Target depth determination method, device, electronic device and storage medium

Abstract

The present application relates to the field of underwater acoustic positioning technology, and provides a method, device, electronic device, and storage medium for determining target depth. The method comprises: obtaining sound velocity profile data of a target area, wherein the target area includes a target at a depth to be determined; obtaining time delay data of a target signal emitted by a calibration point in the target area for the target at a depth to be determined; at each preset depth for the target at a depth to be determined, obtaining the acoustic line trajectory of the target signal for each calibration point based on the time delay data and sound velocity profile data of the target signal for each calibration point; determining the horizontal coordinate set of the target at a depth to be determined based on the acoustic line trajectory of the target signal for each calibration point; and determining the target depth for the target at a depth to be determined at each preset depth based on the horizontal coordinate set of the target at a depth to be determined. The method solves the problems of long time consumption, high cost, and large error in related technologies, and can achieve efficient and accurate determination of the depth of the target at a depth to be determined.

Description

Technical Field

[0001] The present application relates to the field of underwater acoustic positioning technology, and in particular to a target depth determination method, device, electronic device and storage medium. Background Art

[0002] Depth determination of underwater targets is of great significance in marine science research, underwater engineering, underwater navigation and positioning, and is an indispensable technical means for underwater detection and operations. Related technologies mainly rely on geometric structure-based acoustic ranging to calculate the depth of underwater targets. This usually requires the deployment of a large number of calibration points on the water surface, but this method is time-consuming and costly. In addition, due to the small numerical variation between 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 in turn affects the solution accuracy in the depth direction and the accuracy of depth determination is low. Summary of the Invention

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

[0004] In a first aspect of the present application, a method for determining target depth is provided, the method comprising:

[0005] Acquiring sound velocity profile data of a target area, wherein the target area includes a target at a to-be-determined depth;

[0006] Obtain the time delay data of the target signal emitted by the calibration point in the target area to the target at the depth to be determined;

[0007] At each preset depth of the target to be determined, based on the time delay data and sound velocity profile data of each calibration point for the target signal, a sound ray trajectory of the target signal for each calibration point is obtained;

[0008] Determining a horizontal coordinate set of a target to be determined based on the acoustic ray trajectory of the target signal for each of the calibration points;

[0009] Based on the horizontal coordinate set of the target at the depth to be determined, a target depth for the target at the depth to be determined in each preset depth is determined.

[0010] In one embodiment, the target area includes multiple layer areas; and obtaining the sound ray trajectory of the target signal for each calibration point based on the time delay data and sound velocity profile data of each calibration point for the target signal includes:

[0011] Obtaining a set of sound ray incident angles for a target signal;

[0012] Traverse the sound ray incident angle set, for any sound ray incident angle in the sound ray incident angle set,

[0013] Based on the sound ray incident angle, the propagation time of the target signal in each layer of the target area is obtained;

[0014] Based on the propagation time of the target signal in each layer of the target area and the time delay data of each calibration point with respect to the target signal, the sound ray trajectory of the target signal with respect to each calibration point is obtained.

[0015] In one embodiment, obtaining the acoustic ray trajectory of the target signal for each calibration point based on the propagation time of the target signal in each layer of the target area and the time delay data of each calibration point for the target signal includes:

[0016] For any calibration point,

[0017] Obtain the sum of the propagation time of the target signal in each layer of the target area at each sound ray incident angle;

[0018] The sound ray incident angle corresponding to the time when the difference between the sum of the propagation times of the target area and the time delay data of the calibration point for the target signal is minimized is used as the sound ray incident angle of the target signal for the calibration point;

[0019] Based on the sound ray incident angle and sound velocity profile data, the sound ray curvature radius of each layer of the target area is obtained;

[0020] Based on the sound ray curvature radius of each layer of the target area, the sound ray trajectory of the target signal for the calibration point is obtained.

[0021] In one embodiment, determining the horizontal coordinate set of the target to be determined based on the target signal's acoustic ray trajectory for each of the calibration points includes:

[0022] For any calibration point,

[0023] Based on the sound ray incident angle corresponding to the sound ray trajectory of the calibration point, obtaining the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area;

[0024] Based on the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area and the curvature radius of the sound ray in each layer of the target area, the horizontal propagation distance of the target signal relative to the calibration point in each layer of the target area is obtained;

[0025] Based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area, a horizontal coordinate set of the target to be determined is determined.

