Underwater and ground threat monitoring and identification system influenced by meteorological factors

Abstract

The invention relates to the technical field of intelligent ships, and provides an underwater and ground threat monitoring and recognition system influenced by meteorological factors, which comprises a server, a naval vessel, a meteorological data acquisition module, an underwater monitoring module, a ground monitoring module, an analysis module and a threat alarm module, the meteorological data acquisition module acquires real-time meteorological data of the position of a naval vessel, the underwater monitoring module monitors the underwater environment, the ground monitoring module monitors the ground environment, and the analysis module analyzes the position of the naval vessel according to data of the meteorological data acquisition module, the underwater monitoring module and the ground monitoring module to form an analysis result. And the threat alarm module provides early warning for the naval vessel according to the analysis result of the analysis module. Through cooperation of the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module and the analysis module, it is ensured that the whole system has the advantages of being high in data fusion capacity, good in threat assessment accuracy and high in intelligent degree.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ships, and particularly to an underwater and ground threat monitoring and identification system affected by meteorological factors. Background Art

[0002] At present, the perception of intelligent unmanned ships includes two types in terms of working principles: collaborative and non-collaborative. Collaborative intelligent target recognition is a working method in which the recognizing party and the recognized target cooperate with each other to obtain target attribute information, and usually includes technical means such as radar identification friend or foe systems and ship automatic identification systems AIS.

[0003] At the same time, the types of threats faced by current warships are numerous, including both traditional underwater threats such as hostile submarines and mines, and ground and air threats such as unmanned aerial vehicles and hostile ships. In addition, environmental factors such as meteorological conditions also have a significant impact on the monitoring and identification capabilities of warships.

[0004] For example, a kind of intelligent ship environmental threat target perception system and method disclosed in Chinese Patent CN110175186B, although it discloses realizing threat target perception, identification and tracking functions through active and passive sensors from far to near, taking into account radar signals, optoelectronic signals, audio and video signals, and combining with determination through a target feature database, it ignores the influence caused by meteorological factors and cannot provide accurate threat monitoring.

[0005] In the prior art, the threat monitoring system of warships often only limits to a single field (such as only monitoring underwater or ground threats), lacking comprehensive consideration of the influence of various environmental factors on threats.

[0006] In order to solve the problems commonly existing in this field, such as single data source for monitoring, inability to monitor in combination with the actual meteorological environment, poor data fusion ability, inaccurate evaluation means and low intelligence level, etc., the present invention is made. Summary of the Invention

[0007] The purpose of the present invention is to propose an underwater and ground threat monitoring and identification system affected by meteorological factors in view of the current deficiencies.

[0008] In order to overcome the deficiencies of the prior art, the present invention adopts the following technical solutions:

[0009] An underwater and ground threat monitoring and identification system affected by meteorological factors, the underwater and ground threat monitoring and identification system includes a server and a warship, and the underwater and ground threat monitoring and identification system further includes a meteorological data acquisition module, an underwater monitoring module, a ground monitoring module, an analysis module, and a threat alarm module, and the server is respectively connected to the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module;

[0010] The meteorological data acquisition module acquires real-time meteorological data of the location where the ship is located. The underwater monitoring module monitors the underwater environment, and the ground monitoring module monitors the ground environment. The analysis module analyzes the location of the ship based on the data from the meteorological data acquisition module, the underwater monitoring module, and the ground monitoring module to form an analysis result. The threat alarm module provides early warnings to the ship according to the analysis result of the analysis module;

[0011] The underwater monitoring module includes an active sonar detection unit, a passive sound acquisition unit, and an underwater environment sensor unit. The active sonar detection unit actively detects underwater hazards. The passive sound acquisition unit receives natural sound waves in the environment and the sounds emitted by targets to detect the sound characteristics of underwater objects. The environment sensor unit acquires the underwater environment data of the location where the ship is located.

[0012] Optionally, the active sonar exploration unit includes a transmitter, a receiver, a signal processor, and a three-dimensional imager. The transmitter generates and emits acoustic wave pulses. The receiver receives the reflected acoustic wave echo signals. The signal processor processes the received echo signals to generate images and position data of underwater targets. The three-dimensional imager uses the echo data to generate three-dimensional images and provides accurate target recognition information.

[0013] Optionally, the underwater environment sensor unit includes an alpha temperature sensor, a salinity sensor, a pressure sensor, and a pH sensor. The alpha temperature sensor is used to measure the underwater temperature. The salinity sensor is used to measure the water salinity. The pressure sensor is used to measure the water depth and water pressure. The pH sensor is used to measure the acidity and alkalinity of the water body at the location where the ship is located.

[0014] Optionally, the ground monitoring module includes a radar detection unit and a data preprocessing unit. The radar detection unit uses radar technology to detect the positions and speeds of ground and low-altitude targets. The data preprocessing unit is used to preprocess the radar data collected from the radar detection unit.

[0015] Optionally, the meteorological data acquisition module includes an environment detection unit, a data processing unit, and a communication unit. The environment monitoring unit monitors the meteorological data of the environment where the ship is located. The data processing unit processes the meteorological data collected by the environment monitoring unit. The communication unit transmits the collected data to the analysis module;

[0016] Among them, the environmental detection unit includes a β temperature sensor, a rainfall sensor, a barometer, a wind vane, an anemometer, and a humidity sensor. The β temperature sensor collects real-time temperature data at the location where the ship is located. The rainfall sensor collects real-time rainfall data at the location where the ship is located. The barometer measures atmospheric pressure and provides real-time barometric data. The wind vane measures wind direction and provides real-time wind direction data. The anemometer measures wind speed and provides real-time wind speed data. The humidity sensor collects and measures the relative humidity in the air and provides real-time humidity data.

[0017] Optionally, the analysis module obtains data from the meteorological data collection module, the underwater monitoring module, and the ground monitoring module, and calculates the threat index Threat of the location where the ship is located according to the following formula:

[0018]

[0019] In the formula, Threat under is the underwater threat index, Threat meteo is the meteorological threat index, Threat ground is the ground threat index;

[0020] If the threat index Threat exceeds the high-risk threshold Threshold high set by the system, the threat alarm module is triggered to issue a high-threat alarm.

