Offshore underwater sound ranging method, device, equipment, medium and product

Abstract

The invention provides an offshore underwater sound ranging method, device and equipment, a medium and a product, and relates to the technical field of underwater positioning measurement, and the method comprises the steps: obtaining a target pulse signal transmitted by a signal transmitting end; the target pulse signal is constructed based on the continuous wave pulse signal and the linear frequency modulation pulse signal; detecting and identifying the target pulse signal to obtain an arrangement relation between a continuous wave pulse signal and a linear frequency modulation pulse signal in the target pulse signal; determining a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relation; and determining a target distance from the signal transmitting end based on the underwater sound velocity and a preset row signal period corresponding to the row pulse signal. According to the technical scheme, the multiple row pulse signals corresponding to the target pulse signals can be determined according to the arrangement relation of the continuous wave pulse signals and the linear frequency modulation pulse signals, the signal emission starting point time of the signal emission end can be accurately recognized, and the measurement accuracy of the target distance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater positioning measurement, and particularly relates to a method, device, equipment, medium and product for underwater acoustic ranging at sea. Background Art

[0002] With the vigorous implementation of the national marine strategy, in the fields of marine exploration, communication and navigation technologies, underwater acoustic positioning technology, as an important means, is widely used in multiple industries such as submarines, unmanned submersibles and fishery exploration. However, with the expansion of the detection range and the improvement of the requirements for positioning accuracy and trajectory data sampling rate, the existing underwater acoustic positioning measurement technology faces challenges under the requirements of long distance and high sampling rate.

[0003] In the existing underwater acoustic positioning technology, when the propagation delay of the transmitted signal is less than the signal transmission period (that is, when the target distance is relatively close), the positioning of the signal transmission target can be achieved. However, when the distance of the signal transmission target is relatively far, since the propagation delay of the transmitted signal is greater than the signal transmission period, the signal will be received across periods, and it is difficult for the signal receiving end to know when the received signal was sent, so it is difficult to locate the signal transmission target, and the target distance cannot be uniquely measured, resulting in a distance ambiguity problem. Summary of the Invention

[0004] The present invention provides a method, device, equipment, medium and product for underwater acoustic ranging at sea, which is used to solve the defect in the existing technology that when the distance of the signal transmission target is relatively far, since the propagation delay of the transmitted signal is greater than the signal transmission period, the signal will be received across periods, and it is difficult for the signal receiving end to know when the received signal was sent, so it is difficult to locate the signal transmission target, and the target distance cannot be uniquely measured, resulting in a distance ambiguity problem. The technical solution of the present invention constructs a target pulse signal through a continuous wave pulse signal and a linear frequency modulation pulse signal, and then can determine a plurality of row pulse signals corresponding to the target pulse signal according to the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal, and can more accurately identify the signal transmission start time of the signal transmitting end, improving the measurement accuracy of the target distance.

[0005] The present invention provides a method for underwater acoustic ranging at sea, which is applied to a signal receiving end and includes the following steps.

[0006] Obtain a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; Detect and identify the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; Determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; Determine the target distance from the signal transmitter based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal.

[0007] According to a marine underwater acoustic ranging method provided by the present invention, the detecting and identifying the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal includes: Detect and identify the continuous wave pulse signal in the target pulse signal by using the fast Fourier transform spectrum method, and detect and identify the linear frequency modulation pulse signal in the target pulse signal by using the cross-correlation method, so as to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal.

[0008] According to a marine underwater acoustic ranging method provided by the present invention, the linear frequency modulation pulse signal includes a positive linear frequency modulation pulse signal and a negative linear frequency modulation pulse signal; The determining the multiple line pulse signals corresponding to the target pulse signal based on the arrangement relationship includes: Based on the arrangement relationship, when the combination of the continuous wave pulse signal and the positive linear frequency modulation pulse signal is the first line pulse signal, determine the remaining continuous wave pulse signals and the negative linear frequency modulation pulse signals as multiple line pulse signals other than the first line pulse signal; Alternatively, based on the arrangement relationship, when the combination of the continuous wave pulse signal and the negative linear frequency modulation pulse signal is the first line pulse signal, determine the remaining continuous wave pulse signals and the positive linear frequency modulation pulse signals as multiple line pulse signals other than the first line pulse signal.