[0026] In one embodiment, determining the horizontal coordinate set of the target to be determined based on the propagation horizontal distance of the target signal for the calibration point in each layer of the target area includes:

[0027] For any calibration point,

[0028] Based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area, the straight-line distance between the calibration point and the target to be determined is obtained;

[0029] Get the coordinate information of each calibration point;

[0030] A calibration point combination is formed based on at least any two calibration points among the calibration points, and a horizontal coordinate set of the target to be determined is determined 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 target to be determined.

[0031] In one embodiment, determining the target depth for the target to be determined at each preset depth based on the horizontal coordinate set of the target to be determined includes:

[0032] Determining the convergence degree of the horizontal coordinate set of the target to be determined at each preset depth;

[0033] The preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the target to be determined is used as the target depth of the target to be determined.

[0034] In one embodiment, obtaining the sound velocity profile data of the target area includes:

[0035] Obtaining sound velocity data of the target area at each initial depth;

[0036] The sound velocity data is interpolated to obtain sound velocity profile data of the target area.

[0037] In a second aspect of the present application, a target depth determination device is provided, the device comprising:

[0038] A first acquisition unit is configured to acquire sound velocity profile data of a target area, wherein the target area includes a target at a to-be-determined depth;

[0039] The second acquisition unit is used to acquire the time delay data of the target signal sent by the calibration point in the target area to the target at the depth to be determined;

[0040] a third acquisition unit, configured to obtain, at each preset depth for the target to be determined, a sound ray trajectory of the target signal for each of the calibration points based on the time delay data and sound velocity profile data for the target signal at each of the calibration points;

[0041] A first determining unit is configured to determine a horizontal coordinate set of a target to be determined based on the acoustic ray trajectory of the target signal for each of the calibration points;

[0042] The second determining unit is configured to determine a target depth for the target to be determined in each preset depth based on the horizontal coordinate set of the target to be determined.

[0043] According to a third aspect of the present application, an electronic device is provided, including:

[0044] at least one processor; and

[0045] a memory communicatively connected to the at least one processor; wherein,

[0046] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the method described in this application.

[0047] According to a fourth aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method described in the present application.

[0048] In this application, the sound velocity profile data of the target area is obtained, and the target area includes a target at a depth to be determined; the time delay data of the target signal emitted by the calibration points in the target area for the target at the depth to be determined is obtained; at each preset depth for the target at the 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 for the target signal at each calibration point; the horizontal coordinate set of the target at the depth to be determined is determined based on the sound line trajectory of the target signal for each calibration point; and the target depth for the target at the depth to be determined at each preset depth is determined based on the horizontal coordinate set of the target at the depth to be determined. This solves the problems of long time consumption, high cost and large error of related technologies, and can achieve efficient and accurate determination of the depth of the target at the depth to be determined.

[0049] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended 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

[0050] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an illustrative and non-limiting manner, in which:

[0051] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0052] Figure 1 The following is a schematic diagram showing the implementation process of the target depth determination method according to an embodiment of the present application;

[0053] Figure 2 A schematic diagram showing the relationship between the speed of sound and depth in the ocean region according to an embodiment of the present application is shown;

[0054] Figure 3An example diagram of a scene for determining the depth of a target to be determined according to an embodiment of the present application is shown;

[0055] Figure 4 A schematic diagram showing the convergence degree of the horizontal coordinate set at different preset depths according to an embodiment of the present application;

[0056] Figure 5 A schematic diagram of the structure of a target depth determination device according to an embodiment of the present application is shown;

[0057] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0058] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0059] Understandably, traditional underwater target depth determination is primarily based on acoustic ranging based on geometric structures. This involves shipborne transducers measuring distances at multiple locations around the target location. The absolute coordinates of the underwater unit (underwater target) are then determined through post-processing. Due to significant positioning errors in the depth direction, existing methods can only improve positioning accuracy by increasing the redundancy of measurement data by adding more measurement points. However, the use of a large number of measurement points not only increases equipment deployment costs but also complicates data calculation and post-processing analysis, making measurements more time-consuming. Furthermore, in the three-dimensional positioning equation, the depth solution relies on the distribution of calibration points (measurement points) across depth. However, the measurement points on the water surface are at nearly the same depth, resulting in a small range of depth data variation. This increases the condition number of the matrix, increases the instability of the solution, and reduces depth determination accuracy.