[0021] Optionally, the data processing unit obtains the real-time temperature data, real-time rainfall data, real-time barometric data, real-time wind direction data, and real-time humidity data collected by the environmental detection unit, and performs standardization processing on the real-time temperature data, real-time rainfall data, real-time barometric data, real-time wind direction data, and real-time humidity data.

[0022] Optionally, the underwater environment sensor unit further includes a position adjustment member, and the position adjustment member adjusts the positions of the temperature sensor, salinity sensor, pressure sensor, and pH sensor so that the underwater environment data at the real-time position of the ship can be collected;

[0023] The position adjustment member includes a pulling belt, a pulling and retracting seat, and a pulling drive mechanism. The pulling drive mechanism is drivingly connected to the pulling and retracting seat so that the pulling belt is wound around the pulling and retracting seat;

[0024] Among them, the temperature sensor, salinity sensor, pressure sensor, and pH sensor are respectively arranged on the pulling belt.

[0025] Optionally, the steps of the active sonar exploration unit working include:

[0026] S1, Acoustic Wave Emission: The emitter generates and emits acoustic wave pulses with specific frequencies and directions;

[0027] S2, Signal Reception: After the acoustic wave pulses encounter a target object and are reflected back, the receiver receives the reflected acoustic wave echo signal;

[0028] S3, Echo Signal Processing: Process the received echo signal, including signal filtering, time difference measurement, and intensity calculation

[0029] S4, Data Processing and Calculation: Calculate the distance of the target object based on the propagation speed of sound waves in water and the time difference of the echo signal;

[0030] S5, Three - Dimensional Coordinate Calculation: Calculate the three - dimensional coordinates of the target object based on the time differences of multiple echo signals and the position of the receiver;

[0031] S6, Three - Dimensional Imager: Generate a three - dimensional image using the echo data.

[0032] Optionally, the radar detection unit includes a steering member and a radar detection member. The radar detection member provides the positions and speeds of ground and low - altitude targets in the ground environment through the radar, and the steering member adjusts the acquisition angle of the radar detection member;

[0033] Among them, the radar detection unit is arranged on the ship.

[0034] The beneficial effects achieved by the present invention are as follows:

[0035] 1. Through the cooperation among the meteorological data acquisition module, underwater monitoring module, ground monitoring module, and analysis module, the threat monitoring of the ship is made more accurate and reliable, ensuring that the entire system has the advantages of strong data fusion ability, high accuracy in threat assessment, and high intelligence. It effectively reduces the data processing intensity of ship threat monitoring and improves the timeliness and reliability of threat monitoring and identification.

[0036] 2. By the ground monitoring module monitoring and identifying the shore where the ship is located, the ship can monitor and identify threats on land, ensuring that the entire system has the advantages of strong multi - data - source fusion ability, good active identification effect, high - efficiency data processing ability, and high intelligence. It changes the defect of insufficient data processing ability in the existing monitoring through a single radar and improves the timeliness and efficiency of threat handling of the entire system.

[0037] 3. Through the cooperation between the analysis module and the threat alarm module, the threat alarm can be more timely and efficient, ensuring that the entire system has the advantages of strong active early warning ability, good interaction effect, high intelligence, and high - efficiency threat monitoring and identification;

[0038] 4. Through the mutual cooperation between the active sonar detection unit and the passive acoustic acquisition unit, the ship can obtain the distance and shape data of adjacent target objects, so as to accurately determine the target information, ensuring that the entire system has the advantages of strong monitoring ability, diverse data sources, good data fusion ability, and strong evaluation ability. Brief Description of the Drawings

[0039] The present invention can be further understood from the following description in conjunction with the drawings. The components in the drawings are not necessarily drawn to scale, but the emphasis is on showing the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0040] Figure 1 It is a schematic overall block diagram of the present invention.

[0041] Figure 2 It is a schematic analysis flow diagram of the analysis module of the present invention.

[0042] Figure 3 It is a schematic block diagram of the underwater monitoring module and the ship of the present invention.

[0043] Figure 4 It is a schematic block diagram between the position adjustment member and the underwater sensor of the present invention.

[0044] Figure 5 It is a schematic working flow diagram of the active sonar exploration unit of the present invention.

[0045] Figure 6 It is a schematic diagram of the scenario among the ship, the ground target, and the underwater target of the present invention. Detailed Embodiments

[0046] The following are specific embodiments to illustrate the implementation manners of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Additionally, the drawings of the present invention are only for simple schematic illustration and are not drawn according to actual dimensions, which is hereby stated in advance. The following embodiments will further detail the relevant technical content of the present invention, but the disclosed content is not intended to limit the protection scope of the present invention.

[0047] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6As shown in the figure, this embodiment provides an underwater and ground threat monitoring and identification system affected by meteorological factors. The underwater and ground threat monitoring and identification system includes a server and a ship. The underwater and ground threat monitoring and identification system further includes a meteorological data acquisition module, an underwater monitoring module, a ground monitoring module, an analysis module, and a threat alarm module. The server is respectively connected to the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module, and stores the intermediate data and process data of the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module in the database of the server for querying or calling;

[0048] The meteorological data acquisition module acquires the real-time meteorological data of the location where the ship is located. The underwater monitoring module monitors the underwater environment. The ground monitoring module monitors the ground environment. The analysis module analyzes the location of the ship based on the data of the meteorological data acquisition module, the underwater monitoring module, and the ground monitoring module to form an analysis result. The threat alarm module provides a warning to the ship according to the analysis result of the analysis module;

[0049] The underwater and ground threat monitoring and identification system further includes a central processing unit. The central processing unit is respectively connected to the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module for control, and centrally controls the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module based on the central processing unit, and stores the control data of the central processing unit in the database of the central processing unit to improve the accuracy and efficiency of the entire system for threat monitoring and identification;

[0050] The underwater monitoring module includes an active sonar detection unit, a passive sound acquisition unit, and an underwater environment sensor unit. The active sonar detection unit actively detects underwater hazards. The passive sound acquisition unit receives natural sound waves in the environment and the sounds emitted by targets to detect the sound characteristics of underwater objects. The environment sensor unit acquires the underwater environment data of the location where the ship is located;

[0051] Optionally, the active sonar exploration unit includes a transmitter, a receiver, a signal processor, and a three-dimensional imager. The transmitter generates and emits acoustic wave pulses. The receiver receives the reflected acoustic wave echo signals. The signal processor processes the received echo signals to generate images and position data of underwater targets. The three-dimensional imager uses the echo data to generate three-dimensional images to provide accurate target identification information;

