Target depth setting method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of underwater acoustic positioning, and provides a target depth setting method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the sound velocity profile data of a target region, and enabling the target region to comprise a target to be subjected to depth setting; obtaining time delay data of a target signal sent by a calibration point for a target to be deceased in the target area; obtaining sound ray tracks of the target signal for each calibration point based on the time delay data and the sound velocity profile data of each calibration point for the target signal under each preset depth of a target to be delineated; determining a horizontal coordinate set of a to-be-determined depth target for the sound ray trajectory of each calibration point based on a target signal; and based on the horizontal coordinate set of the to-be-determined-depth target, determining a target depth for the to-be-determined-depth target in each preset depth. The problems of long time consumption, high cost and large error in related technologies are solved, and the depth of the to-be-determined target can be efficiently and accurately determined.

Description

Technical Field

[0001] This application relates to the technical field of underwater acoustic positioning, and particularly relates to a method, device, electronic device and storage medium for target depth determination. Background Art

[0002] Underwater target depth determination is of great significance in aspects such as marine scientific research, underwater engineering, underwater navigation and positioning, etc., and is an indispensable technical means for underwater detection and operations. In related technologies, the depth of underwater targets is mainly solved by acoustic ranging based on geometric structures, and a large number of calibration points usually need to be arranged on the water surface. However, this method takes a long time and has a high cost. In addition, due to the small numerical changes of the calibration points and the points to be determined in the depth dimension, the matrix in the solution equation is close to being ill-conditioned, which further affects the solution accuracy in the depth direction, and the accuracy rate of depth determination is relatively low. Summary of the Invention

[0003] This application provides a method, device, electronic device and storage medium for target depth determination to at least solve the above technical problems existing in the prior art.

[0004] In the first aspect of this application, a method for target depth determination is provided, and the method includes: Obtain the sound speed profile data of the target area, where the target area includes the target to be depth-determined; Obtain the time delay data of the target signal emitted by the calibration points in the target area for the target to be depth-determined; At each preset depth for the target to be depth-determined, based on the time delay data of the target signal for each calibration point and the sound speed profile data, obtain the sound ray trajectories of the target signal for each calibration point; Based on the sound ray trajectories of the target signal for each calibration point, determine the horizontal coordinate set of the target to be depth-determined; Based on the horizontal coordinate set of the target to be depth-determined, determine the target depth for the target to be depth-determined among each preset depth.

[0005] In an implementable manner, the target area includes multiple layer areas; the obtaining the sound ray trajectories of the target signal for each calibration point based on the time delay data of the target signal for each calibration point and the sound speed profile data includes: Obtain the sound ray incident angle set for the target signal; Traverse the sound ray incident angle set, and for any sound ray incident angle in the sound ray incident angle set, Based on the sound ray incident angle, obtain the propagation time of the target signal in each layer area of the target area; Based on the propagation time of the target signal in each layer area of the target area and the time delay data of the target signal for each calibration point, obtain the sound ray trajectories of the target signal for each calibration point.

[0006] In an implementable embodiment, obtaining the ray path of the target signal for each of the calibration points based on the propagation time of the target signal in each layer region of the target area and the time delay data of each calibration point for the target signal includes: For any calibration point, Obtain the sum of the propagation times of the target signal in each layer region of the target area at each ray incident angle; Use the ray incident angle corresponding to the minimum difference between the sum of the propagation times of the target signal in each layer region of the target area and the time delay data of the calibration point for the target signal as the ray incident angle of the target signal for the calibration point; Based on the ray incident angle and the sound speed profile data, obtain the ray curvature radius of each layer region of the target area; Based on the ray curvature radius of each layer region of the target area, obtain the ray path of the target signal for the calibration point.

[0007] In an implementable embodiment, determining the horizontal coordinate set of the target with undetermined depth based on the ray paths of the target signal for each of the calibration points includes: For any calibration point, Based on the ray incident angle corresponding to the ray path of the calibration point, obtain the regional incident angle of the ray path of the calibration point in each layer region of the target area; Based on the regional incident angle of the ray path of the calibration point in each layer region of the target area and the ray curvature radius of each layer region of the target area, obtain the horizontal propagation distance of the target signal for the calibration point in each layer region of the target area; Based on the horizontal propagation distance of the target signal for the calibration point in each layer region of the target area, determine the horizontal coordinate set of the target with undetermined depth.

[0008] In an implementable embodiment, determining the horizontal coordinate set of the target with undetermined depth based on the horizontal propagation distance of the target signal for the calibration point in each layer region of the target area includes: For any calibration point, Based on the horizontal propagation distance of the target signal for the calibration point in each layer region of the target area, obtain the straight-line distance between the calibration point and the target with undetermined depth; Obtain the coordinate information of each calibration point; Based on at least any two calibration points among each calibration point to form a calibration point combination, and based on the coordinate information of the calibration points in the calibration point combination and the straight-line distance between the calibration point and the target with undetermined depth, determine the horizontal coordinate set of the target with undetermined depth.