[0060] The embodiment of the present application provides a method for determining the depth of a target, which obtains the sound velocity profile data of a target area, wherein the target area includes a target at a depth to be determined; obtains the time delay data of a target signal emitted by a calibration point in the target area for the target at a depth to be determined; at each preset depth for the target at a depth to be determined, based on the time delay data and sound velocity profile data of the target signal at each calibration point, obtains the acoustic line trajectory of the target signal for each calibration point; based on the acoustic line trajectory of the target signal for each calibration point, determines the horizontal coordinate set of the target at a depth to be determined; based on the horizontal coordinate set of the target at a depth to be determined, determines the target depth for the target at a depth to be determined at each preset depth. The method can significantly reduce the number of test points, establish virtual beacons based on each preset depth and invert the acoustic line trajectory, reduce the problem of ill-conditioned matrices, and improve the stability of the solution. The method solves the problems of long time consumption, high cost, and large errors in related technologies, and can achieve efficient and accurate determination of the depth of the target at a depth to be determined.

[0061] The embodiment of the present application provides a method for determining the depth of a target. Figure 1 As shown, the method includes:

[0062] S101: Acquire sound velocity profile data of a target area, where the target area includes a target at a to-be-determined depth.

[0063] In this step, the target area is the ocean area. Since seawater is fluid, after the target unit (including underwater sensors, underwater robots, underwater communication equipment, etc.) sinks into the ocean area, the target unit floats with the seawater and its depth is unknown. The target to be determined is a target unit with an unknown depth in the target area. The ocean area is divided into multiple layers (areas) according to depth. Since the underwater sound speed is affected by temperature, pressure, salinity, etc., the sound speed in each layer of the ocean area may be different. The sound speed profile data is a data model that includes the sound speed in each layer of the ocean area, which is measured by a sound speed profiler. Reference Figure 2 As shown, Figure 2 Shows how the speed of sound changes with depth in an ocean area. Figure 2 The horizontal axis is the speed of sound, and the vertical axis is the depth of the ocean area. It can be seen that as the depth of the ocean area changes, the corresponding sound speed also changes.

[0064] S102: Obtaining time delay data of a target signal emitted by a calibration point in the target area for a target at a depth to be determined.

[0065] In this step, the calibration points are the measurement points set on the sea surface. Figure 3 As shown, Figure 3 This is an example diagram of a scene for determining the depth of a target to be determined. Figure 3The positions of the three ships in the figure are the positions of the three calibration points, which can be acoustic receivers installed on the ships. The three calibration points are set in a circle on the sea surface around the target at the undetermined depth. The target at the undetermined depth can communicate with each calibration point. The target at the undetermined depth emits an acoustic signal (target signal) on the seabed, and each calibration point receives the acoustic signal emitted by the target at the undetermined depth. The time delay data is the propagation time of the target signal from the target at the undetermined depth to each calibration point, that is, the time when each calibration point receives the target signal. Before obtaining the time delay data of the target signal emitted by each calibration point for the target at the undetermined depth, the method also includes: matching filtering the target signal received at each calibration point, and obtaining the time delay data of the target signal emitted by each calibration point for the target at the undetermined depth based on the target signal after matched filtering. It can remove noise, improve the accuracy of signal recognition, enhance the characteristics of the target signal, and improve the reliability of signal detection to ensure the measurement accuracy of the time delay data.

[0066] S103: At each preset depth of the target to be determined, based on the time delay data and sound velocity profile data of each calibration point with respect to the target signal, obtain the sound ray trajectory of the target signal with respect to each calibration point.

[0067] 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 certain 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 actual depth of the target to be determined is reversely determined by the obtained relevant parameters. Specifically, first, based on the time delay data and sound velocity profile data of the target signal at each calibration point, the sound line trajectory of the target signal at each calibration point is inverted. The sound line trajectory of the same target signal at 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 and will not be repeated here.

[0068] 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.

[0069] In this step, after obtaining the target signal's acoustic ray trajectories for each calibration point, multiple horizontal coordinates for the target at the desired depth can be calculated based on the simultaneous equations for the acoustic ray trajectories at each calibration point to form a horizontal coordinate set. The specific process for determining the horizontal coordinate set for the target at the desired depth will be described in detail below and will not be repeated here.

[0070] S105: Determine a target depth for the target at the to-be-determined depth in each preset depth based on the horizontal coordinate set of the target at the to-be-determined depth.

[0071] In this step, the horizontal coordinate set of the target to be determined at the depth to be determined 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.

