Sonar echo signal processing method and device, equipment and storage medium
By calculating the sonar echo data array and the signal matrix determined by the preset sonar acquisition information, and calculating the sonar echo intensity data, the problem of low efficiency of sonar detection objects is solved, and the data volume is reduced and the steps are simplified.
Patent Information
- Application Number
- CN202510485809.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-17
- Publication Date
- 2025-07-11
AI Technical Summary
The existing sonar detects objects with large amounts of data and complex calculations, resulting in low efficiency.
By acquiring the sonar echo data array, the same-directional processing signal matrix and the orthogonal processing signal matrix are determined based on the preset sonar acquisition information, the same-directional signal array and the orthogonal signal array are calculated, and the sonar echo intensity data is finally calculated.
The amount of data processed by sonar echo signal is greatly reduced, the processing steps are simplified, and the efficiency of detecting objects is improved.
Smart Images
Figure CN120294728A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of sonar detection, and particularly to a method, device, equipment, and storage medium for processing sonar echo signals. Background Art
[0002] When detecting an object underwater, sonar is often used for detection. Sound wave signals are emitted in a preset direction through the sonar. The sound waves propagate in water, reflect back when encountering the target, and are received by the sonar. By measuring the time interval between the transmitted signal and the received signal, as well as the propagation speed of sound waves in water, information such as the size, shape, and motion state of the object can be calculated.
[0003] However, the method of detecting an object through sonar as described above requires a large amount of data to be processed and complex calculation methods, resulting in low efficiency of detecting an object through sonar. Summary of the Invention
[0004] To facilitate improving the efficiency of detecting an object through sonar, this application provides a method, device, equipment, and storage medium for processing sonar echo signals.
[0005] In a first aspect, this application provides a method for processing sonar echo signals, including:
[0006] Obtain a sonar echo data array, and determine a co-directional processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information;
[0007] Calculate a co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix;
[0008] Calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix;
[0009] Calculate sonar echo intensity data based on the co-directional signal array and the quadrature signal array.
[0010] In a second aspect, this application provides a device for processing sonar echo signals, including:
[0011] A matrix calculation module, configured to obtain a sonar echo data array, and determine a co-directional processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information;
[0012] A co-directional calculation module, configured to calculate a co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix;
[0013] A quadrature calculation module, configured to calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix;
[0014] An intensity calculation module, configured to calculate sonar echo intensity data based on the in-phase signal array and the quadrature signal array.
[0015] In a third aspect, the present application provides a computer device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps in the above method are implemented.
[0016] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method are implemented.
[0017] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.
[0018] For the above sonar echo signal processing method, device, equipment and storage medium, by acquiring a sonar echo data array, determining an in-phase processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information; calculating an in-phase signal array based on the sonar echo data array and the in-phase processing signal matrix; calculating a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix; calculating sonar echo intensity data based on the in-phase signal array and the quadrature signal array. Through the above implementation, by respectively processing the sonar echo data array with the calculated in-phase processing signal matrix and quadrature processing signal matrix, the amount of data after processing can be greatly reduced, and the steps of data processing can be simplified, so as to improve the efficiency of detecting an object by sonar.
[0019] 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. Description of the Drawings
[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.
[0021] Figure 1 It is a flowchart of a sonar echo signal processing method provided in an embodiment of the present application;
[0022] Figure 2It is a schematic structural diagram of a sonar echo signal processing device provided in an embodiment of the present application;
[0023] Figure 3 It is a schematic structural diagram of a computer device provided in an embodiment of the present application;
[0024] Figure 4 It is an internal structure diagram of a computer-readable storage medium provided in an embodiment of the present application. Detailed implementation manners
[0025] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure.
[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data used may be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or equipment.
[0027] In this article, the term "and / or" is only a relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.
[0028] Embodiment 1
[0029] Figure 1 It is a flowchart of a sonar echo signal processing method provided in Embodiment 1 of the present application. Refer to Figure 1 , this method can be executed by a device that executes this method, and the device can be implemented in a software and / or hardware manner. This method includes:
[0030] S110. Obtain a sonar echo data array, and determine a co-directional processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information.
[0031] Among them, the sonar echo signal processing method shown in this embodiment is applied to the scenario of underwater detection. When performing underwater detection, first control the transmitter in the sonar to emit sound waves at a preset sound wave emission frequency to a preset area. After the sound waves contact the target object, they will be reflected, and the receiver in the sonar can receive the reflected sound waves. It should be noted that generally multiple receivers are set in the sonar. In this embodiment, taking the sonar with 6 receivers as an example, the sonar can process the sound waves received by each receiver into corresponding sonar echo data arrays. Taking one of the sonar echo data arrays corresponding to a receiver as an example, each element in this sonar echo data array represents the signal intensity of the sound wave at different moments.