[0009] In an implementable embodiment, determining the target depth for the target with undetermined depth among each preset depth based on the horizontal coordinate set of the target with undetermined depth includes: Determine the convergence degree of the horizontal coordinate set of the to-be-depth-determined target at each preset depth; Use the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the to-be-depth-determined target as the target depth of the to-be-depth-determined target.

[0010] In an implementable manner, the obtaining the sound velocity profile data of the target area includes: Obtain the sound velocity data of the target area at each initial depth; Perform interpolation processing on the sound velocity data to obtain the sound velocity profile data of the target area.

[0011] In a second aspect of the present application, there is provided a target depth determination device, the device includes: A first acquisition unit, configured to acquire the sound velocity profile data of the target area, where the target area includes a to-be-depth-determined target; A second acquisition unit, configured to acquire the time delay data of the target signal emitted by the calibration point in the target area for the to-be-depth-determined target; A third acquisition unit, configured to obtain the sound ray trajectories of the target signal for each of the calibration points based on the time delay data of the target signal for each of the calibration points and the sound velocity profile data at each preset depth for the to-be-depth-determined target; A first determination unit, configured to determine the horizontal coordinate set of the to-be-depth-determined target based on the sound ray trajectories of the target signal for each of the calibration points; A second determination unit, configured to determine the target depth for the to-be-depth-determined target among each preset depth based on the horizontal coordinate set of the to-be-depth-determined target.

[0012] In a third aspect of the present application, there is provided an electronic device, including: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the present application.

[0013] In a fourth aspect of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause a computer to execute the method described in the present application.

[0014] In this application, the sound velocity profile data of the target area is obtained, where the target area includes a target at an undetermined depth; the time delay data of the target signal emitted by the calibration points in the target area for the target at the undetermined depth is obtained; at each preset depth for the target at the undetermined depth, based on the time delay data of the target signal for each calibration point and the sound velocity profile data, the sound ray trajectory of the target signal for each calibration point is obtained; based on the sound ray trajectories of the target signal for each calibration point, the horizontal coordinate set of the target at the undetermined depth is determined; based on the horizontal coordinate set of the target at the undetermined depth, the target depth for the target at the undetermined depth among the preset depths is determined. This solves the problems of long time consumption, high cost, and large error in the related technology, and can efficiently and accurately determine the depth of the target at the undetermined depth.

[0015] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. Brief Description of the Drawings

[0016] By referring to the accompanying drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present application will become easily understood. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, where: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0017] Figure 1 Shows a schematic diagram of the implementation process of the target depth determination method in the embodiment of the present application; Figure 2 Shows a schematic diagram of the relationship between the sound velocity and depth in the ocean area in the embodiment of the present application; Figure 3 Shows an example diagram of the scenario for determining the depth of the target at the undetermined depth in the embodiment of the present application; Figure 4 Shows a schematic diagram of the convergence degree of the horizontal coordinate set at different preset depths in the embodiment of the present application; Figure 5 Shows a schematic diagram of the composition structure of the target depth determination device in the embodiment of the present application; Figure 6 Shows a schematic diagram of the composition structure of an electronic device in the embodiment of the present application. Detailed Description of the Embodiments

[0018] To make the objectives, features, and advantages of this application more obvious and understandable, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0019] It can be understood that traditional underwater target depth determination mainly performs calculations based on acoustic ranging of geometric structures. Usually, shipborne transducers are used to measure distances at multiple positions around the point to be determined, and then the absolute coordinates of the underwater unit (underwater target) are obtained through subsequent calculations. Due to the large positioning error in the depth direction, the existing methods can only improve the redundancy of measurement data by increasing the number of measurement points, thereby improving the positioning accuracy. However, the use of a large number of measurement points not only increases the equipment deployment cost but also increases the complexity of data calculation and subsequent analysis, and the measurement takes a long time. In addition, in the three-dimensional positioning equation, the calculation in the depth direction depends on the distribution of calibration points (measurement points) in the depth direction. However, the measurement points on the water surface are almost at the same depth, resulting in a small data change range in the depth direction, increasing the condition number of the matrix, increasing the instability of the calculation, and the accuracy of depth determination is relatively low.

