Passive double-line array starboard and starboard target judgment method, device and equipment and medium

Abstract

The invention relates to the technical field of target detection, and discloses a passive double-line array starboard and starboard target judgment method, device and equipment and a medium, and the method comprises the steps: determining the number of target data points needed by beam forming based on the obtained array length of a passive double-line array; based on the number of the target data points, frequency domain beam forming operation is carried out on two linear arrays in the passive double-linear array, and beam output in each beam direction is determined; based on the beam output, determining energy output corresponding to different positions of the target; wherein the energy output comprises port energy output corresponding to the target located at the port position and starboard energy output corresponding to the target located at the starboard position; and selectively accumulating the port energy output and the starboard energy output to obtain corresponding total energy output, and judging the directions of the port and the starboard of the target according to the total energy output. According to the technical scheme provided by the invention, the azimuth resolution and stability of the ocean detection system in a complex environment can be improved.

Description

Technical Field

[0001] This application relates to the technical field of target detection, and particularly to a method, device, equipment and medium for judging left and right side targets of a passive double-line array. Background Technique

[0002] Linear array sonar systems are crucial in civilian ocean exploration. Especially in the application of ocean research vessels, the resolution of left and right side targets is crucial for accurately detecting various targets.

[0003] However, due to the beam diffusion characteristics of traditional single-line array systems, it is difficult to accurately judge the azimuth, resulting in frequent course adjustments or the use of extremely long tow cables by research vessels, increasing costs. Existing double-line array solutions improve the detection ability through large aperture and long tow cable designs, but have high requirements for attitude control accuracy, and fluctuations in the marine environment may cause signal distortion. The triple-line array solution simplifies the attitude control process, but due to limited array size, it is difficult to meet the long-distance and high-resolution detection requirements in environments such as the open sea and deep sea.

[0004] Therefore, the current urgent problem to be solved is how to improve the azimuth resolution and stability of ocean detection systems in complex environments. Summary of the Invention

[0005] This application provides a method, device, equipment and medium for judging left and right side targets of a passive double-line array, achieving the technical effect of improving the azimuth resolution and stability of ocean detection systems in complex environments.

[0006] To achieve the above object, the main technical solutions adopted in this application include: In the first aspect, an embodiment of this application provides a method for judging left and right side targets of a passive double-line array, and the method includes: Based on the obtained array length of the passive double-line array, determine the number of target data points required for beamforming; Based on the number of target data points, perform frequency-domain beamforming operations on the two line arrays in the passive double-line array respectively to determine the beam outputs in each beam direction; Based on the beam outputs, determine the energy outputs corresponding to the target at different positions; wherein, the energy outputs include the left-side energy output corresponding to the target at the left-side position and the right-side energy output corresponding to the target at the right-side position; Selectively accumulate the left-side energy output and the right-side energy output to obtain the corresponding total energy output, and judge the left and right side azimuths of the target according to the total energy output.

[0007] A method for judging the left and right side targets of a passive double-line array provided in this embodiment determines the number of target data points required for beamforming based on the obtained array length of the passive double-line array, providing data support for subsequent beamforming operations. Then, according to the number of target data points, frequency-domain beamforming operations are respectively performed on the two line arrays in the passive double-line array to generate beam outputs in different beam directions. Then, according to the beam outputs, the energy outputs corresponding to the target at different positions are calculated, especially the energy outputs on the left and right sides, providing a basis for azimuth judgment. Finally, the energy outputs on the left and right sides are selectively accumulated to obtain the total energy output, and the left and right side azimuths of the target are judged by analyzing the total energy output. It enables stable operation in a complex marine environment, effectively improves the azimuth resolution, ensures the accuracy of target positioning, and thus enhances the detection stability and reliability.

[0008] In one embodiment, the determining the number of target data points required for beamforming based on the obtained array length of the passive double-line array includes: According to the obtained array length of the passive double-line array, the initial number of data points required for beamforming is determined through the sound propagation speed and the sampling frequency; The initial number of data points is finely adjusted by using the number of single-array element data points transmitted each time to obtain the target number of data points required for beamforming.

[0009] In this embodiment, by calculating the initial number of data points according to the array length, the sound propagation speed, and the sampling frequency, it is ensured that the beamforming process can obtain sufficient signal details, thereby improving the frequency resolution and further enhancing the azimuth resolution. It can accurately distinguish targets in different azimuths in a complex marine environment. By finely adjusting the initial number of data points, it ensures the transmission capacity adapted to each data transmission, avoids data loss or errors, and guarantees the stability of data transmission. This fine adjustment helps to reduce processing errors caused by incomplete data and improves the stability and anti-interference ability in a complex environment.

[0010] In one embodiment, the respectively performing frequency-domain beamforming operations on the two line arrays in the passive double-line array based on the number of target data points to determine the beam outputs in each beam direction includes: Performing time-frequency transformation on the time-domain signals received by each array element of the two line arrays in the passive double-line array to obtain the corresponding frequency-domain signals; According to the predefined number of beamformings, determining the beam direction corresponding to each beam output; Determining the spectral index according to the working frequency band range of beamforming; For any one of the line arrays in the passive double-line array, based on the frequency-domain signal and the beam direction, determining the beam output of each frequency point in the spectral index in each beam direction.

