Underwater acoustic response and positioning integrated sensing equipment, positioning method and control method

Abstract

The present invention provides an integrated underwater acoustic response and positioning sensing device, a positioning method and a control method. The sensing device comprises: a suspension support structure, a spherical receiving hydrophone for receiving acoustic wave signals to determine the target distance; a sound absorbing component for achieving the isolation of the sending and receiving of acoustic wave signals; a circular tube transmitting transducer for transmitting acoustic wave signals; and a double circular ring receiving hydrophone for receiving acoustic wave signals to determine the target orientation. The spherical receiving hydrophone, the pressure-resistant electronic cabin, the sound absorbing component, the circular tube transmitting transducer and the double circular ring receiving hydrophone are coaxially arranged in sequence from top to bottom along the direction of gravity inside the cylindrical structure. The device of the present invention can simultaneously transmit, receive and locate, and can meet the positioning and control requirements of underwater engineering equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater measurement and control and underwater engineering equipment, and more specifically, to underwater acoustic response and positioning integrated sensing equipment, a positioning method and a control method. Background Art

[0002] Currently, unmanned underwater vehicles (UUVs) are widely used in fields such as hydrographic surveying, seabed exploration, underwater data acquisition, and offshore wind farm construction. UUV performance evaluation and normal operation rely on the support of underwater acoustic testing systems and equipment. As a commonly used underwater acoustic test equipment, an underwater acoustic transponder includes a transmitter and a receiver, and can therefore be used as both a signal source and a transponder. After years of development, several companies abroad specialize in the development and production of underwater acoustic transponders. Among them, the underwater acoustic equipment developed by the French company iXblue represents the most advanced level in the industry. It offers a variety of mid- and low-frequency transponder products with applications in underwater navigation and positioning, as well as civilian search and rescue. Although China started late in this area, underwater acoustic transponder technology has gradually gained popularity in recent years. Various marine engineering projects have also put forward new requirements for underwater equipment testing and the performance of underwater acoustic transponder devices.

[0003] Traditional sonar transponders have a single function and lack data sharing with sonar systems, making it difficult to achieve high-performance real-time feedback applications and unable to meet multi-function and multi-index testing requirements. Therefore, traditional sonar transponders are usually used in conjunction with sonar positioning systems to complete underwater equipment testing. Ultra-Short Baseline (USBL) is currently the most commonly used sonar positioning system in UUV position determination due to its simple structure, small size, ease of use, and low cost. Conventional USBL systems mostly use 3-element L-shaped, 4-element cross-shaped, 8-element double cross-shaped arrays to achieve target azimuth estimation by measuring the time delay difference / phase difference of each channel of the array; however, due to factors such as the small array aperture and the obvious high-frequency sound scattering effect, the system positioning accuracy is not high and the applicable test environment is limited. In addition, the receiving beam width is also an important indicator for measuring the performance of the USBL system. The Seatrac series USBL developed by the foreign Blueprint company adopts a circular design with a receiving beam width of 120° in the vertical direction. For example Figure 1 As shown in the figure, the HiPAP series USBL developed by Kongsberg uses a complex receiving system with dozens to hundreds of array elements. The array is a planar array or a spherical array, which can greatly improve the positioning performance through beamforming and has a receiving beam width of more than 180° in the vertical direction. However, it also loses the advantages of array miniaturization and low cost. The existing system does not have the function of simultaneous transmission and reception, and cannot meet the comprehensive needs of underwater control, communication, and positioning. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an integrated underwater acoustic response and positioning sensing device, a positioning method and a control method to overcome the above-mentioned shortcomings.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] First, the integrated underwater acoustic response and positioning sensing equipment includes:

[0007] The suspension support structure comprises a suspension positioning ring and a plurality of connecting rods; the plurality of connecting rods are parallel to each other and evenly distributed and installed on the suspension positioning ring to form a cylindrical structure;

[0008] Spherical receiving hydrophone, used to receive sound wave signals to determine the target distance;

[0009] Sound absorbing parts, used to achieve the isolation of sending and receiving sound wave signals;

[0010] The circular tube transmitting transducer is used to transmit sound wave signals;

[0011] Double-ring receiving hydrophone, used to receive acoustic wave signals to determine the target's position;

[0012] The spherical receiving hydrophone, the sound absorbing component, the circular tube transmitting transducer, and the double-ring receiving hydrophone are coaxially arranged in sequence from top to bottom along the direction of gravity inside the cylindrical structure.

[0013] In one embodiment, the sound absorbing member is in a circular ring structure, and an air cavity is provided inside the sound absorbing member.

[0014] In one embodiment, it further includes: a pressure-resistant electronic cabin; a main control circuit is housed inside the pressure-resistant electronic cabin; the main control circuit is used to receive the ranging signal received by the receiving hydrophone, and / or receive the positioning signal of the double-ring receiving hydrophone, and / or control the transmitting transducer to transmit a communication control signal; in the direction of gravity, the pressure-resistant electronic cabin is located between the receiving hydrophone and the sound-absorbing component.

[0015] In one embodiment, the double-annular receiving hydrophone includes: a sound-transparent support structure, including a sound-transparent support seat and a sound-transparent cover, wherein the middle position of the sound-transparent support seat and the sound-transparent cover has a through hole extending axially; an upper annular hydrophone array, including a plurality of first hydrophone elements; a lower annular hydrophone array, including a plurality of second hydrophone elements; the first hydrophone elements and the second hydrophone elements are connected to the sound-transparent support seat through an axially extending support column; the plurality of first hydrophone elements and the plurality of second hydrophone elements are arranged in a staggered manner in a ring shape; the upper annular hydrophone array and the lower annular hydrophone array have different axial heights; the sound-transparent cover wraps the upper annular hydrophone array and the lower annular hydrophone array and is fixed to the sound-transparent support seat.

[0016] In one embodiment, the double-annular receiving hydrophone further includes an acoustic impedance conversion filling column, which is located in the middle position between the upper annular hydrophone array and the lower annular hydrophone array; the acoustic impedance conversion filling column is passed through the through holes of the sound-transparent support seat and the sound-transparent sheath.