[0020] The embodiment of this application provides a target depth determination method, which includes obtaining the sound velocity profile data of the target area, where the target area includes the target to be depth-determined; obtaining the time-delay data of the target signal emitted by the calibration points in the target area for the target to be depth-determined; at each preset depth for the target to be depth-determined, based on the time-delay data of the target signal for each calibration point and the sound velocity profile data, obtaining the sound ray trajectory of the target signal for each calibration point; based on the sound ray trajectory of the target signal for each calibration point, determining the horizontal coordinate set of the target to be depth-determined; and based on the horizontal coordinate set of the target to be depth-determined, determining the target depth for the target to be depth-determined among each preset depth. It can significantly reduce the number of test points, establish virtual beacons based on each preset depth and invert the sound ray trajectory, which can reduce the problem of ill-conditioned matrices and improve the stability of the calculation. It solves the problems of long time consumption, high cost, and large error in the related technology, and can efficiently and accurately determine the depth of the target to be depth-determined.

[0021] The embodiment of this application provides a target depth determination method, as Figure 1 shown, the method includes: S101: Obtain the sound velocity profile data of the target area, where the target area includes the target to be depth-determined.

[0022] In this step, the target area is a marine area. Since sea water is fluid, after the target units (including underwater sensors, underwater robots, underwater communication devices, etc.) sink into the marine area, the target units float with the sea water and their depths are unknown. The depth-to-be-determined target is a target unit in the target area with an unknown depth. The marine area is divided into multiple layers (areas) according to depth. Since the underwater sound speed is affected by factors such as temperature, pressure, and salinity, the sound speed may vary within each layer of the marine area. The sound speed profile data is a data model including the sound speeds within each layer of the marine area, which is obtained by a sound speed profiler. Refer to Figure 2 as shown Figure 2 which shows the relationship between the sound speed and the depth within the marine area. Figure 2 In it, the abscissa is the sound speed and the ordinate is the depth of the marine area. It can be seen that as the depth of the marine area changes, the corresponding sound speed also changes.

[0023] S102: Obtain the delay data of the target signal emitted by the calibration points in the target area for the depth-to-be-determined target.

[0024] In this step, the calibration points are measurement points set on the sea surface. Refer to Figure 3 as shown Figure 3 which is an example diagram of the scenario for determining the depth of the depth-to-be-determined target. Figure 3 The positions of the three ships in it are the positions of the three calibration points. The calibration points can be acoustic receivers set on the ships. The 3 calibration points are arranged in a circle around the depth-to-be-determined target on the sea surface. The depth-to-be-determined target can communicate with each calibration point. The depth-to-be-determined target emits a sound signal (target signal) at the seabed, and each calibration point receives the sound signal emitted by the depth-to-be-determined target. The delay data is the propagation time of the target signal from the depth-to-be-determined target to each calibration point, that is, the time when each calibration point receives the target signal respectively. Before obtaining the delay data of the target signal emitted by each calibration point for the depth-to-be-determined target, it also includes: performing matched filtering processing on the target signals received by each calibration point, and based on the target signals after the matched filtering processing, obtaining the delay data of the target signal emitted by each calibration point for the depth-to-be-determined target. It can remove noise, improve the accuracy of signal recognition, enhance the characteristics of the target signal, improve the reliability of signal detection, so as to ensure the measurement accuracy of the delay data.

[0025] S103: At each preset depth for the depth-to-be-determined target, based on the delay data of the target signal for each of the calibration points and the sound speed profile data, obtain the sound ray trajectories of the target signal for each of the calibration points.

[0026] In this step, since the depth of the target to be determined is unknown, this embodiment establishes a virtual beacon, that is, sets some preset depths for the target to be determined, traverses all the preset depths, and when the target to be determined is at a preset depth, the relevant parameters of the target to be located at the depth are calculated from the perspective that the preset depth is known, and the preset depth closest to the real depth of the target to be determined is reversely determined through the obtained relevant parameters. Specifically, first, based on the time delay data and sound velocity profile data of each calibration point for the target signal, the sound line trajectory of the target signal for each calibration point is inverted. The sound line trajectory of the same target signal for different calibration points is different. For the acquisition process of the sound line trajectory of each calibration point, please refer to the detailed description of the relevant parts below, which will not be repeated.

[0027] S104: Determine a horizontal coordinate set of the deep target to be determined based on the sound ray trajectory of the target signal for each of the calibration points.

[0028] In this step, after obtaining the sound ray trajectory of the target signal for each calibration point, multiple horizontal coordinates for the target to be determined can be obtained based on the simultaneous equations of the sound ray trajectory of each calibration point to form a horizontal coordinate set. The specific determination process of the horizontal coordinate set of the target to be determined is described in detail in the following relevant places, which will not be repeated.

[0029] S105: Determine a target depth for the to-be-determined deep target in each preset depth based on the horizontal coordinate set of the to-be-determined deep target.