[0011] In this embodiment, by performing time-frequency transformation on the time-domain signals in the passive double-line array, the signals can be converted into frequency-domain signals, thereby improving the frequency resolution, effectively distinguishing interferences such as noise and echoes, and providing higher azimuth resolution and signal stability. Further, by pre-defining the beam direction and selecting an appropriate frequency band range, multiple beam outputs can be accurately configured to ensure that the target signals can be received and analyzed in multiple directions. This not only helps to distinguish targets with similar directions but also improves the signal stability, especially in the dynamically changing marine environment. In addition, the calculation based on the frequency-domain signals and beam directions can effectively enhance the stability and accuracy, enabling the marine detection system to maintain high-efficiency performance in complex environments and providing stronger target positioning and tracking capabilities.

[0012] In one embodiment, determining the spectral index according to the working frequency band range of beamforming includes: Obtaining the working frequency band range of beamforming; wherein, the working frequency band range includes the lowest working frequency and the highest working frequency; Rounding the result of dividing the product of the target number of data points and the lowest working frequency by the sampling frequency to determine the minimum frequency point index corresponding to the lowest working frequency; Rounding the result of dividing the product of the target number of data points and the highest working frequency by the sampling frequency to determine the maximum frequency point index corresponding to the highest working frequency; Determining the spectral index according to the minimum frequency point index and the maximum frequency point index.

[0013] In this embodiment, by accurately determining the working frequency band range of beamforming, irrelevant frequency components can be filtered out, enhancing the efficiency and stability of signal processing. On this basis, calculating the minimum and maximum frequency point indexes can ensure that the signals are accurately discretized in the frequency domain and effectively capture low-frequency and high-frequency signals. The accurate calculation of frequency point indexes helps to improve the ability to capture low-frequency signals and enhance the azimuth resolution. At the same time, reasonably controlling the frequency band range can avoid high-frequency noise interference, enhancing the anti-interference ability and stability. Furthermore, it can significantly improve the resolution and stability of the marine detection system in complex environments, effectively improving the target detection accuracy. Especially in an environment with multiple targets or strong interference, it can more accurately identify and locate targets.

[0014] In one embodiment, determining the energy output corresponding to the target at different positions based on the beam output includes: Constructing a noise covariance matrix based on the target number of data points and the distance between the two line arrays in the passive double-line array; Determine the interference signal steering vectors corresponding to different positions of the target, and obtain the corresponding beamforming weighting coefficients according to the weighting of the interference signal steering vectors and the noise covariance matrix; In the beam direction, combine the beam outputs corresponding to the two linear arrays in the passive double linear array into a combined vector; Multiply the beamforming weighting coefficients by the conjugate transpose of the combined vector to obtain the corresponding energy output.

[0015] In this embodiment, the construction of the noise covariance matrix helps to accurately estimate the noise characteristics, provides a basis for subsequent beam weighting, reduces the influence of noise on the signal, and thus improves the stability and signal-to-noise ratio of the signal. Secondly, by weighting the interference signal steering vectors, the interference signals from different directions can be effectively suppressed, further improving the stability in a complex environment. Combining the beam outputs of the two linear arrays enhances the directivity and spatial resolution of the beam, and can more accurately identify the azimuth of the target. On this basis, calculating the energy output and performing weighting further optimize the formation of the beam and enhance the recognition degree of the target signal. Furthermore, higher azimuth resolution and stability can be achieved in a complex marine environment, thereby improving the detection accuracy and reliability.

[0016] In one embodiment, selectively accumulate the starboard energy output and the port energy output to obtain the corresponding total energy output, including: Obtain the working frequency band range of beamforming; For each frequency point within the working frequency band range, if the port energy output is greater than the starboard energy output, accumulate the port energy output to obtain the corresponding total energy output; For each frequency point within the working frequency band range, if the port energy output is less than the starboard energy output, accumulate the starboard energy output to obtain the corresponding total energy output.

[0017] In this embodiment, by determining the working frequency band range, it provides a frequency selection basis for beamforming, optimizes signal reception and processing, reduces noise interference, and ensures the clarity of the signal. Then, according to the difference in energy output between the port and starboard sides, selectively accumulate the stronger side's energy output. When the port energy output is greater than the starboard, accumulate the port energy; conversely, when the starboard energy output is stronger, accumulate the starboard energy. In this way, the signal strength in the direction of the stronger signal can be enhanced, and the interference or noise from the other direction can be suppressed, thereby improving the identifiability and direction resolution ability of the target signal. This dynamically adjusted energy output method effectively copes with signal strength changes and environmental interference, and finally improves the detection accuracy and stability.

[0018] In one embodiment, the total energy output includes the starboard total energy output and the port total energy output; determining the port and starboard bearings of the target based on the total energy output includes: Obtaining a port-starboard energy ratio coefficient according to a comparison between the port total energy output and the starboard total energy output; When the port-starboard energy ratio coefficient is greater than or equal to a first preset port-starboard resolution threshold, determining that the target is located in the port bearing; When the port-starboard energy ratio coefficient is less than or equal to a second preset port-starboard resolution threshold, determining that the target is located in the starboard bearing.