[0017] In one embodiment, the acoustic impedance conversion filling column is made of sound absorbing material or sound reflecting material.

[0018] In one embodiment, the double-ring receiving hydrophone further includes a preamplifier control circuit, which is installed in the sound-transparent support seat, and the first hydrophone array element and the second hydrophone array element are both electrically connected to the preamplifier control circuit.

[0019] In a second aspect, a positioning method is applied to any one of the underwater acoustic response and positioning integrated sensing devices in the first aspect, the method comprising:

[0020] Using the circular tube transducer to transmit a positioning request signal, wherein the positioning request signal is a fixed pulse sound wave signal;

[0021] Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal;

[0022] After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained;

[0023] After processing and calculating the response signal using the dual-circular receiving hydrophone, the orientation of the target to be measured relative to the dual-circular receiving hydrophone is obtained;

[0024] The three-dimensional spatial positioning of the target to be measured is determined based on the distance and the orientation.

[0025] In one embodiment, the processing and calculating of the response signal by the spherical receiving hydrophone to obtain the distance between the target to be measured and the spherical receiving hydrophone specifically includes:

[0026] Obtaining the signal to be detected in the response signal ; Setting a reference signal based on the parameters of the response signal ;

[0027] Using the reference signal The signal to be detected Perform pulse compression to generate narrow pulse signals ;

[0028] The time point corresponding to the maximum copy correlation output is determined in the narrow pulse signal, and the distance between the target to be measured and the spherical receiving hydrophone is determined based on the time point and the sound speed.

[0029] In one embodiment, the processing and calculating of the response signal by the dual-circular receiving hydrophone to obtain the orientation of the target to be measured relative to the dual-circular receiving hydrophone specifically includes:

[0030] The double-ring receiving hydrophone is used to receive the effective response signal, and the response signal is decomposed into multiple sound sources; according to the position of each array element and the angle of each sound source, , construct the steering vector matrix ;

[0031] Based on the construction of the steering vector matrix , and the signals received by each element in the double-ring receiving hydrophone , combined to obtain the array observation vector ;

[0032] Based on the array observation vector Constructing the covariance matrix ;

[0033] Using the covariance matrix , the steering vector matrix Calculate the beam response output for conventional beamforming ;

[0034] The beam response output Perform deconvolution and combine it with RL iterative algorithm to obtain beam response output The azimuth spectrum , based on the azimuth spectrum Determine the position of the target to be measured.

[0035] In a third aspect, a control method is provided, which is applied to any one of the underwater acoustic response and positioning integrated sensing devices according to the first aspect, and the method comprises:

[0036] Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal;

[0037] After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained;

[0038] After processing and calculating the response signal using the dual-circular receiving hydrophone, the orientation of the target to be measured relative to the dual-circular receiving hydrophone is obtained;

[0039] Calculating and determining the three-dimensional spatial positioning of the target to be measured based on the distance and the orientation;

[0040] The circular tube transducer is used to transmit a coded control signal, and the coded control signal is used to control the movement of the target to be measured.

[0041] In summary, the present invention has the following beneficial effects: the integrated underwater acoustic response and positioning sensing device can simultaneously realize the transmission and reception of sound wave signals by coaxially arranging a spherical receiving hydrophone, a circular tube transmitting transducer and a double circular ring receiving hydrophone, and the spherical receiving hydrophone can be used to measure the distance to the target to be measured, and the double circular ring receiving hydrophone can be used to measure the direction to the target to be measured; the device of the present invention can simultaneously transmit, receive and locate, and can meet the positioning and control requirements of underwater engineering equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a picture of the HiPAP series ultra-short baseline products in the existing technology;

[0043] Figure 2 This is a main structural diagram of the underwater acoustic response and positioning integrated sensing device of the present invention;

[0044] Figure 3 It is a three-dimensional structural diagram of the double-ring receiving hydrophone of the present invention;

[0045] Figure 4 This is a diagram of the internal array structure of the double-ring receiving hydrophone of the present invention;

[0046] Figure 5 Schematic diagram of the internal structure of the double-ring receiving hydrophone of the present invention;

[0047] Figure 6 Schematic diagram of the array element arrangement of the double-ring receiving hydrophone of the present invention;

[0048] Figure 7 is a schematic structural diagram of a spherical hydrophone according to the present invention;

[0049] Figure 8 Schematic diagram of the structure of the cylindrical transmitting transducer of the present invention;

[0050] Figure 9 This is a directivity test diagram of the 16th array element of the present invention for a 10kHz sound wave signal;

[0051] Figure 10 This is a directivity test diagram of the 16th array element of the present invention for a 30kHz sound wave signal;

[0052] Figure 11 This is a directivity test diagram of the 16th array element of the present invention for a 50kHz sound wave signal;

[0053] Figure 12 Schematic diagram of the signal reception result in the time-frequency domain of the present invention;

[0054] Figure 13 Schematic diagram of the signal reception result in the time domain of the present invention;

[0055] Figure 14 is the signal pulse compression result of the present invention;

[0056] Figure 15 Schematic diagram of the threshold signal detection simulation results of the present invention;

[0057] Figure 16 Schematic diagram of the circular array receiving signal model of the present invention;

[0058] Figure 17 Schematic diagram comparing the spatial spectrum estimation results of various algorithms of the present invention;

[0059] Figure 18 This is a simulation diagram of the horizontal directivity results of the spherical hydrophone of the present invention;

[0060] Figure 19 This is a simulation diagram of the vertical directivity results of the spherical hydrophone of the present invention;

[0061] Figure 20 This is a simulation diagram of the horizontal directivity results of the circular tube transmitting transducer of the present invention;

[0062] Figure 21 This is a simulation diagram of the vertical directivity results of the circular tube transmitting transducer of the present invention;

[0063] Figure 22 This is a flow chart of a positioning method according to a second embodiment of the present invention;

[0064] Figure 23 This is a flow chart of the control method of embodiment 3 of the present invention;

[0065] In the figure, 1. Suspension support structure; 11. Suspension positioning ring; 12. Connecting rod; 2. Spherical receiving hydrophone; 3. Sound absorbing component; 4. Circular tube transmitting transducer; 5. Double circular receiving hydrophone; 51. Sound-transparent support seat; 52. Sound-transparent sheath; 53. Through hole; 54. Upper annular hydrophone array; 55. Lower annular hydrophone array; 56. Support column; 57. Acoustic impedance conversion filling column; 58. Preamplifier control circuit; 6. Pressure-resistant electronic cabin. DETAILED DESCRIPTION

[0066] In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features.