[0032] In an optional embodiment, to improve the data validity of the sonar echo data array, after the receiver completes the reception of the sound wave, a preset band-pass filter is also used to first filter the received initial echo to remove the clutter in the received echo, so as to obtain an intermediate echo, and the sonar echo data array can be obtained by further processing this intermediate echo.
[0033] In an optional embodiment, to improve the data significance of the sonar echo data array, a preset signal amplifier is also used to amplify the generated intermediate echo, so as to obtain a target echo. It should be noted that by subsequently further sampling the signal intensity of the target echo, the corresponding sonar echo data array can be obtained.
[0034] Among them, the preset sonar acquisition information in this embodiment includes: the sonar sound wave emission frequency f s and the sampling rate f0 of the sampling card; among them, the sonar sound wave emission frequency f s is the emission frequency when the transmitter in the sonar emits sound waves. Exemplarily, the sonar sound wave emission frequency f s = 50KHz; a sampling card is provided in the sonar, and the sampling card is used to perform periodic sampling on the sound waves (analog electrical signals) received by the receiver to convert the received sound waves into discrete digital signals (sonar echo data arrays). The sampling frequency of the periodic sampling is also the sampling rate f0 of the sampling card.
[0035] Among them, through the sonar echo data array and the preset sonar acquisition information, the co-processing signal matrix and the quadrature processing signal matrix can be determined. The co-processing signal matrix and the quadrature processing signal matrix are subsequently used to process the sonar echo data array respectively to fully reduce the data volume in the sonar echo signal processing process; the co-processing signal matrix contains multiple co-processing signals, and the quadrature processing signal matrix contains multiple quadrature processing signals. The co-processing signals and the quadrature processing signals need to be determined by several parameters, and the sonar echo data array and the preset sonar acquisition information can determine the parameters required in the generation process of the co-processing signals and the quadrature processing signals.
[0036] S120. Calculate a co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix.
[0037] Among them, the sonar echo data array can be regarded as a matrix. By performing corresponding mathematical operations on the sonar echo data array and the co-directional processing signal matrix, not only can the parameters required for calculating the subsequent echo signal intensity be obtained, but also the amount of data required in the subsequent calculation of the echo signal intensity can be greatly reduced, thus facilitating a significant improvement in the efficiency of detecting objects by sonar.
[0038] It should be noted that the mathematical operation performed on the sonar echo data array and the co-directional processing signal matrix can be a multiplication operation between two matrices in this embodiment; and the data obtained after performing the corresponding mathematical operation on the sonar echo data array and the co-directional processing signal matrix is denoted as the co-directional signal array, and the co-directional signal array can be used as one of the parameters required for calculating the subsequent echo signal intensity.
[0039] Specifically, control the number of columns of the sonar echo data array to be equal to the number of rows of the co-directional processing signal matrix, and then calculate the product between the sonar echo data array and the co-directional processing signal matrix to obtain the co-directional signal array.
[0040] S130. Calculate an orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix.
[0041] Among them, the co-directional processing signal matrix contains multiple co-directional processing signals, the orthogonal processing signal matrix contains multiple orthogonal processing signals, the co-directional processing signals in the co-directional processing signal matrix correspond one by one to the orthogonal processing signals in the orthogonal processing signal matrix, and the co-directional processing signals and the corresponding orthogonal processing signals are orthogonal to each other. By performing corresponding mathematical operations on the sonar echo data array and the orthogonal processing signal matrix, not only can another parameter required for calculating the subsequent echo signal intensity be obtained, but also the amount of data required in the subsequent calculation of the echo signal intensity can be greatly reduced, thus facilitating a significant improvement in the efficiency of detecting objects by sonar.
[0042] It should be noted that the corresponding mathematical operation performed on the sonar echo data array and the orthogonal processing signal matrix is the same as the corresponding mathematical operation performed on the sonar echo data array and the co-directional processing signal matrix; for example, if the corresponding mathematical operation performed on the sonar echo data array and the co-directional processing signal matrix is a matrix multiplication operation, then the corresponding mathematical operation performed on the sonar echo data array and the orthogonal processing signal matrix is also a matrix multiplication operation; in other embodiments, it is not specifically limited; and the data obtained after performing the corresponding mathematical operation on the sonar echo data array and the orthogonal processing signal matrix is denoted as the orthogonal signal array. It should be noted that the elements in the orthogonal signal array correspond one by one to the elements in the co-directional signal array.
[0043] Specifically, control the number of columns of the sonar echo data array to be equal to the number of rows of the orthogonal processing signal matrix, and then calculate the product between the sonar echo data array and the orthogonal processing signal matrix to obtain an orthogonal signal array.
[0044] S140. Calculate the sonar echo intensity data based on the in-phase signal array and the orthogonal signal array.