[0030] In this step, the horizontal coordinate set of the target to be determined at the depth is the relevant parameters of the target to be determined at a preset depth mentioned in the above description of S103. Through the horizontal coordinate set of the target to be determined at each preset depth, the target depth closest to the actual depth of the target to be determined at each preset depth can be reversely determined. For the specific process, please refer to the detailed description of the relevant parts below and will not be repeated here.

[0031] In the scheme shown in step S101 to step S105, the sound velocity profile data of the target area is obtained, and the target area includes the target to be determined at a depth to be determined; the time delay data of the target signal emitted by the calibration point in the target area for the target to be determined at a depth to be determined is obtained; at each preset depth for the target to be determined at a depth to be determined, the sound line trajectory of the target signal for each calibration point is obtained based on the time delay data and sound velocity profile data of each calibration point for the target signal; based on the sound line trajectory of the target signal for each calibration point, the horizontal coordinate set of the target to be determined at a depth to be determined is determined; based on the horizontal coordinate set of the target to be determined at a depth to be determined, the target depth for the target to be determined at each preset depth is determined. The problems of long time consumption, high cost and large error of the related technology are solved, and the depth of the target to be determined at a depth to be determined can be determined efficiently and accurately.

[0032] In an alternative embodiment, the target area includes multiple layer areas; obtaining the ray paths of the target signal for each of the calibration points based on the time delay data and the sound speed profile data of the target signal for each of the calibration points includes: Obtaining a set of ray incident angles for the target signal; Traversing the set of ray incident angles, and for any ray incident angle in the set of ray incident angles, Based on the ray incident angle, obtaining the propagation time of the target signal in each layer area of the target area; Based on the propagation time of the target signal in each layer area of the target area and the time delay data of the target signal for each of the calibration points, obtaining the ray paths of the target signal for each of the calibration points.

[0033] In this application, due to the variation of the sound speed in water, the ray will propagate along a curve. Therefore, it is necessary to invert the ray path to determine the signal propagation path. However, the ray incident angle of the target signal emitted by the target at a certain depth is unknown. Therefore, a set of ray incident angles is set, such as 0:0.1:180, indicating that the range of this set of ray incident angles is 0 to 180°, and the step size is 0.1. Traversing the set of ray incident angles, for any ray incident angle, that is, assuming that the ray incident angle of the target signal is any ray incident angle in the set of ray incident angles, the propagation time of the target signal in each layer area of the target area is calculated based on formula (1): Formula (1) Where, represents the propagation time of the target signal in the th layer area, is an integer greater than 0 and less than or equal to the total number of layer areas. represents the sound speed gradient of the th layer area. In the embodiments of this application, it is assumed that the gradient of each layer area is constant. Therefore, is a constant. represents the grazing angle, represents the grazing angle of the target signal in the th layer area, represents the grazing angle of the target signal in the th layer area. represents the integral of the function from to with respect to . The grazing angle It is equal to the difference between 90° and the incident angle. Since the target signal refracts when passing through each layer region, the incident angle of the target signal changes when it reaches each layer region. Since the incident angle of the acoustic ray initially emitted by the target signal is known (i.e., any one of the incident angles of the acoustic rays concentrated in the aforementioned incident angles of the acoustic rays), according to the law of refraction (please refer to the related technology and will not be elaborated), the incident angle of the acoustic ray in each layer region can be obtained, and then the propagation time of the target signal in each layer region of the target area can be obtained. By performing a calculation once for each incident angle in the concentration of incident angles of the acoustic ray through the aforementioned formula (1), the propagation time of the target signal in each layer region under different incident angles of the acoustic ray can be obtained, providing a data basis for determining the acoustic ray trajectory of the target signal for each calibration point. For the specific determination process of the acoustic ray trajectory of the target signal for each calibration point, please refer to the detailed description in the relevant parts below and will not be elaborated.

[0034] In an alternative solution, obtaining the acoustic ray trajectory of the target signal for each of the calibration points based on the propagation time of the target signal in each layer region of the target area and the time delay data of each of the calibration points for the target signal includes: For any calibration point, obtain the sum of the propagation times of the target signal in each layer region of the target area at each acoustic ray incident angle; take the acoustic ray incident angle corresponding to the minimum difference between the sum of the propagation times of each layer region of the target area and the time delay data of the calibration point for the target signal as the acoustic ray incident angle of the target signal for the calibration point; based on the acoustic ray incident angle and the sound speed profile data, obtain the acoustic ray curvature radius of each layer region of the target area; based on the acoustic ray curvature radius of each layer region of the target area, obtain the acoustic ray trajectory of the target signal for the calibration point.