[0009] According to a marine underwater acoustic ranging method provided by the present invention, the determining the target distance from the signal transmitter based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal includes: Obtain the pulse signal time delay corresponding to any one of the line pulse signals; Based on the preset line signal period, the pulse signal time delay, and the line number of the line pulse signal corresponding to the pulse signal time delay, determine the actual propagation time delay corresponding to the target pulse signal; the line number is determined based on the arrangement relationship; Based on the actual propagation time delay and the underwater sound speed, determine the target distance from the signal transmitter.

[0010] According to a marine underwater acoustic ranging method provided by the present invention, the method further includes: Obtain the modulation time interval from the continuous wave pulse signal to the linear frequency modulation pulse signal in the line pulse signal; Determine a target depth from the signal transmitter based on the modulation time interval and the maximum operating depth corresponding to the signal transmitter.

[0011] According to an underwater acoustic ranging method provided by the present invention, the signal transmitter includes a timing generator, a programmable signal generator, a highly stable clock, a signal processing circuit, and a transmitting transducer; The signal transmitter transmits the target pulse signal through the following steps: The timing generator generates an initial pulse signal when receiving an external clock source signal; The programmable signal generator generates a signal to be transmitted based on the initial pulse signal, the timing signal transmitted by the highly stable clock, and the preset arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal; The signal processing circuit performs signal amplification processing, gain adjustment processing, and output power amplification processing on the signal to be transmitted to obtain the target pulse signal; The transmitting transducer transmits the target pulse signal.

[0012] The present invention also provides an underwater acoustic ranging device applied to a signal receiving end, including the following modules: An acquisition module for acquiring a target pulse signal transmitted by a signal transmitter; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; A detection and recognition module for detecting and recognizing the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; A determination module for determining a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; A ranging module for determining a target distance from the signal transmitter based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the underwater acoustic ranging method as described in any one of the above when executing the computer program.

[0014] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the underwater acoustic ranging method as described in any one of the above.

[0015] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the underwater acoustic ranging method as described in any one of the above.

[0016] The marine underwater acoustic ranging method, device, equipment, medium and product provided by the present invention are applied to a signal receiving end to obtain a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; the target pulse signal is detected and identified to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; a plurality of row pulse signals corresponding to the target pulse signal are determined based on the arrangement relationship; and the target distance from the signal transmitting end is determined based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal. The technical solution of the present invention constructs a target pulse signal through a continuous wave pulse signal and a linear frequency modulation pulse signal, and then can determine a plurality of row pulse signals corresponding to the target pulse signal according to the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal, and can more accurately identify the signal transmission starting time of the signal transmitting end, improving the measurement accuracy of the target distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic flowchart of the marine underwater acoustic ranging method provided by the present invention.

[0019] Figure 2 It is a schematic waveform timing diagram of each signal provided by the present invention.

[0020] Figure 3 It is a data schematic diagram of the target pulse signal provided by the present invention.

[0021] Figure 4 It is a schematic structural diagram of the marine underwater acoustic ranging device provided by the present invention.

[0022] Figure 5 It is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0024] In view of the above problems in the prior art, the present invention provides an underwater acoustic ranging method for the sea. It should be noted that the execution subject of the method of the present invention is the signal receiving end. Figure 1 It is a schematic flowchart of the underwater acoustic ranging method provided by the present invention. As Figure 1 shown, the method includes the following steps 110 to 140.

[0025] Step 110: Obtain the target pulse signal sent by the signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal.

[0026] Specifically, first, the signal transmitting end sends a target pulse signal to the signal receiving end. When applied in the sea, the signal transmitting end can be arranged on devices such as submarines and unmanned underwater vehicles. The target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal. This waveform design not only has a simple structure, is easy to generate signals, but also facilitates signal reception detection processing and propagation delay measurement, meets the requirements of underwater target long-distance and high sampling rate underwater acoustic positioning measurement, and can also simultaneously achieve target depth measurement.