[0067] In the present invention, unless otherwise expressly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0068] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0069] Example 1

[0070] In order to solve the above problems, the present invention provides an integrated underwater acoustic response and positioning sensing device, such as Figure 2-Figure 8 As shown, it includes: a spherical receiving hydrophone 2, a pressure-resistant electronic cabin 6, a sound absorbing component 3, a circular tube transmitting transducer 4, and a double-ring receiving hydrophone 5; the above components are coaxially arranged inside the cylindrical structure from top to bottom along the direction of gravity.

[0071] The suspension support structure 1 also includes a suspension positioning ring 11 and a plurality of connecting rods 12. The plurality of connecting rods 12 are installed on the suspension positioning ring in parallel and evenly distributed manner to form a cylindrical structure. In this embodiment, there are two suspension positioning rings, which are located at the top and bottom of the suspension support structure, respectively, to provide positioning for the connecting rods. The top suspension positioning ring is fixed to the pressure-resistant electronic cabin via connecting rods, and the bottom suspension positioning ring is also fixed to the pressure-resistant electronic cabin via four connecting rods. The four upper connecting rods and the four lower connecting rods can be a single rod that passes through the pressure-resistant electronic cabin, or a non-penetrating split structure.

[0072] The shape requirements for the suspension and positioning ring 11 are: a large hollow area and minimal thickness at the edges to minimize interference with sound waves. The diameters of the multiple connecting rods 12 must also be minimized while ensuring strength to reduce the impact of sound scattering on the spherical receiving hydrophone 2. Similar to the top suspension and positioning ring 11, the lower suspension and positioning ring 11 requires a large hollow area and minimal thickness at the edges, with the connecting rods 12 having the smallest possible diameter while ensuring strength.

[0073] A top suspension ring 11 features a lifting hole for secure connection to a test platform or vessel. Ideally, it's attached to a lifting rod structure, allowing for adjustable submersion depth and horizontal rotation. Four connecting rods 12 are evenly distributed across the suspension ring 11, forming a cylindrical structure.

[0074] like Figure 1 、 Figure 7 As shown, the spherical receiving hydrophone 2 is a standard hydrophone, which is encapsulated with sound-transmitting polyether material on the outside and is connected to the electronic cabin through a watertight cable. The spherical hydrophone can be connected to an external signal preamplifier module (set in the pressure-resistant electronic cabin 6, not shown in the figure). The cable is usually four-core and requires additional tooling during installation so that it can be fixed to the upper part of the device in a vertical posture. The spherical receiving hydrophone 2 installed in this way has good receiving directivity in the horizontal direction, as shown in FIG. Figure 18 As shown, we can see that the horizontal directivity at 10kHz is relatively flat, and as the frequency increases, the directivity is more obviously affected by the sound scattering of the support rod and cables, and the directivity disturbance begins to increase, but the maximum fluctuation does not exceed 10dB.

[0075] like Figure 1 As shown, the pressure-resistant electronic cabin 6 is cylindrical, with its axis coaxial with the overall equipment. Multiple multi-channel watertight sockets are installed on the top of the pressure-resistant electronic cabin 6. These are used for signal transmission from the spherical receiving hydrophone 2 and the dual-ring receiving hydrophone 5 to the electronic cabin, as well as for signal transmission from the cabin circuit module to the dry-end host computer. The dry-end represents non-underwater equipment, including shore-based equipment or surface platform equipment. The multi-channel watertight connector specifically includes a plug for the signal transmission cable, an end cap socket, and a watertight plug. The cable plug and watertight plug must be compatible with the end cap socket and must meet the pressure resistance requirements of the maximum operating water depth. When no cable is inserted into the socket, the watertight plug is connected to the socket to prevent water from entering the electronic cabin. The pressure-resistant electronic cabin must first meet the maximum operating water depth requirements. Then, it is necessary to consider whether the designed cabin space can meet the installation and routing requirements of the signal acquisition, processing, transmission modules, and attitude sensing modules. When the watertightness and space requirements are met, the weight must also be controlled to facilitate operation and the installation of a small test platform. The internal circuit of the pressure-resistant electronic cabin 6 is connected to the host computer via a gigabit network cable. The pressure-resistant electronic cabin is also equipped with a main control circuit for receiving monitoring signals from the spherical hydrophone, and / or receiving positioning signals from the dual-ring receiving hydrophone, and / or controlling the transmitting transducer to transmit communication control signals.

[0076] The sound-absorbing component 3 is specifically a circular ring-shaped sound-absorbing rubber sleeve with a cavity, which is bolted to the exterior of the lower end of the electronics compartment during use. As an underwater sound-absorbing material, it must meet the following two conditions: first, the acoustic characteristic impedance of the material must match or be as close as possible to that of the propagation medium, water, allowing sound waves to enter the sound-absorbing material without reflection; second, the material must have a high acoustic attenuation coefficient, ensuring rapid attenuation of sound energy within the material. Currently, in addition to polyurethane materials, rubber materials such as chloroprene rubber, butyl rubber, and styrene-butadiene rubber also exhibit excellent sound absorption properties. Furthermore, air cavities can be added to the sound-absorbing layer to further enhance the sound absorption effect. When the sound absorption coefficient reaches 0.9, the acoustic isolation is 20dB. Taking into account the directivity of the transducer and the appropriate dimensions of the sound-absorbing rubber sleeve, the acoustic transmit-receive isolation can even reach 40dB-60dB within certain operating frequency bands.

