation loss parameters.

3. The sonobuoy deployment method in a dynamic environment as claimed in claim 1, characterized in that: The step of setting the sonobuoy deployment position according to the sonobuoy's minimum operating range parameter includes: Calculate the minimum effective area of the sonar buoy according to the minimum effective range parameter of the sonar buoy; The overall effective area of the sonobuoy array is calculated based on the minimum effective area of the sonobuoy so that the overall effective area completely covers the selected target area.

4. The sonobuoy deployment method in a dynamic environment as claimed in claim 3, characterized in that: Calculating the overall action area of the sonobuoy array based on the minimum action area of the sonobuoys includes: According to the target area and minimum operating range parameters, the minimum number of sonobuoys required to fully cover the target area is solved; Calculate the position coordinates of each sonobuoy in the sonobuoy array when the number of sonobuoys is the minimum.

5. The sonobuoy deployment method in a dynamic environment as claimed in claim 4, characterized in that: Solving the minimum number of sonar buoys required to completely cover the target area based on the target area and the minimum effective distance parameter includes: solving the minimum number of sonar buoys required to completely cover the target area based on a differential evolution algorithm.

6. The sonobuoy array method in a dynamic environment as claimed in claim 1, characterized in that: Calculating the sonar buoy deployment path according to the sonar buoy deployment position, including: calculating the shortest deployment path of the sonar buoy according to the sonar buoy deployment position.

7. The sonobuoy deployment method in a dynamic environment as claimed in claim 6, characterized in that: Calculating the shortest placement path of the sonobuoy according to the placement position of the sonobuoy includes: calculating the shortest placement path of the sonobuoy using the nearest insertion method.

8. A sonar buoy array device in a dynamic environment, characterized in that: The sonobuoy array device comprises: an operating range calculation unit, which is used to calculate the minimum operating range parameter of the sonobuoy based on the selected target area, environmental forecast data of the selected time range, and the operating threshold of the sonobuoy; A buoy position allocation unit sets the sonobuoy deployment position according to the sonobuoy's minimum operating range parameter so that the overall operating area of the deployment covers the target area; The method of calculating the minimum operating range of the sonar buoy based on the environmental forecast data of the selected target area, the selected time range, and the operating threshold of the sonar buoy includes: dividing the selected target area into a plurality of grid areas; calculating the operating ranges of the sonar buoy in different grid areas and orientations based on the environmental forecast data and the operating threshold of the sonar buoy; and calculating the minimum operating range parameter of the sonar buoy based on the operating ranges of the sonar buoy in different grid areas and orientations. The path generation unit generates a sonobuoy deployment path according to the sonobuoy deployment position.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a sonar buoy array program, wherein when the sonar buoy array program is executed by the processor, the steps of the sonar buoy array method according to any one of claims 1 to 7 are implemented.

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