[0072] In the scheme shown in steps S101 to S105, sound velocity profile data of a target area is obtained, the target area including a target at an undetermined depth. Time delay data of target signals emitted by calibration points in the target area relative to the target at the undetermined depth are obtained. At each preset depth of the target at the undetermined depth, the acoustic ray trajectory of the target signal relative to each calibration point is obtained based on the time delay data and sound velocity profile data of the target signal at each calibration point. The horizontal coordinate set of the target at the undetermined depth is determined based on the acoustic ray trajectory of the target signal relative to each calibration point. Based on the horizontal coordinate set of the target at the undetermined depth, the target depth of the target at each preset depth is determined. This method solves the problems of long time consumption, high cost, and large errors in related technologies, and can achieve efficient and accurate determination of the depth of the target at the undetermined depth.

[0073] In an optional solution, the target area includes multiple layer areas; obtaining the sound ray trajectory of the target signal for each calibration point based on the time delay data and sound velocity profile data of each calibration point for the target signal includes:

[0074] Obtaining a set of sound ray incident angles for a target signal;

[0075] Traverse the sound ray incident angle set, for any sound ray incident angle in the sound ray incident angle set,

[0076] Based on the sound ray incident angle, the propagation time of the target signal in each layer of the target area is obtained;

[0077] Based on the propagation time of the target signal in each layer of the target area and the time delay data of each calibration point with respect to the target signal, the sound ray trajectory of the target signal with respect to each calibration point is obtained.

[0078] In this application, due to the change of sound speed in water, the sound line will propagate along the curve, so it is necessary to invert the sound line trajectory to determine the signal propagation path. However, the sound line incident angle of the target signal emitted by the target at the unknown depth is unknown, so a sound line incident angle set is set, such as 0:0.1:180, which means that the range of the sound line incident angle set is 0~180°, with a step size of 0.1. Traverse the sound line incident angle set, for any sound line incident angle, that is, assume that the sound line incident angle of the target signal is any sound line incident angle in the sound line incident angle set, and calculate the propagation time of the target signal in each layer of the target area based on formula (1):

[0079] Formula (1)

[0080] in, Indicates that the target signal is The propagation time of each layer area, An integer greater than 0 and less than or equal to the total number of layer regions. Indicates the The sound velocity gradient of each layer area is assumed to be constant in this embodiment of the application, so is a constant. represents the grazing angle, Indicates that the target signal is The grazing angle of the layer area, Indicates that the target signal is The grazing angle of each layer area. Indicates arrive Find a function on the interval about The integral of . Grazing angle =Equal to the difference between 90° and the incident angle. Since the target signal will be refracted when passing through each layer area, the incident angle of the target signal will change when it reaches each layer area. Since the incident angle of the sound ray initially emitted by the target signal is known (that is, the aforementioned assumed incident angle of the sound ray is any sound ray incident angle in the sound ray incident angle set), according to the law of refraction (please refer to the relevant technology, which will not be repeated), the incident angle of the sound ray in each layer area can be obtained, and then the propagation time of the target signal in each layer area of the target area can be obtained. At each sound ray incident angle in the sound ray incident angle set, the aforementioned formula (1) is used for calculation once, and the propagation time of the target signal in each layer area under different sound ray incident angles can be obtained, providing a data basis for determining the sound ray trajectory of the target signal for each calibration point. For the specific determination process of the sound ray trajectory of the target signal for each calibration point, please refer to the detailed description of the relevant parts below, which will not be repeated.

[0081] In an optional solution, obtaining the sound ray trajectory of the target signal for each calibration point based on the propagation time of the target signal in each layer of the target area and the delay data of each calibration point for the target signal includes:

[0082] For any calibration point,

[0083] Obtain the sum of the propagation time of the target signal in each layer of the target area at each sound ray incident angle;

[0084] The sound ray incident angle corresponding to the time when the difference between the sum of the propagation times of the target area and the time delay data of the calibration point for the target signal is minimized is used as the sound ray incident angle of the target signal for the calibration point;

[0085] Based on the sound ray incident angle and sound velocity profile data, the sound ray curvature radius of each layer of the target area is obtained;

[0086] Based on the sound ray curvature radius of each layer of the target area, the sound ray trajectory of the target signal for the calibration point is obtained.