[0035] In this application, after obtaining the propagation times of the target signal in each layer region at different acoustic ray incident angles, sum the propagation times of each layer region at each acoustic ray incident angle to obtain the overall propagation time of the target signal at each acoustic ray incident angle. Compare the time delay data of each calibration point for the target signal with the overall propagation time of the target signal at each acoustic ray incident angle, and take the acoustic ray incident angle corresponding to the overall propagation time that is closest to / has the smallest difference from the time delay data of each calibration point for the target signal as the acoustic ray incident angle of the target signal for the calibration point. Exemplarily, assume that the time delay data of calibration point A for the target signal has the smallest difference from the overall propagation time of the target signal when the acoustic ray incident angle is Then, for calibration point A, the acoustic ray incident angle of the target signal is . The time delay data of calibration point B for the target signal has the smallest difference from the overall propagation time of the target signal when the acoustic ray incident angle is When the overall time difference of the propagation of the target signal is minimized, for the calibration point B, the acoustic ray incident angle of the target signal is .

[0036] On the premise of the constant gradient assumption in each layer region of the embodiment of the present application, the curvature of the acoustic ray trajectory in the th layer region is expressed as: Formula (2) Wherein, represents the curvature of the acoustic ray trajectory, is the angle between the acoustic ray and the vertical direction at a certain point, that is, the acoustic ray incident angle. is the grazing angle ( = 90° - ). represents the arc length along the acoustic ray path. represents the small change in the acoustic ray incident angle. represents the small arc length along the acoustic ray path. represents the sound speed at a certain point (or a certain region). represents the depth at a certain point. represents the small change in the sound speed with depth. represents the small change in the depth direction. represents the gradient of the sound speed with respect to the depth. Since the sound speed gradient is constant under the assumption of a constant sound speed gradient, the gradient term is represented by the constant term . Then the curvature of the acoustic ray trajectory in the th layer region is expressed as: Formula (3) Wherein, can be determined based on the sound speed profile data, can be determined based on the acoustic ray incident angle of the target signal for each calibration point, and then the acoustic ray incident angle when the target signal passes through each layer region can be obtained, and then

[0037] when the target signal passes through each layer region can be obtained, and finally the curvature of the acoustic ray trajectory in each layer region can be determined. The acoustic ray curvature radius Formula (4) of each layer region in the target region can be calculated by Formula (4): The acoustic ray curvature radius

[0038] In an alternative solution, determining the horizontal coordinate set of the to-be-determined depth target based on the ray paths of the target signal for each of the calibration points includes: For any one calibration point, Based on the ray incident angle corresponding to the ray path of the calibration point, obtain the regional incident angles of the ray path of the calibration point in each layer region of the target area; Based on the regional incident angles of the ray path of the calibration point in each layer region of the target area and the ray curvature radii of each layer region of the target area, obtain the propagation horizontal distances of the target signal for the calibration point in each layer region of the target area; Based on the propagation horizontal distances of the target signal for the calibration point in each layer region of the target area, determine the horizontal coordinate set of the to-be-determined depth target.

[0039] In this application, for any one calibration point, the propagation horizontal distances of the target signal for this calibration point in each layer region of the target area are calculated through formula (5): Formula (5) Wherein, is the propagation horizontal distance of the target signal for this calibration point in the th layer region of the target area. is the ray curvature radius of the target signal for this calibration point in the i-th layer region of the target area. represents the grazing angle of the target signal for this calibration point in the th layer region, represents the grazing angle of the target signal for this calibration point in the th layer region. represents the sound speed of the target signal for this calibration point in the th layer region. The grazing angles of the target signal in each layer region are obtained based on its ray incident angles (regional incident angles) in each layer region, and the ray incident angles (regional incident angles) of the target signal in each layer region are obtained based on the ray incident angle corresponding to the ray path of the target signal for this calibration point and the law of refraction. The physical meaning of and the specific calculation processes of the grazing angles and

[0040] Please refer to the descriptions in the relevant parts above for details and will not be elaborated here. After obtaining the propagation horizontal distances of the target signal for each calibration point in each layer region of the target area, the horizontal coordinate set of the to-be-determined depth target can be determined based on the corresponding to each calibration point. For the specific process, please refer to the detailed descriptions in the relevant parts below and will not be elaborated here.

[0041] In an alternative solution, determining the horizontal coordinate set of the to-be-determined depth target based on the propagation horizontal distance of the target signal in each layer region of the target area for the calibration point includes: For any calibration point, Based on the propagation horizontal distance of the target signal in each layer region of the target area for the calibration point, obtain the straight-line distance between the calibration point and the to-be-determined depth target; Obtain the coordinate information of each calibration point; Based on at least any two calibration points among the calibration points to form a calibration point combination, and based on the coordinate information of the calibration points in the calibration point combination and the straight-line distance between the calibration points and the to-be-determined depth target, determine the horizontal coordinate set of the to-be-determined depth target.