[0045] Specifically, taking an element in the in-phase signal array as an example, and denoting this element as the first element, and also denoting the corresponding element of the first element in the orthogonal signal array as the second element, the first element and the second element correspond to the same periodic sampling moment; performing corresponding mathematical operations on the first element and the second element can calculate the echo signal intensity corresponding to the corresponding periodic sampling moment; that is, each element in each in-phase signal array (or each element in each orthogonal signal array) can calculate a corresponding set of echo signal intensity groups composed of echo signal intensities corresponding to different periodic sampling moments; since each receiver in the sonar has a corresponding sonar echo data array, and each sonar echo data array can calculate a corresponding in-phase signal array (or orthogonal signal array), so each receiver in the sonar corresponds to multiple sonar echo data arrays, and the combination of each sonar echo data array is denoted as the sonar echo intensity data.
[0046] It should be noted that in this embodiment, by obtaining the sonar echo data array, determining the in-phase processing signal matrix and the orthogonal processing signal matrix based on the sonar echo data array and the preset sonar acquisition information; calculating the in-phase signal array based on the sonar echo data array and the in-phase processing signal matrix; calculating the orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix; calculating the sonar echo intensity data based on the in-phase signal array and the orthogonal signal array. Through the above implementation, by respectively processing the sonar echo data array with the calculated in-phase processing signal matrix and orthogonal processing signal matrix, the amount of data after processing can be greatly reduced, and the steps of data processing can be simplified, so as to facilitate improving the efficiency of detecting objects by sonar.
[0047] Embodiment Two
[0048] A sonar echo signal processing method provided in Embodiment Two of the present application optimizes the "determining the in-phase processing signal matrix and the orthogonal processing signal matrix based on the sonar echo data array and the preset sonar acquisition information" in Embodiment One; it should be noted that for the parts not detailed in this embodiment, reference can be made to the descriptions of other embodiments. The method includes:
[0049] S211. Obtain the sonar echo data array.
[0050] S212. Downsample the sonar echo data array to obtain a downsampled matrix.
[0051] Among them, one of the sonar echo data arrays is expressed as: [s m,1 , s m,2 , s m,3 …… s m,n . Here, m represents the m-th receiver in the sonar, and n represents the n-th periodic sampling moment. Exemplarily, in this embodiment, m ranges from 1 to 6, and n ranges from 1 to 1000. Generally, the maximum value of n is relatively large, and the amount of data to be processed is large when processing the sonar echo data array subsequently. To facilitate reducing the amount of data to be processed subsequently, this embodiment adopts a method of first downsampling the sonar echo data array. Among them, downsampling in this embodiment means processing a large number of data (such as a sonar echo data array) contained in one row into multiple rows of data, but the amount of data in each row is significantly reduced compared to the sonar echo data array. And the data after downsampling the sonar echo data array is denoted as the downsampled matrix.
[0052] Exemplarily, taking the sonar echo data array corresponding to the first receiver in the sonar as an example, this sonar echo data array is expressed as: [s 1,1 , s 1,2 , s 1,3 …… s 1,1000 . The size of this sonar echo data array is 1*1000, representing 1 row and 1000 columns. The method of downsampling this sonar echo data array is: in ascending order of the n value, every 100 elements in the sonar echo data array are recombined into one row of data, and the data of each row is combined into a matrix with a size of 10*100, where 1*1000 represents 10 rows and 100 columns.
[0053] S213. Based on the sonar echo data array, the downsampled matrix, and the preset sonar acquisition information, determine the in-phase processing signal matrix and the quadrature processing signal matrix.
[0054] Among them, since the downsampled matrix is the data obtained after downsampling the sonar echo data array, the downsampled matrix has a corresponding downsampling rate. The number of rows of a sonar echo data array is fixed at 1 in this embodiment. Let the number of rows of the downsampled matrix corresponding to this sonar echo data array be a, then the downsampling rate b is a / 1. Exemplarily, if the number of rows of the sonar echo data array is 1 and the number of rows of the downsampled matrix corresponding to this sonar echo data array is 10, then the downsampling rate b is 10 / 1 = 10.
[0055] It should be noted that the downsampling rate calculated from the sonar echo data array and the corresponding downsampling matrix, as well as the preset sonar acquisition information, can be used to determine the co-processing signal matrix and the quadrature-processing signal matrix.
[0056] S220. Calculate the co-signal array based on the sonar echo data array and the co-processing signal matrix.
[0057] S230. Calculate the quadrature signal array based on the sonar echo data array and the quadrature-processing signal matrix.
[0058] S240. Calculate the sonar echo intensity data based on the co-signal array and the quadrature signal array.
[0059] Embodiment III
[0060] A sonar echo signal processing method provided in Embodiment III of this application optimizes the step of "determining the co-processing signal matrix and the quadrature-processing signal matrix based on the sonar echo data array, the downsampling matrix, and the preset sonar acquisition information" in Embodiment II. It should be noted that for parts not detailed in this embodiment, reference can be made to the descriptions of other embodiments. The method includes:
[0061] S311. Obtain the sonar echo data array.