[0027] In one embodiment, the signal transmitting end includes a timing generator, a programmable signal generator, a highly stable clock, a signal processing circuit, and a transmitting transducer; The signal transmitting end transmits the target pulse signal through the following steps: The timing generator generates an initial pulse signal when receiving an external clock source signal; The programmable signal generator generates a signal to be transmitted based on the initial pulse signal, the timing signal transmitted by the highly stable clock, and the preset arrangement relationship of the continuous wave pulse signal and the linear frequency modulation pulse signal; The signal processing circuit performs signal amplification processing, gain adjustment processing, and output power amplification processing on the signal to be transmitted to obtain the target pulse signal; The transmitting transducer transmits the target pulse signal.

[0028] Specifically, the signal transmitting end may include a timing generator, a programmable signal generator, a highly stable clock, a signal processing circuit, and a transmitting transducer. When the timing generator receives an external clock source signal, it can generate an initial pulse signal based on the external clock source signal. Among them, the external clock source signal can be sent by the Global Positioning System (GPS) or by the Beidou satellite. Figure 2 It is a schematic waveform timing diagram of each signal provided by the present invention. The timing waveform of the external clock source signal can be as Figure 2as shown by CLK1 in []. Further, after generating the initial pulse signal, the timing generator can send the initial pulse signal to the programmable signal generator, which can, according to the timing signal transmitted by the high-stability clock (the timing waveform of the timing signal can be as shown by CLK2 in Figure 2 ), and the preset arrangement relationship between the continuous wave pulse signal and the linearly frequency-modulated pulse signal, precisely control the waveform form, frequency, and amplitude of the initial pulse signal to obtain the signal to be transmitted constructed by the continuous wave (CW) pulse signal and the linearly frequency-modulated (LFM) pulse signal. The programmable signal generator can also send the signal to be transmitted to the signal processing circuit, which can be composed of a signal amplification sub-circuit, a gain adjustment sub-circuit, and an output power amplification sub-circuit. The three sub-circuits can respectively perform signal amplification processing, gain adjustment processing, and output power amplification processing on the signal to be transmitted to obtain the target pulse signal. The signal processing circuit can also transmit the target pulse signal to the transmitting transducer, and finally, the transmitting transducer transmits the target pulse signal. Among them, the preset arrangement relationship refers to the alternating arrangement relationship between the CW pulse signal and the positive LFM pulse signal, as well as the negative LFM pulse signal in the target pulse signal. For example, when setting the CW pulse signal and the positive LFM pulse signal as the frame header (the first line pulse signal), the remaining line pulse signals in the target pulse signal are all combinations of the CW pulse signal and the negative LFM pulse signal. In this case, when the signal receiving end recognizes a combination of a CW pulse signal and a positive LFM pulse signal, it can determine that this combination is the frame header of a target pulse signal, clarify its corresponding measurement period, and thus solve the problem of ambiguous distance. When the frame header is a CW pulse signal and a positive LFM pulse signal, the timing waveform of the target pulse signal can be as shown by Figure 2 . Figure 2 In [], +LFM represents the positive LFM pulse signal, and -LFM represents the negative LFM pulse signal. Figure 3 is the data schematic diagram of the target pulse signal provided by the present invention, and the data of the target pulse signal can be as shown by Figure 3 . It is easy to understand that the frame header can also be a CW pulse signal and a negative LFM pulse signal. In this case, the remaining line pulse signals in the corresponding target pulse signal are all combinations of the CW pulse signal and the positive LFM pulse signal.

[0029] It should be noted that within each measurement period , the signal transmitting end will transmit the target pulse signal once. Within multiple measurement periods If so, multiple target pulse signals are correspondingly transmitted. In addition, in a marine application scenario, the center frequencies of the CW pulse signal and the LFM pulse signal are usually in the range of 9 kHz to 25 kHz, the pulse width is usually in the range of 5 ms to 20 ms, and the frequency modulation bandwidth is usually in the range of 0.5 kHz to 1.5 kHz.