[0042] In this application, by obtaining the sum of the heights of each layer region of the target area and the sum of the propagation horizontal distances of the target signal in each layer region for any calibration point, based on the Pythagorean theorem, the straight-line distances between the to-be-determined depth target and each calibration point can be obtained quickly and accurately. , is an integer greater than 0 and less than or equal to the number of calibration points. Record the GPS absolute positions of each calibration point through an on-board GPS (Global Positioning System), which are denoted as the coordinate information of each calibration point. Based on at least any two calibration points among the calibration points to form calibration point combinations (mirror duplicate combinations have been excluded, and p is the number of calibration points), and perform the calculations in formula (6) for any calibration point combination to obtain a horizontal coordinate set composed of multiple horizontal coordinates of the to-be-determined depth target.

[0043] Let the coordinates of the to-be-determined depth target be (X, Y, Z), and the coordinates of the calibration point be (X j , Y j , Z j ), j = 1, 2, 3...; the straight-line distance between the to-be-determined depth target and the calibration point is , j = 1, 2, 3...; Formula (6) Among them, since the calibration points are at least combined in pairs, there are at least two equations in formula (6). Since the depths of each calibration point are the same, that is is the same, after order reduction processing, a binary linear equation system with the depth dimension term eliminated can be obtained: Formula (7) Among them, d j is the horizontal distance between the jth calibration point and the reference point when the first calibration point is determined as the reference point during the order reduction processing derivation, j = 1, 2, 3... For the specific derivation process of the order reduction processing, please refer to the related technology and will not be elaborated.

[0044] Based on the least squares method to process and calculate formula (7), the optimal solution of the horizontal coordinate of the to-be-determined depth target can be obtained. Since there are multiple arbitrary combinations of different calibration points, that is, the number of optimal solutions of the horizontal coordinates finally obtained is also multiple, and multiple optimal solutions of the horizontal coordinates form a horizontal coordinate set. It is simple and convenient, easy to implement, overcomes the problem of the ill-conditioned matrix in the related technology by optimizing the combination method of the calibration points, and can improve the accuracy of determining the depth of the to-be-determined depth target.

[0045] In an alternative solution, determining the target depth for the to-be-determined depth target among the preset depths based on the horizontal coordinate set of the to-be-determined depth target includes: Determining the convergence degree of the horizontal coordinate set of the to-be-determined depth target at each preset depth; Taking the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the to-be-determined depth target as the target depth of the to-be-determined depth target.

[0046] In this application, generally, when the assumed preset depth is closer to the true target depth, the ray path inverted from the measured time delay data at the preset depth is closer to the actual situation, and the horizontal coordinate set obtained under different combinations of calibration points is also more convergent. Therefore, after calculating the horizontal coordinate sets of the to-be-determined depth target at different preset depths through the foregoing formulas (1) to (7), judge the convergence degree of the horizontal coordinate sets obtained at each preset depth. The preset depth corresponding to the horizontal coordinate set with the maximum convergence degree is the target depth closest to the true depth of the to-be-determined depth target. Exemplarily, as shown in Figure 4 shown, Figure 4 The figure shows the schematic diagram of the convergence degree of the horizontal coordinate sets when the preset depths are 3997.5 meters, 4000 meters, and 4002.5 meters. As can be seen from Figure 4 it, when the preset depth is 4000 meters, the convergence degree of the horizontal coordinate set is the largest, that is, 4000 meters is the depth value closest to the true depth of the to-be-determined depth target.

[0047] In an alternative solution, obtaining the sound speed profile data of the target area includes: Obtaining the sound speed data of the target area at each initial depth; Performing interpolation processing on the sound speed data to obtain the sound speed profile data of the target area.

[0048] In this application, the initial depth is a known depth set in advance, such as 1500 meters, 3000 meters, 5000 meters, etc. To simplify the data acquisition steps and improve the data processing efficiency, a sound velocity profiler is used to collect the sound velocity data of the target area at the set initial depth, which is equivalent to collecting the sound velocity data of the target area within a rough range. By performing piecewise interpolation or curve fitting on the collected sound velocity data, the sound velocity data at other depths not covered by the initial depth can be approximated and estimated, and the sound velocity data at various depths of the target area can be obtained efficiently and accurately, obtaining the sound velocity profile data of the target area, thereby effectively saving the time and resource consumption in the depth determination process of the depth-to-be-determined target.