[0077] like Figure 8 As shown, the circular tube transmitting transducer is a broadband communication transducer, encapsulated with an acoustically transparent polyether material and connected to the lower end of the electronics compartment via a four-core watertight cable. Similar to the spherical receiving hydrophone, it is mounted vertically with a fixture at the bottom of the device. To achieve long-distance response and communication, the transmitting transducer's transmitting voltage response is specified, typically no less than 138dB / V. A signal power amplifier module is installed within the electronics compartment to significantly enhance the transmitted sound source level. The acoustic signal emitted by the circular tube transmitting transducer can be encoded to carry various information; see the subsequent examples for details.

[0078] The suspension ring at the bottom also includes six lifting holes and four connecting rods 12. To minimize impact on the transmitting transducer, the support column diameter must be controlled. Because the electronics compartment has fewer sockets at the bottom, the support column length can be shorter than the upper suspension structure. The remaining two lifting holes can be used to secure the counterweight, end cap, and install the dual-ring receiving hydrophone.

[0079] like Figures 1-6 As shown, the dual-ring receiving hydrophone 5 is suspended from a suspension positioning ring 11 at the bottom. The dual-ring receiving hydrophone 5 comprises an acoustically transparent support structure, including an acoustically transparent support base 51 and an acoustically transparent sheath 52. An axial through-hole 53 extends between the acoustically transparent support base 51 and the acoustically transparent sheath 52. The acoustically transparent support structure is made of an acoustically transparent material, such as acoustically transparent polyurethane, which provides excellent acoustic transparency and avoids interference with sound waves. The acoustically transparent support base 51 has a cavity opening from its bottom end and is equipped with a removable rear cover to seal the bottom opening. The preamplifier control circuit 58 is mounted within the acoustically transparent support base 51 and secured with connectors, preferably copper pillars. The preamplifier control circuit 58 comprises a circuit board, a chip, and an interface component. The circuit board is a circular plate-shaped structure, with the chip and interface components distributed on the end surface of the circuit board. The preamplifier circuit board receives weak impedance-converted signals, amplifies and bandpass filters them, and outputs the signals to the main control circuit in the pressure-resistant electronic compartment 6 via a watertight shielded cable. One end of the multi-core watertight connector passes through the acoustically transparent support base 51 and connects to the preamplifier control circuit 58. The other end connects to the main control circuit within the multi-channel watertight socket on the top of the pressure-resistant electronic compartment 6. The dual-annular receiving hydrophone 5 also includes: an upper annular hydrophone array 54, including multiple first hydrophone elements; a lower annular hydrophone array 55, including multiple second hydrophone elements; the first hydrophone elements and the second hydrophone elements are connected to the acoustically transparent support base 51 via axially extending support columns 56; the multiple first hydrophone elements and the multiple second hydrophone elements are arranged in an annular, staggered arrangement; the upper annular hydrophone array 54 and the lower annular hydrophone array 55 have different axial heights; and an acoustically transparent sheath 52 wraps around the upper annular hydrophone array 54 and the lower annular hydrophone array 55 and is fixed to the acoustically transparent support base 51. Specifically, the hydrophone array element is a circular tube with a diameter-to-height ratio of approximately 1:2. Due to the limited aperture of the double-ring array, the diameter of a single hydrophone is controlled at approximately 7.5mm. In addition, to ensure vertical resolution, the acoustic center spacing between the upper and lower layers of the circular array is 15mm-20mm. When assembling the array, the upper and lower layers of the circular array are fixed to the sound-transmitting bracket in a staggered manner. A thin layer of polyether is then cast on the outside of the array element. After the base and cables are installed, the entire array is watertightly cast on the outside. A space of at least 35mm must be left in the middle of the array for the installation of a cylindrical sound baffle. The internal cross-section of the entire double-ring array is as follows: Figure 5As shown in the figure, the dual-ring array preamplifier circuit and base 2 are circular in structure, facilitating installation at the bottom of the dual-ring array. The preamplifier circuit has the same number of channels as the array elements, amplifying the signals received by each element. The preamplifier circuit is powered by an external 5V power supply, with positive and negative power supply connections designed on the circuit board. The preamplifier circuit's input is connected to each hydrophone element and uses a differential input, requiring simultaneous connection to the positive and negative terminals of the hydrophones. The preamplifier circuit's output is connected to a cable and uses a single-ended output, transmitting the amplified signals from all elements to the electronics compartment. The preamplifier circuit is also powered by an external cable. Key technical specifications for the preamplifier circuit include effective operating bandwidth, in-band gain, and inter-channel gain error. The effective operating bandwidth is 1kHz-300kHz (-3dB attenuation); in-band gain must be at least 20dB, meaning the signal amplitude is amplified 10x; and each channel exhibits excellent consistency, with a gain error of no more than 1dB. During assembly, the input and output leads of the preamplifier circuit are connected through the connection holes of the base, and then the entire circuit is encapsulated in the base. The overall appearance after assembly is as follows Figure 3 shown.

[0080] like Figure 4 As shown, the dual-ring receiving hydrophone also includes an acoustic impedance conversion filling column located between the upper and lower ring hydrophone arrays. The column is inserted through the through-holes of the acoustically transparent support and the acoustically transparent sheath and is made of either sound-absorbing or sound-reflecting material. The dual-ring receiving hydrophone also includes a preamplifier control circuit mounted within the acoustically transparent support. Both the first and second hydrophone array elements are electrically connected to the preamplifier control circuit. The column is a cylindrical structure and, when in use, is mounted in the center of the dual-ring array. One end is screwed to the array base, and its length is slightly greater than the height of the array. The column is made of either sound-reflecting or sound-absorbing materials. Aluminum is used for the sound-reflecting material, while rubber with cavities is used for the sound-reflecting material. Due to the small aperture of the dual-ring array and the compact arrangement of the array elements, inter-element acoustic scattering is significant when the wavelength of the sound approaches the element size. Therefore, the purpose of installing acoustic impedance conversion filling columns is to improve the acoustic characteristics of the dual-ring array and enhance the suppression of backbeams. The diameter of the acoustic impedance conversion filling columns ranges from 20mm to 32mm and the length ranges from 120mm to 150mm. Installing acoustic impedance conversion filling columns of different sizes will result in different acoustic reception performance, requiring reception sensitivity and directivity testing for various situations. During underwater testing, special care must be taken to avoid the formation of bubbles between the acoustic impedance conversion filling columns and the ring array.