[0030] Step 120: Detect and identify the target pulse signals to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals.

[0031] Specifically, the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals can be detected and identified to obtain the arrangement relationship between these two signals.

[0032] In one embodiment, the detecting and identifying the target pulse signals to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals includes: Using the fast Fourier transform spectrum method to detect and identify the continuous wave pulse signal in the target pulse signals, and using the cross-correlation method to detect and identify the linear frequency modulation pulse signal in the target pulse signals, to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals.

[0033] Specifically, the signal receiving end can use the fast Fourier transform (FFT) spectrum method to detect and identify the continuous wave pulse signal in the target pulse signals, and can also use the cross-correlation method to detect and identify the linear frequency modulation pulse signal in the target pulse signals. The application of the cross-correlation method is mainly because the positive LFM pulse signal and the negative LFM pulse signal are easily distinguishable through cross-correlation detection. Further, the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals can be obtained. It is easy to understand that a continuous wave pulse signal and a linear frequency modulation pulse signal form a row pulse signal, and the row pulse signals can be sorted according to the time sequence to obtain the row numbers corresponding to the row pulse signals.

[0034] In the above embodiment, the arrangement of the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signals can be quickly and accurately detected by the fast Fourier transform spectrum method and the cross-correlation method.

[0035] Step 130: Determine the multiple row pulse signals corresponding to the target pulse signals based on the arrangement relationship.

[0036] Specifically, the number of row pulse signals corresponding to the target pulse signals can be based on the measurement period and the preset row signal period Determine the number of line pulse signals It can be expressed by the following formula: That is, a target pulse signal can correspond to line pulse signals.

[0037] In one embodiment, the chirp pulse signal includes a positive chirp pulse signal and a negative chirp pulse signal; Determining the multiple line pulse signals corresponding to the target pulse signal based on the arrangement relationship includes: Based on the arrangement relationship, when the combination of the continuous wave pulse signal and the positive chirp pulse signal is the first line pulse signal, determining the remaining continuous wave pulse signals and the negative chirp pulse signal as multiple line pulse signals other than the first line pulse signal; Alternatively, based on the arrangement relationship, when the combination of the continuous wave pulse signal and the negative chirp pulse signal is the first line pulse signal, determining the remaining continuous wave pulse signals and the positive chirp pulse signal as multiple line pulse signals other than the first line pulse signal.

[0038] Specifically, when constructing the target pulse signal, when the frame header is a CW pulse signal and a positive LFM pulse signal, the signal receiving end can determine to determine the remaining continuous wave pulse signals and the negative chirp pulse signal as multiple line pulse signals other than the first line pulse signal, and can determine the line number corresponding to each line pulse signal. When constructing the target pulse signal, when the frame header is a CW pulse signal and a negative LFM pulse signal, the signal receiving end can determine to determine the remaining continuous wave pulse signals and the positive chirp pulse signal as multiple line pulse signals other than the first line pulse signal, and can determine the line number corresponding to each line pulse signal.

[0039] In the above embodiment, by combining the positive chirp pulse signal and the negative chirp pulse signal with the CW pulse signal respectively, the signal receiving end can identify which signal is the first line pulse signal. For example, if it is predetermined that the frame header is a CW pulse signal and a positive LFM pulse signal, when the signal receiving end recognizes the combination of the CW pulse signal and the positive LFM pulse signal, it can determine that the signal is the frame header of a target pulse signal. When it recognizes the combination of the second CW pulse signal and the positive LFM pulse signal, it can determine that it is the frame header of the target pulse signal corresponding to the next measurement period. This method can ensure that the non-first line pulse signal in the target pulse signal will not be recognized as the frame header, thus ensuring that the signal receiving end will not have the situation of cross-period reception when determining the target pulse signal.

[0040] Step 140: Determine the target distance from the signal transmitter based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal.