[0087] In the present application, after obtaining the propagation time of the target signal in each layer area under different sound ray incident angles, the propagation time of each layer area under each sound ray incident angle is summed to obtain the overall propagation time of the target signal under each sound ray incident angle. The time delay data of each calibration point for the target signal is compared with the overall propagation time of the target signal under each sound ray incident angle, and the sound ray incident angle corresponding to the overall propagation time that is closest to / has the smallest difference from the time delay data for the target signal at each calibration point is used as the sound ray incident angle of the target signal for the calibration point. For example, assuming that the time delay data and the sound ray incident angle for the target signal at calibration point A are When the overall time difference of the target signal propagation is the smallest, then for the calibration point A, the sound ray incident angle of the target signal is The time delay data and the incident angle of the sound ray for the target signal at calibration point B are When the overall time difference of the target signal propagation is the smallest, then for the calibration point B, the sound ray incident angle of the target signal is .

[0088] Under the premise of the assumption of constant gradient in each layer area in the embodiment of the present application, The curvature of the sound ray trajectory in each layer area is expressed as:

[0089] Formula (2)

[0090] in, represents the curvature of the sound ray trajectory, It is the angle between the sound ray at a certain point and the vertical direction, that is, the angle of incidence of the sound ray. is the grazing angle ( =90°- ). Represents the arc length along the path of the sound ray. Indicates a small change in the angle of incidence of a sound ray. Represents the small arc length along the path of the sound ray. Indicates the speed of sound at a certain point (or area). Indicates the depth at a point. Represents small changes in the speed of sound with depth. Indicates a small change in depth. Represents the gradient of sound velocity with respect to depth. Since the sound velocity gradient remains unchanged under the assumption of constant sound velocity gradient, the gradient term here is Using constant terms To express it. The curvature of the sound ray trajectory in each layer area is expressed as:

[0091] Formula (3)

[0092] Among them, based on the sound velocity profile data, it can be determined Based on the target signal's sound ray incident angle for each calibration point, the target signal's sound ray incident angle when passing through each layer area can be determined, and then the target signal's sound ray incident angle when passing through each layer area can be obtained. , and finally determine the curvature of the sound ray trajectory in each layer area.

[0093] The curvature radius of the sound line in each layer of the target area is It can be calculated by formula (4):

[0094] Formula (4)

[0095] Sound ray curvature radius This method reflects the curvature of the acoustic trajectory. For any calibration point, based on the curvature radius of the target signal's acoustic ray as it passes through each layer, it can accurately infer the target signal's acoustic ray trajectory relative to that calibration point—that is, the target signal's propagation path relative to that calibration point—thus improving the stability of subsequent equation solutions.

[0096] In an optional solution, determining the horizontal coordinate set of the target to be determined based on the sound ray trajectory of each calibration point based on the target signal includes:

[0097] For any calibration point,

[0098] Based on the sound ray incident angle corresponding to the sound ray trajectory of the calibration point, obtaining the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area;

[0099] Based on the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area and the curvature radius of the sound ray in each layer of the target area, the horizontal propagation distance of the target signal relative to the calibration point in each layer of the target area is obtained;

[0100] Based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area, a horizontal coordinate set of the target to be determined is determined.

[0101] In this application, for any calibration point, the horizontal propagation distance of the target signal in each layer of the target area is calculated by formula (5):

[0102] Formula (5)

[0103] in, The target signal is the first The horizontal propagation distance of each layer area. is the sound ray curvature radius of the target signal at the ith layer of the target area for the calibration point. Indicates that the target signal is at the first The grazing angle of the layer area, Indicates that the target signal is at the first The grazing angle of each layer area. Indicates that the target signal is at the first The target signal's grazing angle in each layer is obtained based on its sound ray incidence angle (regional incidence angle) in each layer. The target signal's sound ray incidence angle (regional incidence angle) in each layer is obtained based on the sound ray incidence angle corresponding to the target signal's sound ray trajectory at the calibration point and the law of refraction. The physical meaning and grazing angle and For the specific calculation process, please refer to the relevant description above and will not be repeated here.

[0104] After obtaining the target signal's horizontal propagation distance for each calibration point in each layer of the target area, it is possible to Determine the horizontal coordinate set of the target to be determined. For the specific process, please refer to the detailed description of the relevant parts below and will not be repeated here.

[0105] In an optional solution, determining a horizontal coordinate set of a target to be determined based on a target signal's horizontal propagation distance of the calibration point in each layer of the target area includes:

[0106] For any calibration point,

[0107] Based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area, the straight-line distance between the calibration point and the target to be determined is obtained;

[0108] Get the coordinate information of each calibration point;

[0109] A calibration point combination is formed based on at least any two calibration points among the calibration points, and a horizontal coordinate set of the target to be determined is determined 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 target to be determined.