[0049] An embodiment of this application provides a target depth determination device, such as Figure 5 shown, the device includes: A first acquisition unit 501, configured to acquire the sound velocity profile data of the target area, where the target area includes a target to be depth-determined; A second acquisition unit 502, configured to acquire the time delay data of the target signal emitted by the calibration point in the target area for the target to be depth-determined; A third acquisition unit 503, configured to obtain the ray path of the target signal for each calibration point based on the time delay data of the target signal for each calibration point and the sound velocity profile data at each preset depth for the target to be depth-determined; A first determination unit 504, configured to determine the horizontal coordinate set of the target to be depth-determined based on the ray path of the target signal for each calibration point; A second determination unit 505, configured to determine the target depth for the target to be depth-determined among each preset depth based on the horizontal coordinate set of the target to be depth-determined.

[0050] In an alternative solution, the target area includes multiple layer areas; the third acquisition unit 503 is configured to acquire the set of ray incident angles for the target signal; traverse the set of ray incident angles, for any ray incident angle in the set of ray incident angles, based on the ray incident angle, obtain the propagation time of the target signal in each layer area of the target area; based on the propagation time of the target signal in each layer area of the target area and the time delay data of the target signal for each calibration point, obtain the ray path of the target signal for each calibration point.

[0051] In an alternative solution, the third acquisition unit 503 is configured to, for any calibration point, acquire the sum of the propagation times of the target signal in each layer region of the target area at each sound ray incident angle; use the sound ray incident angle corresponding to the minimum difference between the sum of the propagation times of each layer region of the target area and the time delay data of the target signal for the calibration point as the sound ray incident angle of the target signal for the calibration point; obtain the sound ray curvature radius of each layer region of the target area based on the sound ray incident angle and the sound velocity profile data; and obtain the sound ray trajectory of the target signal for the calibration point based on the sound ray curvature radius of each layer region of the target area.

[0052] In an alternative solution, the first determination unit 504 is configured to, for any calibration point, obtain the regional incident angle of the sound ray trajectory of the calibration point in each layer region of the target area based on the sound ray incident angle corresponding to the sound ray trajectory of the calibration point; obtain the propagation horizontal distance of the target signal for the calibration point in each layer region of the target area based on the regional incident angle of the sound ray trajectory of the calibration point in each layer region of the target area and the sound ray curvature radius of each layer region of the target area; and determine the horizontal coordinate set of the target with undetermined depth based on the propagation horizontal distance of the target signal for the calibration point in each layer region of the target area.

[0053] In an alternative solution, the first determination unit 504 is configured to, for any calibration point, obtain the straight-line distance between the calibration point and the target with undetermined depth based on the propagation horizontal distance of the target signal for the calibration point in each layer region of the target area; acquire the coordinate information of each calibration point; and determine the horizontal coordinate set of the target with undetermined depth based on the coordinate information of the calibration points in the calibration point combination formed by at least any two calibration points among each calibration point and the straight-line distance between the calibration point and the target with undetermined depth.

[0054] In an alternative solution, the second determination unit 505 is configured to determine the convergence degree of the horizontal coordinate set of the target with undetermined depth at each preset depth; and use the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the target with undetermined depth as the target depth of the target with undetermined depth.

[0055] In an alternative solution, the first acquisition unit 501 is configured to acquire the sound velocity data of the target area at each initial depth; and perform interpolation processing on the sound velocity data to obtain the sound velocity profile data of the target area.

[0056] It should be noted that for the target depth determination device in the embodiments of the present application, since the principle of solving problems by this target depth determination device is similar to that of the foregoing target depth determination method, the implementation process, implementation principle, and beneficial effects of the target depth determination device can all refer to the description of the implementation process, implementation principle, and beneficial effects of the foregoing method, and repeated parts will not be elaborated.

[0057] According to an embodiment of the present application, the present application further provides an electronic device and a readable storage medium.

[0058] Figure 6 FIG. shows a schematic block diagram of an exemplary electronic device 600 that can be used to implement embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present application described and / or claimed herein.

[0059] As Figure 6 shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0060] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0061] The computing unit 601 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 executes the various methods and processes described above, such as the target depth determination method. For example, in some embodiments, the target depth determination method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the target depth determination method described above can be executed. Alternatively, in other embodiments, the computing unit 601 can be configured to execute the target depth determination method by any other suitable means (e.g., by means of firmware).

[0062] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0063] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program codes can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0064] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0065] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0066] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0067] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0068] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps described in this application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions disclosed in this application can be achieved, and no limitation is imposed herein.

[0069] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0070] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claimed rights.