[0041] It should be noted that the technical solution of the present invention can also be applied to multiple signal receivers simultaneously. Multiple signal receivers can simultaneously determine their respective target distances from the signal transmitter. Further, based on the target distances of multiple signal receivers from the signal transmitter, precise positioning of the signal transmitter can be achieved.

[0042] In one embodiment, the determining the target distance from the signal transmitter based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal includes: Obtain the pulse signal delay corresponding to any one of the line pulse signals; Based on the preset line signal period, the pulse signal delay, and the line number of the line pulse signal corresponding to the pulse signal delay, determine the actual propagation delay of the target pulse signal; the line number is determined based on the arrangement relationship; Based on the actual propagation delay and the underwater sound speed, determine the target distance from the signal transmitter.

[0043] Specifically, the pulse signal delay corresponding to any line pulse signal can be obtained, and then the actual propagation delay of the target pulse signal can be determined based on the preset line signal period, the pulse signal delay, and the line number of the line pulse signal corresponding to the pulse signal delay. The actual propagation delay can be determined by the following formula: where represents the line number of the line pulse signal, represents the preset line signal period, represents the pulse signal delay corresponding to the line pulse signal. It is easy to understand that the pulse signal delay corresponding to each line pulse signal is the same.

[0044] Further, the target distance between the signal receiver and the signal transmitter can be determined by the following formula : where represents the underwater sound speed, and the underwater sound speed can be measured by a sound velocimeter.

[0045] In the above embodiment, according to the pulse signal delay and line number corresponding to the line pulse signal, and the preset line signal period, the actual propagation delay of the target pulse signal is determined, and further combined with the underwater sound speed to calculate the target distance from the signal transmitter, improving the calculation accuracy of the target distance.

[0046] In one embodiment, the method further includes: Obtaining a modulation time interval from the continuous wave pulse signal to the chirp pulse signal in the line pulse signal; Based on the modulation time interval and the maximum working depth corresponding to the signal transmitting end, determining a target depth from the signal transmitting end.

[0047] Specifically, a modulation time interval from the continuous wave pulse signal to the chirp pulse signal in the line pulse signal can be obtained , and further, based on the modulation time interval and the maximum working depth corresponding to the signal transmitting end , the target depth can be determined , and this process can be represented by the following formula: Wherein, represents a preset initial time delay of the depth pulse, represents a preset time width of the depth modulation, preferably, can be about 25 milliseconds, can be about 20 milliseconds.

[0048] In the above embodiment, based on the modulation time interval and the maximum working depth corresponding to the signal transmitting end, determining the target depth from the signal transmitting end can further lock the position of the signal transmitting end in combination with the target distance, and further improve the accuracy of underwater positioning.

[0049] The marine underwater acoustic ranging method provided by the present invention is applied to a signal receiving end to obtain a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a chirp pulse signal; detecting and identifying the target pulse signal to obtain an arrangement relationship between the continuous wave pulse signal and the chirp pulse signal in the target pulse signal; determining a plurality of line pulse signals corresponding to the target pulse signal based on the arrangement relationship; and determining a target distance from the signal transmitting end based on the underwater sound speed and a preset line signal period corresponding to the line pulse signal. The technical solution of the present invention constructs a target pulse signal through a continuous wave pulse signal and a chirp pulse signal, and then can determine a plurality of line pulse signals corresponding to the target pulse signal according to the arrangement relationship between the continuous wave pulse signal and the chirp pulse signal, and can accurately identify the signal emission start time of the signal transmitting end, thereby improving the measurement accuracy of the target distance.

[0050] The marine underwater acoustic ranging device provided by the present invention will be described below. The marine underwater acoustic ranging device described below can be mutually referred to the marine underwater acoustic ranging method described above.