[0062] S312. Perform downsampling on the sonar echo data array to obtain a downsampling matrix.
[0063] S313A. Determine the co-processing signal matrix based on the sonar echo data array, the downsampling matrix, the sonar sound wave emission frequency and the sampling card sampling rate in the preset sonar acquisition information, and the preset co-processing signal calculation formula.
[0064] Among them, the calculation formula of the preset co-processing signal is as follows:
[0065] cos(f1*2πi), where f1 is the normalized emission frequency, f1 = f s / f0, f s is the sonar sound wave emission frequency, f0 is the sampling card sampling rate; the value of i ranges from 1 to b (downsampling rate). Exemplarily, if the calculated downsampling rate corresponding to the downsampling matrix is 10, then the value of i ranges from 1 to 10; for each value of i, a corresponding co-processing signal can be calculated, and multiple co-processing signals form the corresponding co-processing signal matrix, and the matrix size of the co-processing signal matrix is b*1, where b*1 represents b rows and 1 column.
[0066] Specifically, obtain the number of rows of the sonar echo data array and the number of rows of the downsampling matrix, then calculate the quotient of the number of rows of the downsampling matrix and the number of rows of the sonar echo data array, and use this quotient as the downsampling rate b. Determine the value range of i in the co-directional processing signal calculation formula according to the downsampling rate b. Further, determine the sonar acoustic wave emission frequency f in the preset sonar acquisition information s and the sampling rate f0 of the sampling card, and then calculate the sonar acoustic wave emission frequency f s and the quotient of the sampling rate f0 of the sampling card, and use this quotient as the normalized emission frequency f1. Then, substitute the calculated value range of i and the normalized emission frequency f1 into the preset co-directional processing signal calculation formula cos(f1 * 2πi) for calculation, so as to obtain a co-directional processing signal matrix with a matrix size of b * 1.
[0067] S313B. Based on the sonar echo data array, the downsampling matrix, the sonar acoustic wave emission frequency and the sampling rate of the sampling card in the preset sonar acquisition information, and the preset orthogonal processing signal calculation formula, determine the orthogonal processing signal matrix.
[0068] Among them, the calculation formula of the preset orthogonal processing signal calculation formula is as follows:
[0069] sin(f1 * 2πi); it should be noted that the calculation method of the normalized emission frequency f1 and the determination method of the value range of i are the same as above, and will not be elaborated here; it should also be noted that the matrix size of the orthogonal processing signal matrix is the same as that of the co-directional processing signal matrix, both are b * 1.
[0070] It should be noted that in this embodiment, the downsampling rate is b, that is, the number of rows of the downsampling matrix is 10, and the number of rows of the orthogonal processing signal matrix and the co-directional processing signal matrix are also both b. Moreover, the number of columns of the orthogonal processing signal matrix and the co-directional processing signal matrix are both 1 and less than the number of columns of the downsampling matrix. Therefore, subsequently, the orthogonal processing signal matrix and the co-directional processing signal matrix can be used to perform mathematical operations (such as matrix multiplication operations) on the transposed downsampling matrix respectively, which can greatly reduce the amount of data generated after the downsampling matrix is processed, thereby facilitating the improvement of the efficiency of detecting objects by sonar.
[0071] S320. Calculate the co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix.
[0072] S330. Calculate the orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix.
[0073] S340. Calculate the sonar echo intensity data based on the co-directional signal array and the orthogonal signal array.
[0074] Embodiment 4
[0075] A sonar echo signal processing method provided in the fourth embodiment of the present application optimizes the "calculating sonar echo intensity data based on the in-phase signal array and the quadrature signal array" in the first embodiment. It should be noted that for parts not described in detail in this embodiment, reference can be made to the descriptions of other embodiments. The method includes:
[0076] S410. Obtain a sonar echo data array, and determine an in-phase processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information.
[0077] S420. Calculate an in-phase signal array based on the sonar echo data array and the in-phase processing signal matrix.
[0078] S430. Calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix.
[0079] S441. Generate a low-dimensional in-phase and quadrature signal matrix based on the in-phase signal array and the quadrature signal array corresponding to each sonar echo data array.
[0080] Among them, taking one sonar echo data array as an example, through the implementation of the above steps, a transposed decimation matrix corresponding to the sonar echo data array can be calculated, and the transposed decimation matrix is denoted as the decimation transpose matrix; the number of columns of the decimation transpose matrix is the same as the number of rows of the in-phase processing signal matrix or the quadrature processing signal matrix. Therefore, by performing a matrix multiplication operation on the decimation transpose matrix and the in-phase processing signal matrix, the in-phase signal array can be calculated, and by performing a matrix multiplication operation on the decimation transpose matrix and the quadrature processing signal matrix, the quadrature signal array can be calculated. That is, through the above calculations, a set of in-phase signal arrays and quadrature signal arrays corresponding one by one to each sonar echo data array can be obtained, and a low-dimensional in-phase and quadrature signal matrix can be obtained by combining the in-phase signal arrays and quadrature signal arrays corresponding one by one to each sonar echo data array.