[0081] like Figure 6As shown, before underwater testing, each array element must be numbered and a reference element must be set. For example, with 16 elements, the lower circular array is assigned odd-numbered elements, while the upper circular array is assigned even-numbered elements. When the double circular array is inverted on the suspension structure, the upper circular array is actually located at the bottom of the entire setup. To facilitate position confirmation, element 16 is used as the reference element. Specific use requires weighting based on the sensitivity of each element.

[0082] The receiving directivity is different when different materials of sound baffles are installed in the middle of the double ring array. The test results for the 16th array element are as follows: Figure 9 、 Figure 10 、 Figure 11 The results include the cases of 10kHz, 30kHz, and 50kHz. It can be seen that as the frequency increases, the acoustic baffle effect becomes more obvious. The addition of an absorbing baffle has the strongest suppression of back-directed sound waves. When a reflective baffle is added at 50kHz, obvious main lobes and side lobes can be distinguished. The main lobe is basically facing the direction of the incoming sound source, which is also beneficial for reducing high-frequency sound scattering interference and improving the detection performance and resolution of effective signals. In practical applications, the array point spread function can be calculated based on the directivity diagram to implement the beamforming algorithm.

[0083] This embodiment is an integrated underwater acoustic response and positioning sensing device. When in use, the double-ring array is fixed to the bottom suspension positioning ring through the bottom screw hole, that is, the hydrophone array is located at the lowest end of the entire device. The device is fixedly connected to the test platform or ship through the top suspension positioning ring. Preferably, a lifting rod is used to adjust the device's immersion depth and horizontal azimuth rotation. When performing underwater target positioning, it is carried out according to the ultra-short baseline principle. First, the received signal of each array element is digitally collected and pulse compressed. Then, beamforming is performed based on the receiving directivity of each array element to determine the approximate direction of the target. Finally, pulse delay estimation and spatial spectrum estimation are further used to accurately measure the target's distance and direction, achieving the purpose of three-dimensional positioning of underwater targets.

[0084] The device designed in this embodiment is compact and highly integrated, capable of being mounted on a variety of test platforms and measuring in different water environments. It also incorporates structures such as a sound-absorbing rubber sleeve and acoustic baffles to reduce acoustic scattering interference between the test platform and the transducer, improving the device's underwater positioning accuracy. The designed device also features a wide operating frequency band and measurement beam angle range, and exhibits good system stability. This device utilizes an integrated design, with the response sensing system structured as an upper receiver and a lower transmitter. Because the transmitter and receiver are separated, simultaneous transmission and reception can be achieved in applications, meeting real-time response requirements. A cavity rubber sleeve 7 is installed between the receiving hydrophone and the circular tube transmitting transducer. Its sound absorption coefficient is greater than 0.95, enabling acoustic isolation of over 20 dB, minimizing the impact of the transmitted signal on the receiving function.

[0085] The spherical hydrophone 4 in this embodiment is used for receiving underwater acoustic pulse signals. The horizontal receiving directivity and vertical receiving directivity are shown in FIG. Figure 18 、 Figure 19 As shown. It can be seen that: the horizontal directivity at 10kHz is relatively flat, and as the frequency increases, the directivity is more obviously affected by the sound scattering of the support rods and cables, and the directivity disturbance begins to increase, but the maximum fluctuation does not exceed 10dB. The position with the maximum energy attenuation is exactly in the direction corresponding to the gigabit network cable. In actual testing, the transmission network cable should be kept as far away from the target direction as possible; in the vertical directivity, 180° is the direction of the hydrophone cable outlet, so due to the influence of sound shielding, the energy will be slightly smaller. 90° and 270° are on both sides of the hydrophone, and its -3dB open angle width is greater than 60°. In summary, the spherical hydrophone has horizontal omnidirectional and vertical wide-angle acoustic pulse reception performance within the working frequency band, and can realize long-distance pulse signal detection in the azimuth angle range of 0° to 360° and the pitch angle range of 60°.

[0086] The circular tube transducer 8 in this embodiment is used to transmit response pulses, target simulation pulses, communication pulse signals, etc. Its horizontal transmission directivity and vertical transmission directivity are shown in the following table. Figure 20 、 Figure 21 As shown. It can be seen that: with the increase of frequency, the effects of sound scattering, sound shielding, etc. become more obvious, and the fluctuations of the directivity curve increase. Among them, the stability of the horizontal directivity is relatively good, and the maximum fluctuation at 50kHz does not exceed 6dB; the vertical directivity is significantly affected by the cable outlet (180°), but the -3dB emission opening angle width near 90° and 270° on both sides of the transducer is maintained at more than 30°. In summary, the circular tube transducer of the present application has horizontal omnidirectional and vertical wide-angle sound pulse emission performance within the working frequency band, and can achieve high sound source level pulse signal emission in the range of 0° to 360° in azimuth and 30° in elevation.

[0087] Example 2

[0088] The solution of this embodiment is mainly used for underwater active positioning and navigation. The solution of this embodiment is mainly used for underwater active positioning and navigation. First, the device transmits a fixed pulse signal through the circular tube transducer 8. After receiving the fixed pulse, the target to be measured sends back a response signal. Then, the device simultaneously receives and collects the response signal through the spherical hydrophone 4 and the dual-ring receiving hydrophone. Among them, the spherical hydrophone collects the signal and performs time delay estimation after pulse compression to achieve target distance and speed measurement; the dual-ring array multi-channel collection signal can achieve target azimuth estimation after threshold detection and beamforming. Then, the electronic cabin attitude recorder can obtain reference information such as the heading angle of the measurement device. The above multi-sensor data can be integrated to achieve three-dimensional spatial positioning of the underwater target. After receiving the fixed pulse emitted by this device, the target to be measured can calibrate its own position and reset the navigation route to achieve navigation function. In this embodiment, this device is equivalent to an integrated acoustic beacon system.