Claims

1. A target depth determination method, characterized in that, The method includes: Obtaining the sound velocity profile data of the target area, where the target area includes the target at a to-be-determined depth; wherein, the target area includes multiple layer areas; the sound velocity profile data is a data model including the sound velocities in each layer area of the target area measured by a sound velocity profiler; Obtaining the time delay data of the target signal emitted by the calibration point in the target area for the target at the to-be-determined depth; At each preset depth for the target at the to-be-determined depth, obtaining the set of sound ray incident angles for the target signal; Traversing the set of sound ray incident angles, for any sound ray incident angle in the set of sound ray incident angles, Based on the sound ray incident angle, obtaining the propagation time of the target signal in each layer area of the target area; Based on the sound velocity profile data, the propagation time of the target signal in each layer area of the target area, and the time delay data of each calibration point for the target signal, obtaining the sound ray trajectory of the target signal for each calibration point; Based on the sound ray trajectories of the target signal for each calibration point, determining the set of horizontal coordinates of the target at the to-be-determined depth; Determining the convergence degree of the set of horizontal coordinates of the target at the to-be-determined depth at each preset depth; Taking the preset depth corresponding to the maximum convergence degree of the set of horizontal coordinates of the target at the to-be-determined depth as the target depth of the target at the to-be-determined depth.

2. The method according to claim 1, wherein The obtaining the sound ray trajectory of the target signal for each calibration point based on the sound velocity profile data, the propagation time of the target signal in each layer area of the target area, and the time delay data of each calibration point for the target signal includes: For any calibration point, Obtaining the sum of the propagation times of the target signal in each layer area of the target area at each sound ray incident angle; Taking the sound ray incident angle corresponding to the minimum difference between the sum of the propagation times of the target signal in each layer area of the target area and the time delay data of the calibration point for the target signal as the sound ray incident angle of the target signal for the calibration point; Based on the sound ray incident angle and the sound velocity profile data, obtaining the sound ray curvature radii in each layer area of the target area; Based on the sound ray curvature radii in each layer area of the target area, obtaining the sound ray trajectory of the target signal for the calibration point.

3. The method according to claim 2, wherein The determining the set of horizontal coordinates of the target at the to-be-determined depth based on the sound ray trajectories of the target signal for each calibration point includes: For any calibration point, Based on the sound ray incident angle corresponding to the sound ray trajectory of the calibration point, obtaining the regional incident angles of the sound ray trajectory of the calibration point in each layer area of the target area; Based on the regional incident angles of the sound ray trajectory of the calibration point in each layer area of the target area and the sound ray curvature radii in each layer area of the target area, obtaining the propagation horizontal distances of the target signal for the calibration point in each layer area of the target area; Based on the propagation horizontal distances of the target signal for the calibration point in each layer area of the target area, determining the set of horizontal coordinates of the target at the to-be-determined depth.

4. The method according to claim 3, wherein The determining the set of horizontal coordinates of the target at the to-be-determined depth based on the propagation horizontal distances of the target signal for the calibration point in each layer area of the target area includes: For any calibration point, Based on the propagation horizontal distances of the target signal for the calibration point in each layer area of the target area, obtaining the straight-line distance between the calibration point and the target at the to-be-determined depth; Obtaining the coordinate information of each calibration point; Based on at least any two calibration points among each calibration point to form a calibration point combination, determine the horizontal coordinate set of the to-be-determined depth target based on the coordinate information of the calibration points in the calibration point combination and the straight-line distance between the calibration points and the to-be-determined depth target.

5. The method according to claim 1, characterized in that, The obtaining of the sound velocity profile data of the target area includes: Obtain the sound velocity data of the target area at each initial depth; Perform interpolation processing on the sound velocity data to obtain the sound velocity profile data of the target area.

6. A target depth setting device, characterized in that, The device includes: A first obtaining unit, configured to obtain the sound velocity profile data of the target area, where the target area includes a to-be-determined depth target; wherein, the target area includes a plurality of layer areas; the sound velocity profile data is a data model including the sound velocities in each layer area of the target area measured by a sound velocity profiler; A second obtaining unit, configured to obtain the time delay data of the target signal emitted by the calibration point in the target area for the to-be-determined depth target; A third obtaining unit, configured to obtain the set of sound ray incident angles for the target signal at each preset depth for the to-be-determined depth target; traverse the set of sound ray incident angles, for any sound ray incident angle in the set of sound ray incident angles, based on the sound ray incident angle, obtain the propagation time of the target signal in each layer area of the target area; based on the sound velocity profile data, the propagation time of the target signal in each layer area of the target area, and the time delay data of each calibration point for the target signal, obtain the sound ray trajectory of the target signal for each calibration point; A first determination unit, configured to determine the horizontal coordinate set of the to-be-determined depth target based on the sound ray trajectory of the target signal for each calibration point; A second determination unit, configured to determine the convergence degree of the horizontal coordinate set of the to-be-determined depth target at each preset depth; use the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the to-be-determined depth target as the target depth of the to-be-determined depth target.

7. An electronic device, characterized in that, Includes: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause a computer to execute the method according to any one of claims 1-5.

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