[0051] Figure 4 is a schematic structural diagram of the marine underwater acoustic ranging device provided by the present invention. As Figure 4 shown, the marine underwater acoustic ranging device 400 includes the following modules: An acquisition module 410, configured to acquire a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; A detection and recognition module 420, configured to detect and recognize the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; A determination module 430, configured to determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; A ranging module 440, configured to determine a target distance from the signal transmitting end based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

[0052] In one embodiment, the detection and recognition module 420 is specifically configured to: Adopt the fast Fourier transform spectrum method to detect and recognize the continuous wave pulse signal in the target pulse signal, and adopt the cross-correlation method to detect and recognize the linear frequency modulation pulse signal in the target pulse signal, so as to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal.

[0053] In one embodiment, the linear frequency modulation pulse signal includes a positive linear frequency modulation pulse signal and a negative linear frequency modulation pulse signal; the determination module 430 is specifically configured to: Based on the arrangement relationship, when the combination of the continuous wave pulse signal and the positive linear frequency modulation pulse signal is the first row pulse signal, determine the remaining continuous wave pulse signals and the negative linear frequency modulation pulse signals as a plurality of row pulse signals other than the first row pulse signal; Or, based on the arrangement relationship, when the combination of the continuous wave pulse signal and the negative linear frequency modulation pulse signal is the first row pulse signal, determine the remaining continuous wave pulse signals and the positive linear frequency modulation pulse signals as a plurality of row pulse signals other than the first row pulse signal.

[0054] In one embodiment, the ranging module 440 is specifically configured to: Obtain the pulse signal delay corresponding to any one of the row pulse signals; Based on the preset row signal period, the pulse signal delay, and the row number of the row pulse signal corresponding to the pulse signal delay, determine the actual propagation delay corresponding to the target pulse signal; the row number is determined based on the arrangement relationship; Determine the target distance from the signal transmitter based on the actual propagation delay and the underwater sound speed.

[0055] In one embodiment, the marine underwater acoustic ranging device further includes a depth measurement module, and the depth measurement module is specifically configured to: Obtain the modulation time interval from the continuous wave pulse signal to the linear frequency modulation pulse signal in the row pulse signal; Determine the target depth from the signal transmitter based on the modulation time interval and the maximum operating depth corresponding to the signal transmitter.

[0056] In one embodiment, the signal transmitter includes a timing generator, a programmable signal generator, a highly stable clock, a signal processing circuit, and a transmitting transducer; The signal transmitter transmits the target pulse signal through the following steps: The timing generator generates an initial pulse signal when receiving an external clock source signal; The programmable signal generator generates a signal to be transmitted based on the initial pulse signal, the timing signal transmitted by the highly stable clock, and the preset arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal; The signal processing circuit performs signal amplification processing, gain adjustment processing, and output power amplification processing on the signal to be transmitted to obtain the target pulse signal; The transmitting transducer transmits the target pulse signal.

[0057] The marine underwater acoustic ranging device provided by the present invention is applied to a signal receiving end to obtain a target pulse signal transmitted by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; the target pulse signal is detected and identified to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; multiple row pulse signals corresponding to the target pulse signal are determined based on the arrangement relationship; the target distance from the signal transmitting end is determined based on the underwater sound speed and the preset row signal period corresponding to the row pulse signal. The technical solution of the present invention constructs a target pulse signal through a continuous wave pulse signal and a linear frequency modulation pulse signal, and then can determine multiple row pulse signals corresponding to the target pulse signal according to the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal, and can accurately identify the signal transmission start time of the signal transmitting end, improving the measurement accuracy of the target distance.

[0058] Figure 5 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 5As shown in the figure, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the underwater acoustic ranging method, and this method includes: Obtain a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a chirp pulse signal; Detect and identify the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the chirp pulse signal in the target pulse signal; Determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; Determine the target distance from the signal transmitting end based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

[0059] In addition, when the logic instructions in the above-mentioned memory 530 are implemented in the form of software functional units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. And the foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0060] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the underwater acoustic ranging method provided by the above-mentioned various methods. This method includes: Obtain a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a chirp pulse signal; Detect and identify the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the chirp pulse signal in the target pulse signal; Determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; Determine a target distance from the signal transmitter based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

[0061] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the marine underwater acoustic ranging method provided by the above-mentioned various methods. The method includes: Obtain a target pulse signal transmitted by a signal transmitter; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; Detect and identify the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; Determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; Determine a target distance from the signal transmitter based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative effort.