[0052] Optionally, the underwater environment sensor unit includes an alpha temperature sensor, a salinity sensor, a pressure sensor, and a pH sensor. The alpha temperature sensor is used to measure the underwater temperature, the salinity sensor is used to measure the water salinity, the pressure sensor is used to measure the water depth and water pressure, and the pH sensor is used to measure the acidity and alkalinity of the water body where the ship is located;

[0053] The passive acoustic acquisition unit includes a hydrophone array, a noise filter, and a data analyzer. The hydrophone array is used to receive natural sound waves underwater and sound signals emitted by targets. The noise filter removes environmental noise to improve the clarity and recognition accuracy of target sound signals. The data analyzer further analyzes and performs pattern recognition on the preliminarily processed sound signals to determine the type and location of the target;

[0054] The steps for the passive acoustic acquisition unit to passively identify the underwater environment include:

[0055] S11. Signal feature extraction

[0056] Extract useful feature parameters from the preliminarily processed sound signals. Among them, the feature parameters include time-domain features, frequency-domain features, and time-frequency domain features;

[0057] 1) Frequency-domain features

[0058] Average value of the signal:

[0059] In the formula, N is the number of samples of the signal, and x[i] is the value of the i-th sample;

[0060] Variance:

[0061] In the formula, μ is the average value of the signal;

[0062] Peak value (the maximum value of the signal): Peak = max(x[i]);

[0063] 2) Frequency-domain features (Frequency-domain features are features obtained by performing a Fourier transform on the signal, describing the characteristics of the signal in terms of frequency)

[0064] Convert the time signal to a frequency-domain signal:

[0065] In the formula, X(f): frequency-domain signal, representing the signal component at frequency f, x[n]: time signal, representing the value of the n-th sample point, n: sample point index of the time signal, ranging from 0 to N - 1, N: total number of samples of the signal; j: imaginary unit, defined as: In some literature, i is also used;

[0066] e -j2πfn / N: Complex exponential function, where e is the base of the natural logarithm, representing complex rotation, and the specific explanation is as follows: -j2πfn / N: The angle (in radians) used to calculate the phase change of the complex exponential function;

[0067] f: Frequency index, indicating the position where the frequency component is located;

[0068] The meaning of the Fourier transform: The Fourier transform converts the time-domain signal x[n] to the frequency domain X(f), analyzing the components of the signal at different frequencies; through this transform, we can know the amplitude and phase information of the signal at each frequency;

[0069] Power Spectral Density (PSD), that is, the energy distribution of the signal in the frequency domain:

[0070] PSD(f) = |X(f)| 2 ;

[0071] In the formula, |X(f)| is the amplitude of the frequency-domain signal;

[0072] Dominant Frequency, that is, the frequency component with the largest energy in the signal:

[0073] Dominant Frequency = f peak = argmax[PSD(f)];

[0074] In the formula, argmax is a mathematical operator indicating finding the independent variable that makes a certain function reach the maximum value;

[0075] Specifically, argmax[PSD(f)] means finding the frequency f that makes PSD[f] reach the maximum value;

[0076] Bandwidth, that is, the distribution range of the signal frequency components, usually defined as the part where the power exceeds a certain threshold within the frequency range;

[0077]

[0078] In the formula, Threshold is the threshold of the power spectral density, indicating that only the frequencies with the power spectral density exceeding this threshold are included in the bandwidth range, is the summation over the frequency f, indicating calculating for all frequencies within the frequency range;

[0079] 3) Time-frequency domain characteristics:

[0080] The time-frequency domain characteristics are obtained through the Short-Time Fourier Transform (STFT), describing the joint characteristics of the signal in time and frequency;

[0081] The Short-Time Fourier Transform (STFT) analyzes the signal simultaneously in time and frequency:

[0082]

[0083] where \(x(\tau)\) is the time signal, \(w(t - \tau)\) is the window function, usually the Hanning window or the Hamming window, and \(STFT(t, f)\) is the time-frequency domain signal;

[0084] Among them, the Hanning window:

[0085] where \(N\) is the total number of samples of the signal or the length of the window, which indicates how many sample points the window function is applied to, and \(n\) is the index of the sample point, ranging from 0 to \(N - 1\);

[0086] The Hamming window:

[0087] where \(N\) is the total number of samples of the signal or the length of the window, which indicates how many sample points the window function is applied to, and \(n\) is the index of the sample point, where \(0\leq n\leq N - 1\);

[0088] S12. Pattern recognition

[0089] Use a simple classification method based on thresholds for pattern recognition; set thresholds according to the extracted features to judge the target type;

[0090] Specifically, the classification process steps include:

[0091] S121. Extract features such as the dominant frequency, variance, etc.;

[0092] S122. Set thresholds according to known data or experience to distinguish different target types;

[0093] That is, use the features and thresholds extracted in step S121 for classification;

[0094] S123. Judge the category to which the signal belongs according to the comparison result between the feature value and the threshold;

[0095] Assume that after acquisition and feature extraction, there are the following signal features:

[0096] Dominant Frequency = 150 Hz;

[0097] Variance = 30;

[0098] According to the classification logic:

[0099] If the main frequency is between 100Hz and 200Hz and the variance is less than 50, then the signal is determined to be a "submarine";

[0100] Through this simple threshold-based classification method, the signal can be quickly and effectively pattern recognized; Although this method is relatively straightforward, it has high practicality in many actual applications;

[0101] S13. Target position determination

[0102] Determine the target's position through a simple time difference of arrival (TDOA) method; Assume that three sensors receive the target's sound signal, calculate the time differences of the sound wave arriving at different sensors, and determine the sound source position through geometric methods;

[0103] The specific steps include:

[0104] S131. Obtain the positions (x1, y1), (x2, y2), (x3, y3) of the three hydrophones set on the ship; The target position is (x, y), the speed of sound is v, and the time differences of arrival are Δt12 (between hydrophone 1 and hydrophone 2), Δt13 (between hydrophone 1 and hydrophone 3);

[0105] S132. Deduce the distances from the sound source to each hydrophone as d1, d2, and d3 respectively;

[0106] According to the time difference, the distance difference of the sound wave propagation is:

[0107]