[0089] like Figure 22 As shown, a positioning method is applied to the underwater acoustic response and positioning integrated sensing device as in Example 1, and the positioning method includes the following steps:

[0090] S11. Use a circular tube transducer to transmit a positioning request signal, where the positioning request signal is a fixed pulse sound wave signal;

[0091] S12, respectively using the spherical receiving hydrophone and the double-ring receiving hydrophone to receive a response signal; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal;

[0092] S13, after processing and calculating the response signal using the spherical receiving hydrophone, obtaining the distance between the target to be measured and the spherical receiving hydrophone;

[0093] S14, after processing and calculating the response signal using the dual-circular receiving hydrophone, obtain the direction of the target to be measured relative to the dual-circular receiving hydrophone;

[0094] S15. Determine the three-dimensional spatial positioning of the target to be measured based on the distance and orientation calculation.

[0095] Among them, in step S13, after processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained, which specifically includes the following sub-steps:

[0096] Get the pending response signal ; Among them, in order to improve the signal detection performance in complex waters, the response signal Select the frequency modulation signal, and its expression is written as:

[0097]

[0098]

[0099] Where, is the signal pulse width, is the initial frequency, is the frequency modulation slope, based on the response signal Available signal bandwidth .

[0100] Setting reference signal based on the parameters of the response signal , its expression is written as:

[0101]

[0102] in, Indicates response signal The conjugate time reversal of Substitute into the formula You can get:

[0103]

[0104] Using reference signals Treat detection signal Perform pulse compression to generate narrow pulse signals , its expression is written as:

[0105]

[0106] in, Represents convolution calculation.

[0107] The further expression based on expression 5.1 is:

[0108]

[0109] when When the narrow pulse signal Can be simplified to:

[0110]

[0111] Formula (6) is the output of the linear frequency modulation signal after copy correlation, which is For a signal with a fixed carrier frequency, its envelope is approximately a sinc function. Converted into the standard form of the signal, its expression is as follows:

[0112]

[0113] Among them, the narrow pulse signal The pulse width is .

[0114] Specifically, copy correlation is actually a signal matching operation. When a part of the signal to be detected is highly similar to the reference signal, the matching result (copy correlation output) will have an obvious peak. If the signal contains multiple frequency-modulated pulses (for example, one transmission contains two segments of signals), multiple peaks will be seen in the copy correlation output. If the exact time point of the signal emission is known, combined with the arrival time point detected by copy correlation, that is, the time of peak occurrence, the propagation delay of the signal can be calculated. Specifically, the emission time point and the arrival time point can be obtained using the time synchronization module, and the delay , Indicates the launch time point, Indicates the receiving time point; and based on the delay and the speed of sound Determine the distance between the target and the spherical receiving hydrophone ,include: .

[0115] For the simulation related to FM signal copy, Figure 12 and Figure 13 As shown in the figure, the signal detected by the spherical hydrophone is a 110ms pulse, which contains two FM signals. Due to the presence of many acoustic reflections and noise interference, it is difficult to separate the two signals from the time domain waveform. The short-time Fourier transform result also has the problem of limited resolution. Therefore, a 10ms pulse near 24kHz is intercepted as a reference signal for copy correlation. The copy correlation result is shown in the figure. Figure 14 As shown in the figure, two peak points can be clearly seen, and their horizontal coordinate values ​​are related to the number of sampling points and the sampling rate. Finally, the time when the peak of the first FM signal appears is 25ms, and the time when the peak of the second signal appears is 67.65ms. The pulse interval between the two signals is 42.65ms. Based on the above pulse interval, it can be judged whether the time between the first signal peak and the second signal peak meets the predetermined parameters; if for the target to be measured, if the 24kHz signal is emitted at time 0, and the time when the spherical hydrophone receives the first signal peak is 25ms, then according to the sound speed and time delay, the slant distance of the target sound source can be calculated to be approximately 1500m / s×0.025s=37.5m.

[0116] In one embodiment, in order to achieve efficient calculation and reduce the demand for computing resources, the following steps can also be used to calculate the copy-related output, that is, the narrow pulse signal :

[0117]

[0118] in, Is the response signal Frequency domain function obtained by Fourier transform; is the reference signal The frequency domain function is obtained by Fourier transform; after multiplying the two frequency domain functions and then performing inverse Fourier transform, a narrow pulse signal is obtained. .

[0119] In step S14, the response signal is processed and calculated by the dual-circular receiving hydrophone to obtain the direction of the target to be measured relative to the dual-circular receiving hydrophone, which specifically includes the following sub-steps:

[0120] In the dual-circular array signal processing process, the signal is first received and digitally sampled by the acquisition module, followed by valid signal detection. The detection process first calculates the energy mean of the pulse data to be detected and then compares it with the mean of the ambient noise data. When the pulse energy exceeds a certain signal-to-noise ratio, it is determined to be a valid signal and then stored for spatial spectrum estimation.

[0121] The parameters set in the detection include the pulse length to be detected and the signal-to-noise ratio (SNR) threshold. The pulse length of a single processing determines the positioning refresh rate. When the pulse length is reduced, the refresh rate will increase, but there is also a lower limit to ensure the consistency of the signals of each array element and the accuracy of the azimuth estimation. The SNR threshold determines the detection probability. When the SNR threshold is too low, false alarms may occur, while when it is too high, missed detections may occur. Therefore, the appropriate SNR threshold must be selected in combination with the sound source level of the response signal and the working distance of the device. For the simulation of effective signal detection, Figure 15 As shown, the threshold value can be dynamically adjusted according to the sound wave energy to minimize the influence of reflected signals and tail signals. When the signal energy is greater than the threshold value, it can be determined as a valid signal.

[0122] If the response signal is valid, the response signal is decomposed into multiple sound sources; according to the position of each array element and the angle of each sound source, , construct the steering vector matrix , the steering vector matrix Please refer to the subsequent content for the specific form;

[0123] Based on the signals received by each array element in the double-ring receiving hydrophone , combined to obtain the array observation vector ;

[0124] Specifically, if the double-ring receiving hydrophone is observed along the direction of gravity, then the axis of the double-ring receiving hydrophone is the coordinate origin of the xoy plane, and the number of array elements is M , in this embodiment, M =16, the radius of the circle is r , then the three-dimensional coordinates of each array element can be expressed as ,in For them The angle between the array element and the positive direction of the x-axis.