[0081] It should be noted that taking a set of in-phase signal arrays and quadrature signal arrays corresponding to one sonar echo data array as an example, the element I in the in-phase signal array corresponds to the element Q in the quadrature signal array one by one;
[0082] Specifically, taking an element I in the in-phase signal array corresponding to a sonar echo data array and a corresponding element Q in the quadrature signal array as an example, the element I in the in-phase signal array and the corresponding element Q in the quadrature signal array are obtained, and the element I and the corresponding element Q are combined into a low-dimensional in-phase quadrature signal. In one embodiment, the low-dimensional in-phase quadrature signal can be represented in the form of an array as [I, Q]; in another embodiment, the low-dimensional in-phase quadrature signal can also be represented in the form of a complex number as I + Qj; in other embodiments, there is no specific limitation.
[0083] Among them, all the corresponding elements I and elements Q of the in-phase signal array and the quadrature signal array corresponding to each sonar echo data array are first combined into the corresponding low-dimensional in-phase quadrature signals, and then the low-dimensional in-phase quadrature signals are aggregated to obtain a low-dimensional in-phase quadrature signal matrix. Among them, a group of low-dimensional in-phase quadrature signals corresponding to the first sonar echo data array serves as the first row data of the low-dimensional in-phase quadrature signal matrix, and a group of low-dimensional in-phase quadrature signals corresponding to the second sonar echo data array serves as the second row data of the low-dimensional in-phase quadrature signal matrix, and so on; in this embodiment, the matrix size of the low-dimensional in-phase quadrature signal matrix is 6 * 100.
[0084] S442. Generate a high-dimensional in-phase quadrature signal matrix based on the low-dimensional in-phase quadrature signal matrix and a preset channel upsampling matrix.
[0085] Among them, the matrix size of the low-dimensional in-phase quadrature signal matrix is 6 * 100, corresponding to 6 sonar echo data arrays in the sonar, that is, the number of data channels of the low-dimensional in-phase quadrature signal matrix is 6. The echo signal intensity corresponding to each sampling point on the sonar echo can be calculated through the data in the low-dimensional in-phase quadrature signal matrix with 6 data channels, and an image of the target object can be detected based on the echo signal intensity corresponding to each sampling point. In order to further increase the clarity of the image and achieve more accurate detection of the target object, this embodiment also presets a channel upsampling matrix. The channel upsampling matrix is used to perform matrix multiplication with the low-dimensional in-phase quadrature signal matrix to achieve the upsampling of the low-dimensional in-phase quadrature signal matrix. Upsampling means increasing the number of data channels of the low-dimensional in-phase quadrature signal matrix, and the matrix obtained after upsampling the low-dimensional in-phase quadrature signal matrix is denoted as the high-dimensional in-phase quadrature signal matrix.
[0086] S443. Calculate the sonar echo intensity data based on the high-dimensional in-phase quadrature signal matrix.
[0087] Among them, each element in the high-dimensional in-phase quadrature signal matrix is I and Q corresponding to the sampling points on the sonar echo, and the corresponding echo signal intensity S can be calculated for each sampling point. The set of the intensities S of the respective echo signals, namely the sonar echo intensity data, is used to detect the image of the target object.
[0088] Embodiment Five
[0089] A sonar echo signal processing method provided in Embodiment Five of the present application refines the "generation step of the channel up-dimension matrix" in Embodiment Four; it should be noted that for parts not described in detail in this embodiment, reference can be made to the descriptions of other embodiments. The method includes:
[0090] S510. Obtain a sonar echo data array, and determine a co-directional processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information.
[0091] S520. Calculate a co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix.
[0092] S530. Calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix.
[0093] S541. Generate a low-dimensional co-directional and quadrature signal matrix based on the co-directional signal array and the quadrature signal array corresponding to each sonar echo data array.
[0094] S542. Generate a high-dimensional co-directional and quadrature signal matrix based on the low-dimensional co-directional and quadrature signal matrix and a preset channel up-dimension matrix.
[0095] Among them, the generation step of the preset channel up-dimension matrix includes:
[0096] A1. Calculate a first incident angle vector based on the incident angle of the transmitted signal and a preset first vector calculation formula.
[0097] Among them, the incident angle of the transmitted signal is the incident angle of the acoustic wave signal emitted by the sonar on the target object. The range of the incident angle of the transmitted signal is [-60°, 60°]. Taking -60° as the first incident angle of the transmitted signal, and collecting an angle in the incident angle range every 15° as the incident angle of the transmitted signal; the first vector calculation formula is used to process the incident angle of the transmitted signal into a corresponding vector, and the vector corresponding to the incident angle of the transmitted signal is denoted as the first incident angle vector.