[0108] where the distance d i is calculated by the Euclidean distance formula:

[0109]

[0110] Substitute the distance difference formula:

[0111]

[0112] S133. Solve the position equation

[0113] Through the above two equations, we can obtain a set of non-linear equations to solve for (x, y); Numerical methods such as the Newton-Raphson method or other non-linear equation solving algorithms can be used to determine the target's position;

[0114] In this embodiment, a solution step of the Newton-Raphson method is provided:

[0115] 1) Initial guess: Select an initial guess value (x0, y0);

[0116] 2) Iterative calculation: For the k-th iteration, update the position estimate (x k+1 , y k+1 );

[0117] Calculate the Jacobian matrix J:

[0118]

[0119] where, represents the partial derivative of the first function f1 with respect to the variable x, represents the partial derivative of the first function f1 with respect to the variable y, represents the partial derivative of the second function f2 with respect to the variable x, represents the partial derivative of the second function f2 with respect to the variable y;

[0120] Among them,

[0121] Calculate the function value F:

[0122]

[0123] Update the position estimate:

[0124]

[0125] 3) Convergence determination: When |x k+1 - x k | and |y k+1 - y k | are less than the given tolerance, the iteration stops, and the position estimate (x k+1 , y k+1 ) is obtained;

[0126] Among them, the tolerance is set by the system according to experience or historical data / actual needs in reality, and it is a small positive number used to determine the convergence condition of the iterative algorithm;

[0127] Optionally, the ground monitoring module includes a radar detection unit and a data preprocessing unit. The radar detection unit uses radar technology to detect the positions and speeds of ground and low-altitude targets, and the data preprocessing unit is used to preprocess the radar data collected from the radar detection unit;

[0128] Optionally, the radar detection unit includes a steering component and a radar detection component. The radar detection component provides the positions and speeds of ground and low-altitude targets in the ground environment through radar, and the steering component adjusts the acquisition angle of the radar detection component;

[0129] Among them, the radar detection unit is arranged on the ship;

[0130] The rotating member includes a rotating base, a rotating driving mechanism and a rotating gear. The rotating gear is arranged on the outer periphery of the rotating base. The rotating driving mechanism meshes with the rotating gear and enables the rotating base to rotate along its own axis;

[0131] Among them, the rotating base is hinged to the hull of the ship and can rotate along its own axis when driven by the rotating driving mechanism;

[0132] The radar detection component includes a radar transmitter, a radar receiver and a signal processor. The radar transmitter is used to generate and transmit electromagnetic waves to cover the monitoring area. The radar receiver is used to receive the electromagnetic waves reflected from the target. The signal processor is used to process the received radar echo signals and extract the distance, speed and direction information of the target;

[0133] The data preprocessing unit calculates the distance and speed of the ground target according to the following formula. Specifically:

[0134] Determination of the target position (ranging principle (TOF - Time of Flight), that is, the radar calculates the distance of the target by measuring the time difference between the transmission and reception of electromagnetic waves;

[0135] The calculation formula for the distance d is as follows:

[0136]

[0137] In the formula, D is the distance of the ground target, c is the propagation speed of electromagnetic waves in the air (about 3×10 8 m / s), and Δt is the time difference between the transmission and reception of electromagnetic waves;

[0138] Determination of the target speed (Doppler Effect), that is, the radar determines the speed of the target by measuring the frequency shift of the echo signal)

[0139] The calculation formula for the target speed v is as follows:

[0140]

[0141] In the formula, Δf is the frequency shift, f0 is the frequency of the radar transmitted signal, and c is the propagation speed of electromagnetic waves;

[0142] It can be converted to the following through the above formula:

[0143]

[0144] The onshore location of the ship is monitored and identified by the ground monitoring module, enabling the ship to monitor and identify threats on land, ensuring that the entire system has the advantages of strong multi-data source fusion ability, good active identification effect, high data processing efficiency, and high intelligence level, changing the defect of insufficient data processing ability in the existing monitoring by a single type of radar, and improving the timeliness and efficiency of threat processing of the entire system;

[0145] Optionally, the meteorological data acquisition module includes an environment detection unit, a data processing unit, and a communication unit. The environment monitoring unit monitors the meteorological data of the environment where the ship is located. The data processing unit processes the meteorological data collected by the environment monitoring unit, and the communication unit transmits the collected data to the analysis module;

[0146] Among them, the environment detection unit includes a β temperature sensor, a rainfall sensor, a barometer, a wind vane, an anemometer, and a humidity sensor. The β temperature sensor collects the real-time temperature data of the location where the ship is located. The rainfall sensor collects the real-time rainfall data of the location where the ship is located. The barometer measures the atmospheric pressure and provides real-time barometric data. The wind vane measures the wind direction and provides real-time wind direction data. The anemometer measures the wind speed and provides real-time wind speed data. The humidity sensor collects and measures the relative humidity in the air and provides real-time humidity data;

[0147] Optionally, the data processing unit obtains the real-time temperature data, real-time rainfall data, real-time barometric data, real-time wind direction data, and real-time humidity data collected by the environment detection unit, and performs standardization processing on the real-time temperature data, real-time rainfall data, real-time barometric data, real-time wind direction data, and real-time humidity data;

[0148] For the real-time temperature data, the data processing unit performs standardization processing according to the following formula:

[0149]

[0150] In the formula, T norm is the standardized temperature value, T is the real-time temperature data collected by the β temperature sensor, T min is the minimum value of the observed temperature in the historical data, and T max is the maximum value of the observed temperature in the historical data;

[0151] For the real-time rainfall data, the data processing unit performs standardization processing according to the following formula:

[0152]

[0153] In the formula, Rnorm is the standardized rainfall value, R is the real-time rainfall data collected by the rainfall sensor, R min is the minimum rainfall observed in historical data, R max is the maximum rainfall observed in historical data;

[0154] For the real-time barometric pressure data, the data processing unit performs standardized processing according to the following formula:

[0155]

[0156] In the formula, P norm is the standardized pressure value, P is the real-time barometric pressure data collected by the barometer, P min is the minimum barometric pressure observed in historical data, P max is the maximum barometric pressure observed in historical data;

[0157] For the real-time wind direction data, the data processing unit performs standardized processing according to the following formula:

[0158]

[0159] In the formula, Wd sin is the sine component of the wind direction, Wd cos is the cosine component of the wind direction, and its value is calculated according to the following formula:

[0160]

[0161] In the formula, Wd is the wind direction (0 to 360 degrees);

[0162] The sine component Wd of the wind direction sin is calculated according to the following formula:

[0163]

[0164] In the formula, Wd is the wind direction (0 to 360 degrees);

[0165] For the real-time humidity data, the data processing unit performs standardized processing according to the following formula:

[0166]

[0167] In the formula, H norm is the standardized humidity value, H is the real-time humidity data collected by the β temperature sensor, H min is the minimum humidity observed in historical data, H max is the maximum humidity observed in historical data;

[0168] The data processing unit obtains the standardized temperature value, the standardized rainfall value, the standardized pressure value, the sine component Wd of the wind direction sin and the cosine component Wd of the wind direction cos and calculates the meteorological threat index Threat of the environmental detection unit based on the standardized humidity value meteo :

[0169]

[0170] In the formula, T norm is the standardized temperature value, R norm is the standardized rainfall value, P norm is the standardized pressure value, Wd sin is the sine component of the wind direction, Wd cos is the cosine component of the wind direction, H norm is the standardized humidity value;

[0171] The communication unit includes a communicator and a transmitter. The communicator establishes a communication link between the data processing unit and the analysis module, and the transmitter transmits the standardized result processed by the data processing unit to the analysis module;

[0172] By collecting the meteorological environment of the ship's location through the meteorological data collection module, the ship threat monitoring can integrate multiple data sources, improve the reliability and accuracy of threat monitoring, and ensure the accurate monitoring and identification ability of the entire system for ship threats;

[0173] Optionally, the analysis module obtains the data of the meteorological data collection module, the underwater monitoring module, and the ground monitoring module, and calculates the threat index Threat of the ship's location according to the following formula:

[0174]

[0175] In the formula, Threat under is the underwater threat index, Threat meteo is the meteorological threat index, Threat ground is the ground threat index;

[0176] The underwater threat index Threat under is calculated according to the following formula

[0177]

[0178] In the formula, d1, d2, and d3 are the distances from the sound sources emitted by the underwater threat targets to each hydrophone, (x k+1 , y k+1) is the estimated position value of the underwater threat target (obtained by collecting and analyzing through the passive acoustic acquisition unit), x ship is the x-coordinate of the ship (obtained according to the position coordinates where the ship is currently located), y ship is the y-coordinate of the ship (obtained according to the position coordinates where the ship is currently located). Impact is the influence coefficient of the underwater environment, and its value is calculated according to the following formula:

[0179]

[0180] In the formula, T norm is the standardized underwater temperature value, Sal norm is the standardized salinity value, P norm is the standardized pressure value, pH norm is the standardized pH value;

[0181]

[0182] In the formula, T is the temperature of the underwater environment, T min is the minimum value of the underwater environment temperature, T max is the maximum value of the underwater environment temperature, Sal is the water body salinity, Sal min is the minimum value of the water body salinity, Sal max is the maximum value of the water body salinity, P is the pressure of the underwater environment, P min is the minimum value of the water pressure, P max is the maximum value of the water pressure, pH is the water body pH value, pH min is the minimum value of the water body pH value, pH max is the maximum value of the water body pH value;

[0183] Among them, in this embodiment, during the process of monitoring and identifying the threats around the ship in the underwater environment, a rectangular coordinate system is established with the ship and the location of the threat target, then the spatial coordinates (x ship , y ship ) of the ship are obtained;

[0184] The ground threat index Threat ground is calculated according to the following formula:

[0185]

[0186] In the formula, x ground_norm is the standardized x-coordinate of the ground threat target, y ground_norm is the standardized y-coordinate of the ground threat target, z ground_norm is the standardized z-coordinate of the ground threat target, x ship is the x-coordinate of the ship, y ship is the x-coordinate of the ship, zship Let \(z\) be the z - coordinate of the ship, and \(v\) be the normalized speed of the ground threat target, whose value is calculated according to the following formula:

[0187]

[0188] In the formula, \(v\) ground is the speed of the ground threat target, \(v\) min is the minimum speed of the ground threat target obtained by monitoring, and \(v\) max is the maximum speed of the ground threat target obtained by monitoring;

[0189] The normalized x - coordinate \(x\) of the ground threat target ground_norm is calculated according to the following formula:

[0190]

[0191] In the formula, \(x\) ground is the actual x - coordinate of the ground threat target, \(x\) min is the minimum x - coordinate of the ground threat target obtained by monitoring, and \(x\) max is the maximum x - coordinate of the ground threat target obtained by monitoring;

[0192] The normalized y - coordinate \(y\) of the ground threat target ground_norm is calculated according to the following formula:

[0193]

[0194] In the formula, \(y\) ground is the actual y - coordinate of the ground threat target, \(y\) min is the minimum y - coordinate of the ground threat target obtained by monitoring, and \(y\) max is the maximum y - coordinate of the ground threat target obtained by monitoring;

[0195] The normalized z - coordinate \(z\) of the ground threat target ground_norm is calculated according to the following formula:

[0196]

[0197] In the formula, \(z\) ground is the actual z - coordinate of the ground threat target, \(z\) min is the minimum z - coordinate of the ground threat target obtained by monitoring, and \(z\) max is the maximum z - coordinate of the ground threat target obtained by monitoring;

[0198] In this embodiment, during the process of monitoring and identifying the threats around the ship in the scenario of ground threats, a space rectangular coordinate system is established with the ship and the location of the threat target, and then the space coordinates \((x\) ship , \(y\) ship , \(z\)ship );

[0199] If Threat exceeds the low - risk threshold Threshold low and is lower than the medium - risk threshold Threshold medium When this happens, trigger the threat alarm module to give a low - threat alarm. At this time, the ship should pay attention to observation but does not need to take immediate action;

[0200] If Threat exceeds the high - risk threshold Threshold medium and is lower than the medium - risk threshold Threshold high When this happens, trigger the threat alarm module to give a medium - threat alarm. At this time, the ship should prepare countermeasures and maintain a high level of vigilance;

[0201] If the threat index Threat exceeds the high - risk threshold Threshold set by the system high , then trigger the threat alarm module to give a high - threat alarm;

[0202] In this embodiment, when the ship is in a high - threat alarm state, it should immediately take defensive measures, such as activating the self - defense system, changing the course, or taking other countermeasures;