[0125] In this embodiment, the broadband signal is divided into multiple narrowbands for processing, and only the far-field narrowband plane wave condition is considered. The received signal model is as follows: Figure 16 As shown, assuming H Narrowband plane waves From the direction The incident circle is incident on the circle array. Taking the center of the circle as the reference point, The incident signal received by the mth array element at time can be expressed as:

[0126]

[0127] in, is the time factor, For the h The signal arrives at m The time delay difference relative to the reference point when there are array elements is: , is the speed of sound, represents the signal frequency, Indicates the The noise received by each array element. Considering the scattered sound field , then the total sound pressure signal received by the array element is the sum of the incident signal and the scattered signal, that is .Will M The acoustic sensor t The signals received at each moment are arranged into a column vector, and we can get t The received signal strength of the circular array at the moment, that is, t Time array observation vector :

[0128]

[0129] in, , represents the complex field, represents the total received signal vector; , represents the received noise signal vector; , represents the received scattered signal vector; , represents the received response signal vector; represents the steering vector matrix, for:

[0130]

[0131] in, ; .

[0132] based on t The received signal strength of the circular array at the moment, that is, t Time array observation vector , calculate the weighted output of the circular array ,include:

[0133]

[0134] in, is the weight vector of the circular array; express The conjugate transpose of ; the weight vector of the circular matrix Used to determine the direction of signal reception.

[0135] Based on the array observation vector Constructing the covariance matrix ;in, express Conjugate transpose of , converting the column vector into a row vector and taking the complex conjugate of each element;

[0136] Weighted output based on circular array and the covariance matrix , calculate the output power of the circular array P , which is expressed as follows:

[0137]

[0138] Conventional beamforming is used to compensate for and sum the time delay differences according to the spherical wave law based on the different curvature radii of the wavefronts from the sound source to each array element, so that the signals received by different array elements can be added in phase. When , the beam response output of conventional beamforming (CBF) is obtained , whose expression is:

[0139]

[0140] in, is the scanning angle; Indicates that when the scanning angle is The corresponding weight vector when ;

[0141] Since conventional beamforming has a large beam width and poor angular resolution of the incoming wave direction, for small aperture arrays, deconvolution technology has the advantages of high resolution, robustness, and array gain. Therefore, this scheme introduces deconvolution beamforming and uses signal subspace decomposition to Perform the following conversion:

[0142]

[0143]

[0144]

[0145]

[0146]

[0147] Where, is the beam pattern intensity function. For the incident signal power, the distribution function in the azimuth plane can be expressed as follows:

[0148]

[0149] Combining equations (16) and (17), we can conclude that the CBF output can be regarded as a distribution function and beam pattern strength function The convolution is:

[0150]

[0151] Where, is the unit impact function, and * represents the convolution operation.

[0152] By performing deconvolution operation on the above formula, the distribution function of the signal power in the azimuth plane can be estimated. The beam intensity function output by CBF is used as the point spread function PSF, and the translation invariance of the circular array is used in combination with the RL iterative algorithm to Solve:

[0153]

[0154] Where, i is the number of iterations, .

[0155] In iteration I After that, the azimuth spectrum based on the deconvolution CBF method is:

[0156]

[0157] Among them, the azimuth spectrum represents Indicates the scanning angle The intensity of the sound waves coming from the direction If the sound wave intensity is high, it means that there may be a sound source in that direction.

[0158] like Figure 17The figure shows a comparison of the spatial spectrum results of the deconvolution algorithm and other algorithms. In the figure, the horizontal axis is the positioning azimuth angle; the vertical axis is the normalized spatial spectrum amplitude of each algorithm (unit: dB). It can be seen that the resolution and dynamic range of the deconvolution beamforming are significantly better.

[0159] In summary, in this embodiment, a positioning method is provided. By using a spherical receiving hydrophone to receive a response signal and calculate the distance, and using a double-circular receiving hydrophone to receive a response signal and calculate the orientation, the three-dimensional spatial positioning of the target to be measured relative to the device can be accurately determined.

[0160] Example 3

[0161] like Figure 23 As shown, this embodiment provides a monitoring and control method for a tethered underwater vehicle (ROV) operating in water, the method comprising the following steps:

[0162] S21, respectively using the spherical receiving hydrophone and the double-ring receiving hydrophone to receive a response signal; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal;

[0163] S22, using the spherical receiving hydrophone to process and calculate the response signal to obtain a distance between the target to be measured and the spherical receiving hydrophone;

[0164] S23, using the dual-circular receiving hydrophone to process and calculate the response signal, thereby obtaining the direction of the target to be measured relative to the dual-circular receiving hydrophone;

[0165] S24, calculating and determining the three-dimensional spatial location of the target to be measured based on the distance and the orientation;

[0166] S25. Use the circular tube transducer to transmit a coded control signal, where the coded control signal is used to control the target to be measured to move.

[0167] The difference between this embodiment and the second embodiment is that the positioning process is passive positioning, and this device does not actively send a positioning request signal. That is, the spherical hydrophone and the dual circular array receiving hydrophone passively receive the pulse signal emitted by the target to be measured at the same time, and determine the three-dimensional spatial orientation of the target to be measured based on the pulse signal of the target to be measured; the circular tube transmitting transducer transmits a pulse that is specifically a coded control signal, which transmits instructions to the target to be measured, controls the target to be measured to adjust motion parameters and move precisely to complete underwater operation tasks.

[0168] In this embodiment, the hydrophone and transducer are still connected to the electronic cabin through a watertight cable. The main control circuit in the electronic cabin has functions such as signal acquisition, processing, and transmission. The collected data and control instructions are transmitted to the host computer via a gigabit network cable. Functions such as device working mode adjustment, parameter instruction download, and data storage are completed by the host computer.

[0169] In this embodiment, the device functions as an integrated communication system. After receiving external signals, it generates instructions based on the positioning results. These instructions are then transmitted to the control circuit module within the electronics compartment 6. After signal modulation and power amplification, the circular tube transducer 8 transmits the communication signal, which is then transmitted to the host computer for storage.