[0098] A2. Calculate a second incident angle vector based on the incident angle of the interference signal and a preset second vector calculation formula.
[0099] Among them, the incident angle of the interference signal is the incident angle of the interference signal in water on the target object. The second vector calculation formula is used to process the incident angle of the interference signal into a corresponding vector, and the vector corresponding to the incident angle of the interference signal is denoted as the second incident angle vector. In this embodiment, there are 2 incident angles of the interference signal, which are: -30° and 30°.
[0100] A3. Construct an interference signal based on the second incident angle vector and a preset interference-to-noise ratio.
[0101] Among them, in this embodiment, the preset interference-to-noise ratio is 10, and the interference signal can be obtained by processing the second incident angle vector through the preset interference-to-noise ratio.
[0102] A4. Calculate a noisy signal based on the interference signal and a preset antenna noise.
[0103] Among them, both the interference signal and the antenna noise exist in the form of a matrix, and the matrix size of the matrix is 6*10 6 , and the interference signal and the antenna noise are added to obtain a noisy signal, and the noisy signal also exists in the form of a matrix, and the matrix size of the matrix is also 6*10 6 .
[0104] A5. Determine a channel dimension elevation matrix based on the noisy signal and the first incident angle vector.
[0105] Among them, a corresponding covariance matrix can be constructed through the noisy signal, and the channel dimension elevation matrix can be calculated through the covariance matrix and the first incident angle vector.
[0106] S543. Calculate sonar echo intensity data based on the high-dimensional co-polarized orthogonal signal matrix.
[0107] Embodiment Six
[0108] A method for processing sonar echo signals provided in Embodiment Six of the present application optimizes the "generating a high-dimensional co-polarized orthogonal signal matrix based on the low-dimensional co-polarized orthogonal signal matrix and a preset channel dimension elevation matrix" in Embodiment Four; it should be noted that for parts not detailed in this embodiment, reference can be made to the descriptions of other embodiments. The method includes:
[0109] S610. Obtain a sonar echo data array, and determine a co-polarized processing signal matrix and a cross-polarized processing signal matrix based on the sonar echo data array and preset sonar acquisition information.
[0110] S620. Calculate a co-polarized signal array based on the sonar echo data array and the co-polarized processing signal matrix.
[0111] S630. Calculate the orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix.
[0112] S641. Generate a low-dimensional co-directional orthogonal signal matrix based on the co-directional signal array and the orthogonal signal array corresponding to each sonar echo data array.
[0113] S642A. Transpose the low-dimensional co-directional orthogonal signal matrix to obtain a co-directional orthogonal signal transposed matrix.
[0114] Among them, subsequent multiplication operations need to be performed on the low-dimensional co-directional orthogonal signal matrix and the channel dimension elevation matrix. To meet the conditions for the multiplication operation, that is, to meet the condition that the number of columns of the low-dimensional co-directional orthogonal signal matrix is the same as the number of rows of the channel dimension elevation matrix, it is necessary to transpose the low-dimensional co-directional orthogonal signal matrix; and the matrix obtained after transposing the low-dimensional co-directional orthogonal signal matrix is denoted as the co-directional orthogonal signal transposed matrix.
[0115] S642B. Calculate the product between the co-directional orthogonal signal transposed matrix and a preset channel dimension elevation matrix to obtain a high-dimensional co-directional orthogonal signal matrix.
[0116] S643. Calculate the sonar echo intensity data based on the high-dimensional co-directional orthogonal signal matrix.
[0117] Embodiment Seven
[0118] A sonar echo signal processing method provided by Embodiment Seven of the present application optimizes the part after "calculating the sonar echo intensity data based on the high-dimensional co-directional orthogonal signal matrix" in Embodiment Four; it should be noted that for the parts not detailed in this embodiment, the descriptions of other embodiments can be referred to. This method includes:
[0119] S710. Obtain the sonar echo data array, and determine the co-directional processing signal matrix and the orthogonal processing signal matrix based on the sonar echo data array and the preset sonar acquisition information.
[0120] S720. Calculate the co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix.
[0121] S730. Calculate the orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix.
[0122] S741. Generate a low-dimensional co-directional orthogonal signal matrix based on the co-directional signal array and the orthogonal signal array corresponding to each sonar echo data array.
[0123] S742. Generate a high-dimensional co-directional orthogonal signal matrix based on the low-dimensional co-directional orthogonal signal matrix and a preset channel dimension elevation matrix.
[0124] S743. Calculate the sonar echo intensity data based on the high-dimensional co-directional orthogonal signal matrix.
[0125] S744. Calculate the sonar echo phase angle data based on the high-dimensional co-directional orthogonal signal matrix.