[0110] In this application, the sum of the heights of each layer of the target area and the sum of the horizontal distances of the target signal propagated in each layer for any calibration point are obtained. Based on the Pythagorean theorem, the straight-line distances between the target to be determined and each calibration point can be quickly and accurately obtained. , It is an integer greater than 0 and less than or equal to the number of calibration points. The GPS absolute position of each calibration point is recorded by the ship's GPS (Global Positioning System) and recorded as the coordinate information of each calibration point. Based on at least any two calibration points in each calibration point, the coordinate information of each calibration point is composed of two pairs. The calculation in formula (6) is performed based on any combination of calibration points (mirror repeated combinations have been eliminated, and p is the number of calibration points). The horizontal coordinates of the target to be determined are obtained to form a horizontal coordinate set.

[0111] Assume that the coordinates of the target to be determined are (X, Y, Z), and the coordinates of the calibration point are (X j , Y j , Z j ), j = 1, 2, 3...; the straight-line distance between the target to be determined and the calibration point is , j = 1, 2, 3…;

[0112] Formula (6)

[0113] Among them, since the calibration points are at least combined in pairs, formula (6) includes at least two equations. Since the depth of each calibration point is the same, that is, Similarly, after the degree reduction process, we can obtain a system of linear equations with two variables that eliminates the depth dimension term:

[0114] Formula (7)

[0115] Among them, d j In the derivation process of downscaling, when the first calibration point is determined as the reference point, the horizontal distance between the jth calibration point and the reference point is determined, where j = 1, 2, 3, etc. The specific derivation process of downscaling can be found in the relevant technology and will not be described in detail here.

[0116] By processing and calculating Equation (7) based on the least squares method, the optimal solution for the horizontal coordinates of the target to be determined can be obtained. Since there are multiple arbitrary combinations of different calibration points, the number of optimal horizontal coordinate solutions obtained is also multiple, and multiple optimal horizontal coordinate solutions constitute a horizontal coordinate set. This method is simple, convenient, and easy to implement. By optimizing the combination of calibration points, it overcomes the problem of ill-conditioned matrices in related technologies and can improve the accuracy of depth determination of the target to be determined.

[0117] In an optional solution, determining the target depth for the target to be determined at each preset depth based on the horizontal coordinate set of the target to be determined includes:

[0118] Determining the convergence degree of the horizontal coordinate set of the target to be determined at each preset depth;

[0119] The preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the target to be determined is used as the target depth of the target to be determined.

[0120] In this application, under normal circumstances, when the assumed preset depth is closer to the actual target depth, the measured time delay data and the acoustic line trajectory inverted at the preset depth are closer to the actual situation, and the horizontal coordinate sets obtained under the corresponding different calibration point combinations are more convergent. Therefore, after the horizontal coordinate sets of the target to be determined at different preset depths are calculated by the above formulas (1) to (7), the degree of convergence of the horizontal coordinate sets obtained at each preset depth is determined. The preset depth corresponding to the horizontal coordinate set with the greatest degree of convergence is the target depth closest to the actual depth of the target to be determined. For example, refer to Figure 4 As shown, Figure 4 The figure shows the convergence degree of the horizontal coordinate set when the preset depths are 3997.5 meters, 4000 meters, and 4002.5 meters. Figure 4 It can be seen that 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 target to be determined.

[0121] In an optional solution, obtaining the sound velocity profile data of the target area includes:

[0122] Obtaining sound velocity data of the target area at each initial depth;

[0123] The sound velocity data is interpolated to obtain sound velocity profile data of the target area.

[0124] In this application, the initial depth is a preset known depth, such as 1500 meters, 3000 meters, 5000 meters, etc. In order to simplify the data acquisition steps and improve 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 from a rough range. By performing segmented interpolation or curve fitting on the collected sound velocity data, the sound velocity data of other depths not involved in 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, and the sound velocity profile data of the target area can be obtained, thereby effectively saving time and resource consumption in the process of determining the depth of the target to be determined.