[0170] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0171] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. Underwater acoustic response and positioning integrated sensing equipment, characterized in that: include: The suspension support structure comprises a suspension positioning ring and a plurality of connecting rods; the plurality of connecting rods are parallel to each other and evenly distributed and installed on the suspension positioning ring to form a cylindrical structure; Spherical receiving hydrophone, used to receive sound wave signals to determine the target distance; Sound absorbing parts, used to achieve the isolation of sending and receiving sound wave signals; The circular tube transmitting transducer is used to transmit sound wave signals; Double-ring receiving hydrophone, used to receive acoustic wave signals to determine the target's position; The spherical receiving hydrophone, the sound absorbing component, the circular tube transmitting transducer, and the double-ring receiving hydrophone are coaxially arranged in sequence from top to bottom along the direction of gravity inside the cylindrical structure.

2. The underwater acoustic response and positioning integrated sensing device according to claim 1, characterized in that: The sound absorbing member is in a circular ring structure, and an air cavity is provided inside the sound absorbing member.

3. The underwater acoustic response and positioning integrated sensing device according to claim 1 is characterized in that: Also includes: pressure-resistant electronic cabin; The main control circuit is housed inside the pressure-resistant electronic cabin; The main control circuit is used to receive the ranging signal received by the receiving hydrophone, and / or receive the positioning signal of the dual-ring receiving hydrophone, and / or control the transmitting transducer to transmit a communication control signal; In the direction of gravity, the pressure-resistant electronic cabin is located between the receiving hydrophone and the sound absorbing member.

4. The underwater acoustic response and positioning integrated sensing device according to claim 1, characterized in that: The double-ring receiving hydrophone comprises: The sound-transmitting support structure comprises a sound-transmitting support base and a sound-transmitting cover, wherein a through hole extending axially therethrough is provided between the sound-transmitting support base and the sound-transmitting cover; The upper annular hydrophone array includes a plurality of first hydrophone array elements; the lower annular hydrophone array includes a plurality of second hydrophone array elements; The first hydrophone array element and the second hydrophone array element are connected to the sound-transparent support base via an axially extending support column; a plurality of the first hydrophone array elements and a plurality of the second hydrophone array elements are arranged in an annular staggered manner; the upper annular hydrophone array and the lower annular hydrophone array have different heights in the axial direction; The sound-transmitting sheath wraps the upper annular hydrophone array and the lower annular hydrophone array and is fixed on the sound-transmitting support seat.

5. The underwater acoustic response and positioning integrated sensing device according to claim 4 is characterized in that: The double-ring receiving hydrophone further includes an acoustic impedance conversion filling column, and the acoustic impedance conversion filling column is located in the middle of the upper ring hydrophone array and the lower ring hydrophone array; The acoustic impedance conversion filling column is arranged in the through holes of the sound-transmitting support seat and the sound-transmitting sheath; the acoustic impedance conversion filling column is made of sound-absorbing material or sound-reflecting material.

6. The underwater acoustic response and positioning integrated sensing device according to claim 5, characterized in that: The double-ring receiving hydrophone further includes a preamplifier control circuit, which is installed in the sound-transparent support seat. The first hydrophone array element and the second hydrophone array element are both electrically connected to the preamplifier control circuit.

7. A positioning method, applied to the underwater acoustic response and positioning integrated sensing device according to any one of claims 1 to 6, characterized in that: Using the circular tube transmitting transducer to transmit a positioning request signal, wherein the positioning request signal is a fixed pulse sound wave signal; Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained; After processing and calculating the response signal using the dual-circular receiving hydrophone, the orientation of the target to be measured relative to the dual-circular receiving hydrophone is obtained; The three-dimensional spatial positioning of the target to be measured is determined based on the distance and the orientation.

8. The positioning method according to claim 7, characterized in that: The method of obtaining the distance between the target to be measured and the spherical receiving hydrophone after processing and calculating the response signal using the spherical receiving hydrophone specifically includes: Obtaining the signal to be detected in the response signal ; Setting a reference signal based on the parameters of the response signal ; Using the reference signal The signal to be detected Perform pulse compression to generate narrow pulse signals ; The time point corresponding to the maximum copy correlation output is determined in the narrow pulse signal, and the distance between the target to be measured and the spherical receiving hydrophone is determined based on the time point and the sound speed.

9. The positioning method according to claim 7, characterized in that: After processing and calculating the response signal using the dual-circular receiving hydrophone, obtaining the orientation of the target to be measured relative to the dual-circular receiving hydrophone specifically includes: The double-ring receiving hydrophone is used to receive the effective response signal, and the response signal is decomposed into multiple sound sources; according to the position of each array element and the angle of each sound source, , construct the steering vector matrix ; Based on the construction of the steering vector matrix , and the signals received by each element in the double-ring receiving hydrophone , combined to obtain the array observation vector ; Based on the array observation vector Constructing the covariance matrix ; Using the covariance matrix , the steering vector matrix Calculate the beam response output for conventional beamforming ; The beam response output Perform deconvolution and combine it with RL iterative algorithm to obtain beam response output The azimuth spectrum , based on the azimuth spectrum Determine the position of the target to be measured.

10. A control method, applied to the underwater acoustic response and positioning integrated sensing device according to any one of claims 1 to 6, characterized in that: Receiving a response signal using the spherical receiving hydrophone and the double-ring receiving hydrophone respectively; the response signal is specifically: an acoustic wave signal emitted by the target to be measured after receiving the positioning request signal; After processing and calculating the response signal using the spherical receiving hydrophone, the distance between the target to be measured and the spherical receiving hydrophone is obtained; After processing and calculating the response signal using the dual-circular receiving hydrophone, the orientation of the target to be measured relative to the dual-circular receiving hydrophone is obtained; Calculating and determining the three-dimensional spatial positioning of the target to be measured based on the distance and the orientation; The circular tube transmitting transducer is used to transmit a coded control signal, and the coded control signal is used to control the movement of the target to be measured.

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