[0203] In this embodiment, through the cooperation among the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module and the analysis module, the threat monitoring of the ship is made more accurate and reliable, ensuring that the whole system has the advantages of strong data fusion ability, good threat assessment accuracy and high intelligence level, effectively reducing the data processing intensity of ship threat monitoring, and improving the timeliness and reliability of threat monitoring and identification;

[0204] The threat alarm module includes an alarm trigger and a display screen. The alarm trigger obtains the analysis result and triggers the corresponding - level alarm signal. The display screen is used to display the analysis result and the alarm signal to prompt the ship's management personnel;

[0205] Among them, the triggering conditions of the alarm trigger include:

[0206] Compare the analysis result (i.e., the threat index Threat) with the low - risk threshold Threshold low , the medium - risk threshold Threshold medium and the high - risk threshold Threshold high as follows:

[0207] If there exists Threshold low ≤Threat≤Threshold mediumWhen it is triggered, the threat alarm module issues a low-threat alarm. At this time, the ship should pay attention to observation but does not need to take immediate action;

[0208] If there exists Threshold medium ≤Threat≤Threshold high When it is triggered, the threat alarm module issues a medium-threat alarm. At this time, the ship should prepare countermeasures and maintain a high level of vigilance;

[0209] If there exists Threat>Threshold high When it is triggered, the threat alarm module issues a high-threat alarm;

[0210] Among them, the display screen is set on the ship. Preferably, it is set on the gangway of the ship for the management personnel of the ship to view conveniently and command or operate the ship for defense;

[0211] In addition, the low-risk threshold Threshold low 、the medium-risk threshold Threshold medium and the high-risk threshold Threshold high are set by the system according to the actual situation of the actual environment where the ship is located. This is a well-known technical means in the art. Those skilled in the art can query relevant technical manuals to obtain this technology, so it will not be elaborated one by one in this embodiment;

[0212] Through the cooperation between the analysis module and the threat alarm module, the threat alarm can be more timely and efficient, ensuring that the entire system has the advantages of strong active early warning ability, good interaction effect, high intelligence level, and efficient threat monitoring and identification;

[0213] Optionally, the underwater environment sensor unit further includes a position adjustment member, and the position adjustment member adjusts the positions of the temperature sensor, salinity sensor, pressure sensor, and pH sensor so that the underwater environment data of the real-time position of the ship can be collected;

[0214] The position adjustment member includes a pulling belt, a pulling recovery seat, and a pulling drive mechanism. The pulling drive mechanism is drivingly connected to the pulling recovery seat so that the pulling belt is wound around the pulling recovery seat;

[0215] Among them, the temperature sensor, salinity sensor, pressure sensor, and pH sensor are respectively arranged on the pulling belt;

[0216] In this embodiment, the position adjustment member is symmetrically arranged on the periphery of the ship to collect the temperature, salinity, pressure, and pH value data on the periphery of the ship;

[0217] Adjust the positions of the temperature sensor, salinity sensor, pressure sensor and pH sensor through the position adjustment component, so that the ship's travel route and environmental data around the ship can be collected, improving the accuracy and reliability of the environmental monitoring and identification of the ship's location;

[0218] Optionally, the steps of the active sonar detection unit working include:

[0219] S1. Sound wave emission: The transmitter generates and emits sound wave pulses with specific frequencies and directions;

[0220] S2. Signal reception: After the sound wave pulse encounters the target object and reflects back, the receiver receives the reflected sound wave echo signal;

[0221] S3. Echo signal processing: Process the received echo signal, including signal filtering, time difference measurement and intensity calculation

[0222] S4. Data processing and calculation: Calculate the distance of the target object according to the propagation speed of the sound wave in water and the time difference of the echo signal;

[0223] Specifically, d i = v·Δt i ;

[0224] In the formula, d i is the distance between the target and the receiver, v is the propagation speed of the sound wave, and △t i is the time difference between the sound wave emission and reception;

[0225] S5. Three-dimensional coordinate calculation: Calculate the three-dimensional coordinates of the target object according to the time differences of multiple echo signals and the position of the receiver;

[0226] Among them, the three-dimensional coordinates (x, y, z) of the target object are calculated according to the following formula:

[0227]

[0228] In the formula, (x i , y i , z i ) are the three-dimensional coordinates of the i-th receiver, and d i is the distance between the target and the receiver;

[0229] S6. Three-dimensional imager: Generate a three-dimensional image using the echo data;

[0230] Data gridding, that is, grid the calculated three-dimensional coordinate data to generate a three-dimensional point cloud;

[0231] Among them, in step S6, an algorithm (such as Delaunay triangulation, Marching Cubes algorithm, etc.) is used to reconstruct the surface of the target object to generate a three-dimensional image;

[0232] Specifically:

[0233] S61. Data meshing to generate point cloud

[0234] Data acquisition collects point data in the environment through sensors (such as sonar, lidar, etc.). The data of each point includes its three-dimensional coordinates (x, y, z);

[0235] Data preprocessing: Preprocess the collected raw data, including operations such as noise removal and filtering, to ensure the accuracy and consistency of the data;

[0236] Three-dimensional coordinate transformation: Transform the preprocessed point data into a unified coordinate system; assuming the coordinates of each point are (x i , y i , z i );

[0237] Data meshing: Divide the three-dimensional point data into grids according to a certain spatial resolution. Each grid unit is called a voxel. A voxel is a small cube in three-dimensional space, and each voxel contains several point data;

[0238] The specific steps include:

[0239] S611. Determine the spatial boundary and resolution: Determine the maximum and minimum boundaries (x', min , x' max ), (y', min , y' max ), (z', min , z' max ) of the point cloud data;

[0240] Select the spatial resolution, that is, the side lengths △x, △y, △z of each voxel, and their values are set by the system;

[0241] S612. Calculate the voxel index: For each point (x i , y i , z i ), calculate its index (i, j, k) in the voxel grid

[0242]

[0243] S613. Point aggregation: Aggregate the points belonging to the same voxel together, and the center point of each voxel can be calculated as the representative point of the voxel;

[0244] Calculate the coordinates (x c , y c , z c ) of the center point of the voxel:

[0245] x c = x' min + (i + 0.5)·Δx

[0246] y c = y' min + (j + 0.5)·Δy;