[0125] The embodiment of the present application provides a target depth determination device, such as Figure 5 As shown, the device includes:

[0126] A first acquisition unit 501 is configured to acquire sound velocity profile data of a target area, wherein the target area includes a target at a to-be-determined depth;

[0127] The second acquisition unit 502 is used to acquire the time delay data of the target signal sent by the calibration point in the target area to the target at a depth to be determined;

[0128] The third acquisition unit 503 is configured to obtain, at each preset depth for the target to be determined, a sound ray trajectory of the target signal for each calibration point based on the time delay data and sound velocity profile data of the target signal at each calibration point;

[0129] The first determining unit 504 is configured to determine a horizontal coordinate set of a target to be determined based on the acoustic ray trajectory of the target signal for each of the calibration points;

[0130] The second determining unit 505 is configured to determine a target depth for the target to be determined in each preset depth based on the horizontal coordinate set of the target to be determined.

[0131] In an optional scheme, the target area includes multiple layer areas; the third acquisition unit 503 is used to obtain a set of sound ray incident angles for the target signal; the sound ray incident angle set is traversed, and for any sound ray incident angle in the sound ray incident angle set, based on the sound ray incident angle, the propagation time of the target signal in each layer area of the target area is obtained; based on 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, the sound ray trajectory of the target signal for each calibration point is obtained.

[0132] In an optional scheme, the third acquisition unit 503 is used to obtain, for any calibration point, the sum of the propagation time of the target signal in each layer of the target area at each sound ray incident angle; the sound ray incident angle corresponding to the minimum difference between the sum of the propagation time of each layer of the target area and the time delay data of the target signal at the calibration point is used as the sound ray incident angle of the target signal for the calibration point; based on the sound ray incident angle and sound speed profile data, the sound ray curvature radius of each layer of the target area is obtained; based on the sound ray curvature radius of each layer of the target area, the sound ray trajectory of the target signal for the calibration point is obtained.

[0133] In an optional scheme, the first determination unit 504 is used to obtain, for any calibration point, the regional incidence angle of the sound ray trajectory of the calibration point in each layer of the target area based on the sound ray incidence angle corresponding to the sound ray trajectory of the calibration point; obtain the horizontal propagation distance of the target signal for the calibration point in each layer of the target area based on the regional incidence angle of the sound ray trajectory of the calibration point in each layer of the target area and the sound ray curvature radius of each layer of the target area; determine the horizontal coordinate set of the deep target to be determined based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area.

[0134] In an optional solution, the first determination unit 504 is configured to obtain, for any calibration point, a straight-line distance between the calibration point and the target to be determined at a depth based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area; obtain coordinate information of each calibration point; form a calibration point combination based on at least any two calibration points among the calibration points, and determine a horizontal coordinate set of the target to be determined at a depth 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 to be determined at a depth.

[0135] In an optional solution, the second determining unit 505 is used to determine the convergence degree of the horizontal coordinate set of the target to be determined at each preset depth; and the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the target to be determined is used as the target depth of the target to be determined.

[0136] In an optional solution, the first acquisition unit 501 is used to acquire sound velocity data of the target area at each initial depth; and perform interpolation processing on the sound velocity data to obtain sound velocity profile data of the target area.

[0137] It should be noted that the target depth determining device in the embodiment of the present application solves the problem based on a principle similar to that of the aforementioned target depth determining method. Therefore, the implementation process, implementation principle, and beneficial effects of the target depth determining device can all be described with reference to the description of the implementation process, implementation principle, and beneficial effects of the aforementioned method, and the repeated parts will not be repeated.

[0138] According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.

[0139] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0140] like Figure 6As shown, 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. RAM 603 may also store various programs and data required for the operation of electronic device 600. Computing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to bus 604.

[0141] 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.

[0142] The computing unit 601 can be any general-purpose and / or specialized processing component 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 specialized 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 performs the various methods and processes described above, such as the target depth determination method. For example, in some embodiments, the target depth determination method may 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 may 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 may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the target depth determination method via any other suitable means (e.g., via firmware).

[0143] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0144] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow charts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0145] In the context of this application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fibers, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0146] To provide 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the 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 input, voice input, or tactile input).

[0147] 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 with a graphical user interface or a web browser through which a user can interact with implementations 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.

[0148] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0149] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed 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. This is not a limitation herein.