[0126] Among them, each element of the high-dimensional co-directional orthogonal signal matrix represents the corresponding I and Q of the corresponding sampling point. The phase angle w of the corresponding sampling point can be calculated through the corresponding I and Q, where w = arctan(Q / I); after calculating the phase angles corresponding to each sampling point, the sonar echo phase angle data is obtained by aggregating all the phase angles.
[0127] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless specifically stated herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily have to be sequential, but can be executed alternately or in rotation with at least some of the steps or stages in other steps or other steps.
[0128] Embodiment Eight
[0129] Based on the same inventive concept, this embodiment also provides a sonar echo signal processing device for implementing the sonar echo signal processing method described above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the sonar echo signal processing device provided below can refer to the limitations on the sonar echo signal processing method in the above text, and will not be repeated here.
[0130] In this embodiment, as Figure 2 shown, a sonar echo signal processing device is provided, including:
[0131] A matrix calculation module, configured to obtain a sonar echo data array, and determine a co-directional processing signal matrix and an orthogonal processing signal matrix based on the sonar echo data array and preset sonar acquisition information;
[0132] A co-directional calculation module, configured to calculate a co-directional signal array based on the sonar echo data array and the co-directional processing signal matrix;
[0133] An orthogonal calculation module, configured to calculate an orthogonal signal array based on the sonar echo data array and the orthogonal processing signal matrix;
[0134] An intensity calculation module for calculating sonar echo intensity data based on the in-phase signal array and the quadrature signal array.
[0135] Each module in the above sonar echo signal processing device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.
[0136] It should be noted that in this embodiment, by obtaining the sonar echo data array, the in-phase processing signal matrix and the quadrature processing signal matrix are determined based on the sonar echo data array and the preset sonar acquisition information; the in-phase signal array is calculated based on the sonar echo data array and the in-phase processing signal matrix; the quadrature signal array is calculated based on the sonar echo data array and the quadrature processing signal matrix; the sonar echo intensity data is calculated based on the in-phase signal array and the quadrature signal array. Through the above implementation, by processing the sonar echo data array with the calculated in-phase processing signal matrix and quadrature processing signal matrix respectively, the amount of data after processing can be greatly reduced, and the data processing steps can be simplified, so as to improve the efficiency of detecting objects by sonar.
[0137] In an optional embodiment, in terms of determining the in-phase processing signal matrix and the quadrature processing signal matrix based on the sonar echo data array and the preset sonar acquisition information, the matrix calculation module is specifically used for:
[0138] Downsample the sonar echo data array to obtain a downsampled matrix;
[0139] Based on the sonar echo data array, the downsampled matrix, and the preset sonar acquisition information, determine the in-phase processing signal matrix and the quadrature processing signal matrix.
[0140] In an optional embodiment, in terms of determining the in-phase processing signal matrix and the quadrature processing signal matrix based on the sonar echo data array, the downsampled matrix, and the preset sonar acquisition information, the matrix calculation module is specifically used for:
[0141] Based on the sonar echo data array, the downsampled matrix, the sonar sound wave emission frequency and the sampling card sampling rate in the preset sonar acquisition information, and the preset in-phase processing signal calculation formula, determine the in-phase processing signal matrix;
[0142] Determine an orthogonal processing signal matrix based on the sonar echo data array, the downsampling matrix, the sonar acoustic wave emission frequency and the sampling card sampling rate in the preset sonar acquisition information, and the preset orthogonal processing signal calculation formula.
[0143] In an alternative embodiment, in terms of calculating the sonar echo intensity data based on the in-phase signal array and the quadrature signal array, the intensity calculation module is specifically configured to:
[0144] Generate a low-dimensional in-phase quadrature signal matrix based on the in-phase signal array and the quadrature signal array corresponding to each sonar echo data array;
[0145] Generate a high-dimensional in-phase quadrature signal matrix based on the low-dimensional in-phase quadrature signal matrix and a preset channel upsampling matrix;
[0146] Calculate the sonar echo intensity data based on the high-dimensional in-phase quadrature signal matrix.
[0147] In an alternative embodiment, in terms of the generation step of the channel upsampling matrix, the intensity calculation module is specifically configured to:
[0148] Calculate a first incident angle vector based on the incident angle of the transmitted signal and a preset first vector calculation formula;
[0149] Calculate a second incident angle vector based on the incident angle of the interference signal and a preset second vector calculation formula;
[0150] Construct an interference signal based on the second incident angle vector and a preset signal-to-noise ratio;
[0151] Calculate a noisy signal based on the interference signal and a preset antenna noise;
[0152] Determine the channel upsampling matrix based on the noisy signal and the first incident angle vector.
[0153] In an alternative embodiment, in terms of generating a high-dimensional in-phase quadrature signal matrix based on the low-dimensional in-phase quadrature signal matrix and a preset channel upsampling matrix, the intensity calculation module is specifically configured to:
[0154] Transpose the low-dimensional in-phase quadrature signal matrix to obtain an in-phase quadrature signal transposed matrix;
[0155] Calculate the product between the in-phase quadrature signal transposed matrix and the preset channel upsampling matrix to obtain a high-dimensional in-phase quadrature signal matrix.