[0063] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for measuring distance at sea, characterized in that: Applied to the signal receiving end, including: Acquire a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; Detecting and identifying the target pulse signal to obtain an arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; Determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; The target distance from the signal transmitting end is determined based on the underwater sound speed and a preset row signal period corresponding to the row pulse signal.

2. The method for marine hydroacoustic ranging according to claim 1, characterized in that: The detecting and identifying the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal includes: The fast Fourier transform spectrum method is used to detect and identify the continuous wave pulse signal in the target pulse signal, and the cross-correlation method is used to detect and identify the linear frequency modulation pulse signal in the target pulse signal to obtain the arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal.

3. The method for offshore hydroacoustic ranging according to claim 1, characterized in that: The linear frequency modulation pulse signal includes a positive linear frequency modulation pulse signal and a negative linear frequency modulation pulse signal; The determining, based on the arrangement relationship, a plurality of row pulse signals corresponding to the target pulse signal comprises: Based on the arrangement relationship, when the combination of the continuous wave pulse signal and the positive linear frequency modulation pulse signal is the first row pulse signal, the remaining continuous wave pulse signals and the negative linear frequency modulation pulse signal are determined as a plurality of row pulse signals except the first row pulse signal; Alternatively, based on the arrangement relationship, when the combination of the continuous wave pulse signal and the negative linear frequency modulation pulse signal is the first row pulse signal, the remaining continuous wave pulse signals and the positive linear frequency modulation pulse signal are determined as multiple row pulse signals except the first row pulse signal.

4. The method for offshore hydroacoustic ranging according to claim 3, characterized in that: The determining of the target distance from the signal transmitting end based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal includes: Obtaining a pulse signal delay corresponding to any of the row pulse signals; Determine the actual propagation delay corresponding to the target pulse signal based on the preset row signal period, the pulse signal delay and the row number of the row pulse signal corresponding to the pulse signal delay; the row number is determined based on the arrangement relationship; The target distance from the signal transmitting end is determined based on the actual propagation delay and the underwater sound speed.

5. The method for offshore hydroacoustic ranging according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquire a modulation time interval from the continuous wave pulse signal to the linear frequency modulation pulse signal in the row pulse signal; A target depth from the signal transmitting end is determined based on the modulation time interval and the maximum working depth corresponding to the signal transmitting end.

6. The method for offshore hydroacoustic ranging according to any one of claims 1 to 4, characterized in that: The signal transmitting end includes a timing generator, a program-controlled signal generator, a high-stability clock, a signal processing circuit and a transmitting transducer; The signal transmitting end transmits the target pulse signal through the following steps: The timing generator generates an initial pulse signal when receiving an external clock source signal; The program-controlled signal generator generates a signal to be transmitted based on the initial pulse signal, the timing signal transmitted by the high-stability clock, and the preset arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal; The signal processing circuit performs signal amplification processing, gain adjustment processing and output power amplification processing on the signal to be transmitted to obtain the target pulse signal; The transmitting transducer transmits the target pulse signal.

7. A marine hydroacoustic ranging device, characterized in that: Applied to the signal receiving end, including: An acquisition module, used for acquiring a target pulse signal sent by a signal transmitting end; the target pulse signal is constructed based on a continuous wave pulse signal and a linear frequency modulation pulse signal; A detection and identification module, used for detecting and identifying the target pulse signal to obtain an arrangement relationship between the continuous wave pulse signal and the linear frequency modulation pulse signal in the target pulse signal; A determination module, configured to determine a plurality of row pulse signals corresponding to the target pulse signal based on the arrangement relationship; The distance measuring module is used to determine the target distance from the signal transmitting end based on the underwater sound speed and the preset line signal period corresponding to the line pulse signal.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the offshore hydroacoustic ranging method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the offshore hydroacoustic ranging method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the offshore hydroacoustic ranging method according to any one of claims 1 to 6 is implemented.

Images