[0247] z c = z' min + (k + 0.5)·Δz

[0248] S614. Generate a point cloud: Form a three-dimensional point cloud from the set of all voxel center points;

[0249] S62. Perform surface reconstruction using the Marching Cubes algorithm;

[0250] Specifically:

[0251] S621. Initialize voxel data: Input three-dimensional voxel data, where each voxel contains a scalar value;

[0252] S622. Determine the isosurface value: Set the isosurface value (C) for extracting the corresponding isosurface;

[0253] S623. Traverse voxels: Traverse each voxel unit and determine the state of the voxel (e.g., using 8-bit binary encoding) based on the relationship between the scalar value of its vertices and the isosurface value C;

[0254] S624. Determine intersection line segments using a lookup table:

[0255] Use a pre-defined lookup table to determine the positions of the intersection line segments between the isosurface and the voxels according to the state of the voxels;

[0256] Among them, the lookup table contains all possible voxel states and their corresponding intersection line segment combinations;

[0257] The steps for generating the lookup table include:

[0258] 1) Define vertex indices:

[0259] Number the 8 vertices of each voxel, usually in the following order:

[0260]

[0261] 2) Determine vertex states: For each vertex, determine the vertex state (0 or 1) based on the comparison result between the scalar value and the isosurface value C;

[0262] 3) Calculate the intersection points of the edges: For each combination of vertex states, calculate the position of the intersection line segment between the isosurface and the voxel (use the linear interpolation formula to calculate the position of the intersection point, as shown below);

[0263] 4) Build a lookup table: Enumerate all 256 combinations of vertex states, determine the position of the intersection line segment for each state, and generate a lookup table; each entry in the lookup table for each state contains the vertex indices of the intersection line segment;

[0264] S625. Calculate the intersection point by linear interpolation:

[0265] Perform linear interpolation to calculate the position of the intersection point for each intersection line segment:

[0266]

[0267] where v i and v j are the two vertices of the voxel edge, f(v i ) and f(v j ) are the scalar values of the vertices, that is: each voxel is composed of 8 vertices, and the scalar value of each vertex is determined by reading the value at the corresponding position in the voxel data, C is the set isovalue (i.e., the scalar value (iso - value) where the isosurface is located, which is a constant preset in the algorithm to determine the position of the isosurface);

[0268] S626. Generate a triangular mesh: Connect the calculated intersection points into a triangular mesh to generate a smooth three - dimensional surface;

[0269] S63. Image rendering to generate an accurate three - dimensional image;

[0270] Specific steps:

[0271] S631. Read the three - dimensional surface data:

[0272] Input the three - dimensional meshed surface data generated by the Delaunay triangulation or Marching Cubes algorithm;

[0273] S632. Lighting model:

[0274] Use a lighting model (such as the Phong lighting model) to calculate the lighting intensity of each triangular patch to enhance the visual effect;

[0275] S633. Texture mapping:

[0276] Apply texture mapping technology to add texture to the three - dimensional surface to improve the realism of the image;

[0277] S634. Camera settings:

[0278] Set the position, orientation, and viewing angle of the virtual camera to determine the viewing perspective;

[0279] S635. Rendering algorithm:

[0280] Use a rendering algorithm (such as ray tracing, rasterization) to generate the final 3D image;

[0281] S636. Output image:

[0282] Output the rendered 3D image to provide accurate target recognition information;

[0283] Through the mutual cooperation between the active sonar detection unit and the passive sound acquisition unit, the ship can obtain the distance and shape data of adjacent target objects to accurately determine the target information, ensuring that the entire system has the advantages of strong monitoring ability, diverse data sources, good data fusion ability, and strong evaluation ability.

[0284] Embodiment 2: This embodiment should be understood as including all the features of any one of the foregoing embodiments and further improved. According to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 shown, the underwater and ground threat monitoring and recognition system further includes a ship posture evaluation module. The ship posture evaluation module collects the posture of the ship and forms an evaluation result based on the collected ship posture to determine the threat situation of the ship;

[0285] The ship posture evaluation module includes a posture collection unit and a posture evaluation unit. The posture collection unit collects the posture of the ship, and the posture evaluation unit forms an evaluation result by evaluating the ship based on the posture data collected by the posture collection unit;

[0286] Among them, the posture collection unit includes an α attitude sensor, a β attitude sensor, and a data memory. The α attitude sensor is used to collect the attitude data of the ship's head, the β attitude sensor collects the attitude data of the ship's tail, and the data memory stores the attitude data of the ship's bow collected by the α attitude sensor and the attitude data of the ship's stern collected by the β attitude sensor;

[0287] In this embodiment, the α attitude sensor is arranged on the bow of the ship, and the β attitude sensor is arranged on the stern of the ship;

[0288] The posture analysis unit obtains the posture data of the ship collected by the posture collection unit and calculates the skewing index Skewing according to the following formula:

[0289]

[0290] In the formula, d α is the distance between the bow of the ship and the target object, d β is the distance between the bow of the ship and the target object, d ref is the distance reference value, and △θ is the difference value of the pitch angles of the bow and stern of the ship, that is, △θ = θ α - θ β , θ ref is the pitch angle reference value, and its value is the average or median of the difference data of the pitch angles of the bow and stern of the ship under different navigation conditions. △φ is the difference value of the roll angles of the bow and stern of the ship, △φ = φ α - φ β , φ ref is the reference value of the roll angle, and its value is the average or median of the difference data of the pitch angles of the bow and stern of the ship under different navigation conditions;

[0291] The distance d between the bow of the ship and the target object α , is calculated according to the following formula:

[0292]

[0293] In the formula, (x α , y α , z α ) are the coordinates of the bow (α attitude sensor), that is, the spatial coordinates of the installation position of the α attitude sensor. (x target , y target , z target ) are the coordinates of the target object, and its value is determined by the ground monitoring module and the underwater monitoring module;

[0294] The distance d between the bow of the ship and the target object β , is calculated according to the following formula:

[0295]

[0296] In the formula, (x β , y β , z β ) are the coordinates of the stern (β attitude sensor), that is, the spatial coordinates of the installation position of the β attitude sensor. (x target , y target , z target ) are the coordinates of the target object, and its value is determined by the ground monitoring module and the underwater monitoring module;

[0297] If the skewing offset index exceeds the safety threshold set by the system, it is determined that the ship is in a high-risk situation;

[0298] If the skewing offset index is lower than the safety threshold set by the system, it is determined that the ship is not in a high-risk situation;

[0299] Among them, the safety threshold set by the system is set by the system or the ship management personnel according to the actual situation of navigation. This is a well-known technical means in the art. Those skilled in the art can query relevant technical manuals to obtain this technology, so it will not be elaborated one by one in this embodiment;

[0300] By collecting and evaluating the positional relationship between the ship's posture and the target object through the ship posture evaluation module, the early warning reminder ability of the ship is improved, ensuring that the entire system has the advantages of strong early warning and monitoring ability, fast response to threat identification and disposal, and high intelligence level.