[0156] In an alternative embodiment, after calculating the sonar echo intensity data based on the high-dimensional in-phase quadrature signal matrix, the sonar echo signal processing device further includes:
[0157] A phase calculation module, configured to calculate sonar echo phase angle data based on the high-dimensional co-directional quadrature signal matrix.
[0158] Embodiment Nine
[0159] In this embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 3 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for processing sonar echo signals.
[0160] Those skilled in the art can understand that Figure 4 the structure shown in
[0161] is only a block diagram of some structures related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0162] In this embodiment, a computer-readable storage medium is provided, as Figure 4 shown, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps in the above method embodiments.
[0163] Embodiment Eleven
[0164] In this embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, it implements the steps in the above method embodiments.
[0165] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present disclosure are all information and data authorized by the user or fully authorized by all parties.
[0166] Those of ordinary skill in the art can understand that all or part of the processes in the above-described method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-described method embodiments. Among them, any reference to a memory, database, or other medium used in the various embodiments provided by the present disclosure can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, and the like. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the various embodiments provided by the present disclosure can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the various embodiments provided by the present disclosure can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.
[0167] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.
[0168] The above-described embodiments merely represent several implementation manners of the present disclosure. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the appended claims.
Claims
1. A method for processing sonar echo signals, characterized in that, Including: Obtain a sonar echo data array, and determine a co-processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information; Calculate a co-signal array based on the sonar echo data array and the co-processing signal matrix; Calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix; Calculate sonar echo intensity data based on the co-signal array and the quadrature signal array.
2. The method according to claim 1, characterized in that, The determining the co-processing signal matrix and the quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information includes: Perform downsampling on the sonar echo data array to obtain a downsampled matrix; Determine the co-processing signal matrix and the quadrature processing signal matrix based on the sonar echo data array, the downsampled matrix, and preset sonar acquisition information.
3. The method according to claim 2, wherein The determining the co-processing signal matrix and the quadrature processing signal matrix based on the sonar echo data array, the downsampled matrix, and preset sonar acquisition information includes: Determine the co-processing signal matrix based on the sonar echo data array, the downsampled matrix, the sonar acoustic wave emission frequency and the sampling card sampling rate in the preset sonar acquisition information, and a preset co-processing signal calculation formula; Determine the quadrature processing signal matrix based on the sonar echo data array, the downsampled matrix, the sonar acoustic wave emission frequency and the sampling card sampling rate in the preset sonar acquisition information, and a preset quadrature processing signal calculation formula.
4. The method according to claim 1, wherein The calculating the sonar echo intensity data based on the co-signal array and the quadrature signal array includes: Generate a low-dimensional co-quadrature signal matrix based on the co-signal array and the quadrature signal array corresponding to each sonar echo data array; Generate a high-dimensional co-quadrature signal matrix based on the low-dimensional co-quadrature signal matrix and a preset channel upsampling matrix; Calculate sonar echo intensity data based on the high-dimensional co-quadrature signal matrix.
5. The method according to claim 4, characterized in that The generating step of the channel upsampling matrix includes: Calculate a first incident angle vector based on the emission signal incident angle and a preset first vector calculation formula; Calculate a second incident angle vector based on the interference signal incident angle and a preset second vector calculation formula; Construct an interference signal based on the second incident angle vector and a preset signal-to-noise ratio; Calculate a noisy signal based on the interference signal and preset antenna noise; Determine the channel upsampling matrix based on the noisy signal and the first incident angle vector.
6. The method according to claim 4, wherein The generating the high-dimensional co-quadrature signal matrix based on the low-dimensional co-quadrature signal matrix and a preset channel upsampling matrix includes: Transpose the low-dimensional co-quadrature signal matrix to obtain a co-quadrature signal transposed matrix; Calculate the product between the co-quadrature signal transposed matrix and the preset channel upsampling matrix to obtain the high-dimensional co-quadrature signal matrix.
7. The method according to claim 4, characterized in that After the calculating the sonar echo intensity data based on the high-dimensional co-quadrature signal matrix, it further includes: Calculate sonar echo phase angle data based on the high-dimensional co-quadrature signal matrix.
8. A sonar echo signal processing device, characterized in that, The device includes: A matrix calculation module, configured to obtain a sonar echo data array, and determine a co-processing signal matrix and a quadrature processing signal matrix based on the sonar echo data array and preset sonar acquisition information; A co-processing calculation module, configured to calculate a co-processing signal array based on the sonar echo data array and the co-processing signal matrix; A quadrature calculation module, configured to calculate a quadrature signal array based on the sonar echo data array and the quadrature processing signal matrix; An intensity calculation module, configured to calculate sonar echo intensity data based on the co-processing signal array and the quadrature signal array.
9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.