[0150] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0151] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A target depth determination method, characterized in that: The method comprises: Acquiring sound velocity profile data of a target area, wherein the target area includes a 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 velocity in each layer area of the target area obtained by measuring with a sound velocity profiler; Obtain the time delay data of the target signal emitted by the calibration point in the target area to the target at the depth to be determined; At each preset depth of the target to be determined, a set of sound ray incident angles for the target signal is obtained; Traversing the sound ray incident angle set, for any sound ray incident angle in the sound ray incident angle set, obtaining the propagation time of the target signal in each layer of the target area based on the sound ray incident angle; Based on the sound velocity profile data, the propagation time of the target signal in each layer of the target area and the time delay data of each calibration point with respect to the target signal, the acoustic ray trajectory of the target signal with respect to each calibration point is obtained; Determining a horizontal coordinate set of a target to be determined based on the acoustic ray trajectory of the target signal for each of the calibration points; Determining the convergence degree of the horizontal coordinate set of the target to be determined at each preset depth; The preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the to-be-determined deep target is used as the target depth of the to-be-determined deep target; The method of obtaining the acoustic 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 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 time of the target signal in each layer of the target area at each sound ray incident angle; The sound ray incident angle corresponding to the time when the difference between the sum of the propagation times of the target area and the time delay data of the calibration point for the target signal is minimized is used as the sound ray incident angle of the target signal for the calibration point; Based on the sound ray incident angle and sound velocity profile data, the sound ray curvature radius of each layer of the target area is obtained; Based on the sound ray curvature radius of each layer of the target area, the sound ray trajectory of the target signal for the calibration point is obtained.

2. The method according to claim 1, characterized in that The step of determining a horizontal coordinate set of a target to be determined based on the target signal and the acoustic ray trajectory of each calibration point comprises: For any calibration point, based on the sound ray incident angle corresponding to the sound ray trajectory of the calibration point, the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area is obtained; Based on the regional incident angle of the sound ray trajectory of the calibration point in each layer of the target area and the curvature radius of the sound ray in each layer of the target area, the horizontal propagation distance of the target signal relative to the calibration point in each layer of the target area is obtained; Based on the horizontal propagation distance of the target signal for the calibration point in each layer of the target area, a horizontal coordinate set of the target to be determined is determined.

3. The method according to claim 2, characterized in that The determining of the horizontal coordinate set of the target to be determined based on the propagation horizontal distance of the target signal for the calibration point in each layer of the target area includes: For any calibration point, based on the horizontal distance of the target signal propagating from the calibration point in each layer of the target area, the straight-line distance between the calibration point and the target to be determined is obtained; Get the coordinate information of each calibration point; A calibration point combination is formed based on at least any two calibration points among the calibration points, and a horizontal coordinate set of the target to be determined is determined 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 target to be determined.

4. The method according to claim 1, wherein The obtaining of sound velocity profile data of the target area includes: Obtaining sound velocity data of the target area at each initial depth; The sound velocity data is interpolated to obtain sound velocity profile data of the target area.

5. A target depth setting device, characterized in that: The device comprises: A first acquisition unit is configured to acquire sound velocity profile data of a target area, wherein the target area includes a target at a to-be-determined depth; wherein the target area includes multiple layers; and the sound velocity profile data is a data model including the sound velocity in each layer of the target area obtained by measuring with a sound velocity profiler; The second acquisition unit is used to acquire the time delay data of the target signal sent by the calibration point in the target area to the target at the depth to be determined; The third acquisition unit is configured to acquire a set of sound ray incidence angles for the target signal at each preset depth for the target to be determined; traverse the set of sound ray incidence angles, and for any sound ray incidence angle in the set of sound ray incidence angles, obtain the propagation time of the target signal in each layer of the target area based on the sound ray incidence angle; and obtain the sound ray trajectory of the target signal for each of the calibration points based on the sound velocity profile data, the propagation time of the target signal in each layer of the target area, and the time delay data of the target signal at each of the calibration points; A first determining unit is configured to determine a horizontal coordinate set of a target to be determined based on the acoustic ray trajectory of the target signal for each of the calibration points; The second determining unit is configured to determine the convergence degree of the horizontal coordinate set of the target to be determined at each preset depth; and the preset depth corresponding to the maximum convergence degree of the horizontal coordinate set of the target to be determined is used as the target depth of the target to be determined; The third acquisition unit is used to obtain, for any calibration point, the sum of the propagation time of the target signal in each layer 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 time of each layer of the target area and the time delay data of the target signal at the calibration point as the sound ray incident angle of the target signal for the calibration point; based on the sound ray incident angle and sound velocity profile data, obtain the sound ray curvature radius of each layer of the target area; based on the sound ray curvature radius of each layer of the target area, obtain the sound ray trajectory of the target signal for the calibration point.

6. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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