[0301] The content disclosed above is only the preferred and feasible embodiment of the present invention, and does not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present invention are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology.

Claims

1. An underwater and ground threat monitoring and identification system using meteorological factors, the underwater and ground threat monitoring and identification system comprising a server and a ship, characterized in that: The underwater and ground threat monitoring and identification system also includes a meteorological data acquisition module, an underwater monitoring module, a ground monitoring module, an analysis module, and a threat alarm module, and the server is connected to the meteorological data acquisition module, the underwater monitoring module, the ground monitoring module, the analysis module, and the threat alarm module respectively; The meteorological data acquisition module acquires real-time meteorological data of the location of the ship, the underwater monitoring module monitors the underwater environment, the ground monitoring module monitors the ground environment, the analysis module analyzes the location of the ship according to the data of the meteorological data acquisition module, the underwater monitoring module and the ground monitoring module to form an analysis result, and the threat alarm module provides an early warning to the ship according to the analysis result of the analysis module; The underwater monitoring module includes an active sonar detection unit, a passive sound collection unit, and an underwater environment sensor unit. The active sonar detection unit actively detects underwater dangers, the passive sound collection unit receives natural sound waves in the environment and sounds emitted by targets, and detects sound characteristics of underwater objects. The environment sensor unit collects underwater environment data of the ship.

2. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 1 is characterized in that: The active sonar detection unit includes a transmitter, a receiver, a signal processor and a three-dimensional imager. The transmitter generates and transmits sound wave pulses, the receiver receives the reflected sound wave echo signal, the signal processor processes the received echo signal to generate an image and position data of the underwater target, and the three-dimensional imager uses the echo data to generate a three-dimensional image to provide accurate target recognition information.

3. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 2 is characterized in that: The underwater environment sensor unit includes an alpha temperature sensor, a salinity sensor, a pressure sensor and a pH sensor. The alpha temperature sensor is used to measure underwater temperature, the salinity sensor is used to measure water salinity, the pressure sensor is used to measure water depth and water pressure, and the pH sensor is used to measure the pH of the water at the location of the ship.

4. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 3 is characterized in that: The ground monitoring module includes a radar detection unit and a data pre-processing unit. The radar detection unit uses radar technology to detect the position and speed of ground and low-altitude targets. The data pre-processing unit is used to pre-process the radar data collected by the radar detection unit.

5. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 4 is characterized in that: The meteorological data acquisition module includes an environment monitoring unit, a data processing unit, and a communication unit. The environment monitoring unit monitors the meteorological data of the environment in which the ship is located, the data processing unit processes the meteorological data collected by the environment monitoring unit, and the communication unit transmits the collected data to the analysis module. Among them, the environmental detection unit includes a β temperature sensor, a rainfall sensor, a barometer, a wind vane, an anemometer, and a humidity sensor. The β temperature sensor collects real-time temperature data of the location of the ship, the rainfall sensor collects real-time rainfall data of the location of the ship, the barometer measures atmospheric pressure and provides real-time air pressure data, the wind vane measures wind direction and provides real-time wind direction data, the anemometer measures wind speed and provides real-time wind speed data, and the humidity sensor collects and measures relative humidity in the air and provides real-time humidity data.

6. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 5 is characterized in that: The analysis module obtains data from the meteorological data acquisition module, the underwater monitoring module, and the ground monitoring module, and calculates the threat index Threat of the location of the ship according to the following formula: Where Threat under is the underwater threat index, Threat meteo is the weather threat index, Threat ground is the ground threat index; If the threat index Threshold exceeds the high risk threshold set by the system high , then the threat alarm module is triggered to issue a high threat alarm.

7. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 6 is characterized in that: The data processing unit obtains the real-time temperature data, real-time rainfall data, real-time air pressure data, real-time wind direction data and real-time humidity data collected by the environmental detection unit, and performs standardized processing on the real-time temperature data, real-time rainfall data, real-time air pressure data, real-time wind direction data and real-time humidity data.

8. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 7 is characterized in that: The underwater environment sensor unit further includes a position adjustment component, which adjusts the positions of the temperature sensor, the salinity sensor, the pressure sensor and the pH sensor so that underwater environment data of the real-time position of the ship can be collected; The position adjustment component includes a pulling belt, a pulling recovery seat, and a pulling drive mechanism, wherein the pulling drive mechanism is drivingly connected to the pulling recovery seat so that the pulling belt is wound on the pulling recovery seat; Wherein, the temperature sensor, salinity sensor, pressure sensor and pH sensor are respectively arranged on the pulling belt.

9. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 8 is characterized in that: The steps of the active sonar detection unit operation include: S1. Sound wave emission: The transmitter generates and emits sound wave pulses of specific frequency and direction; S2, signal reception: after the sound wave pulse is reflected by the target object, the receiver receives the reflected sound wave echo signal; S3, echo signal processing: processing the received echo signal, the processing includes signal filtering, time difference measurement and intensity calculation; S4, data processing and calculation: Calculate the distance of the target object according to the propagation speed of the sound wave in water and the time difference of the echo signal; S5, three-dimensional coordinate calculation: calculate the three-dimensional coordinates of the target object according to the time difference of multiple echo signals and the position of the receiver; S6, 3D imager: generates 3D images using echo data.

10. The underwater and ground threat monitoring and identification system using meteorological factors according to claim 9 is characterized in that: The radar detection unit comprises a steering component and a radar detection component, wherein the radar detection component provides the position and speed of the ground and low-altitude targets in the ground environment through radar, and the steering component adjusts the collection angle of the radar detection component; Wherein, the radar detection unit is arranged on the ship.

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