[0019] In this embodiment, by comparing the port total energy output and the starboard total energy output, a port-starboard energy ratio coefficient is calculated. This process provides an accurate basis for subsequent bearing judgment. When the port-starboard energy ratio coefficient is greater than or equal to the first preset threshold, it is determined that the target is located in the port bearing; when the port-starboard energy ratio coefficient is less than or equal to the second preset threshold, the system determines that the target is located in the starboard bearing. Through this judgment method based on energy ratio, it can flexibly adapt to complex marine environments, effectively avoid the influence of signal interference and weak signals, and ensure the accuracy of bearing judgment. This not only improves the bearing resolution but also enhances the stability and reliability in complex environments, thus achieving more accurate target positioning and detection results.

[0020] In a second aspect, an embodiment of the present application provides a device for judging port and starboard targets of a passive double-line array, the device including: A data point number determination unit, configured to determine the number of target data points required for beamforming based on the array length of the acquired passive double-line array; A beam output determination unit, configured to perform frequency-domain beamforming operations on two line arrays in the passive double-line array respectively based on the number of target data points, and determine the beam outputs in each beam direction; An energy output determination unit, configured to determine the energy outputs corresponding to the target at different positions based on the beam outputs; wherein, the energy output includes the port energy output corresponding to the target at the port position and the starboard energy output corresponding to the target at the starboard position; A target bearing judgment unit, configured to selectively accumulate the port energy output and the starboard energy output to obtain the corresponding total energy output, and judge the port and starboard bearings of the target according to the total energy output.

[0021] In a third aspect, an embodiment of the present application provides a computer device, including: A memory and a processor, which are communicatively connected to each other. Computer instructions are stored in the memory, and the processor executes the computer instructions to execute the passive dual-line array left and right target determination method described above.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the passive dual-line array left and right target determination method described above. Description of the Drawings

[0023] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a flowchart of a passive dual-line array left and right target determination method provided by an embodiment of the present application; Figure 2 It is a flowchart of step S1 provided by an embodiment of the present application; Figure 3 It is a flowchart of step S3 provided by an embodiment of the present application; Figure 4 It is a flowchart of step S35 provided by an embodiment of the present application; Figure 5 It is a flowchart of step S5 provided by an embodiment of the present application; Figure 6 It is a schematic diagram of a passive dual-line array provided by an embodiment of the present application; Figure 7 It is a flowchart of obtaining the corresponding total energy output provided by an embodiment of the present application; Figure 8 It is a flowchart of determining the left and right azimuths of a target provided by an embodiment of the present application; Figure 9 It is a block diagram of a passive dual-line array left and right target determination device provided by an embodiment of the present application; Figure 10 It is a schematic structural diagram of a computer device provided by an embodiment of the present application. Detailed Embodiments

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] Linear array sonar systems play a vital role in the field of civil ocean exploration, especially in the application of oceanographic research vessels. Its port and starboard azimuth resolution is crucial for the accurate detection of various marine targets. However, due to the inherent diffusion characteristics of the sonar beam in the horizontal direction, traditional single-line array sonar systems often cannot accurately determine the azimuth. This deficiency causes research vessels to frequently adjust their course or use extra-long tow cables for compensation, which wastes time and increases research costs.

[0027] To solve this problem, the existing dual-line array solution improves detection capabilities by adopting independent retractable devices combined with large aperture and long tow cable designs. However, the dual-line array system has high requirements for attitude control accuracy. Factors such as rough waves and current disturbances in the actual ocean environment can easily cause signal distortion and affect the reliability of detection results. In addition, the three-element array solution simplifies the attitude control process by sharing a hose, but due to the limited size of the array, it cannot meet the needs of long-distance, high-resolution detection in the vast ocean. Especially in complex environments such as deep sea and open sea, long-range, high-precision detection tasks still face challenges.

[0028] In order to solve the above technical problems, according to an embodiment of the present application, a passive dual-line array port and starboard target judgment method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] In this embodiment, a passive dual-line array port and starboard target determination method is provided. Figure 1 A flowchart of a passive dual-line array port and starboard target determination method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the process includes the following steps: Step S1, determining the number of target data points required for beamforming based on the acquired array length of the passive dual-linear array.

[0030] Specifically, in the passive dual-line array beamforming, firstly based on the array length l of the dual-line array, combined with the acoustic propagation speed c and the sampling frequency F s , through the formula Calculate the initial number of data points . Among them, the coefficient α usually takes the value of 10 to ensure that there are enough data points for accurate beamforming processing. To adapt to the transmission requirements of the system data interface module, further according to the number of single-array-element data points N transmitted each time blocksize for the initial number of data points perform fine-tuning to finally obtain the target number of data points L BF , the formula is . This process ensures that the number of data points can be divided evenly by N blocksize , thereby optimizing the data transmission and processing efficiency. In this way, a solid foundation is laid for subsequent beamforming processing, ensuring the accuracy and efficiency of signal processing. In addition, the determination of this target number of data points only needs to be performed once in the initial stage and does not need to be repeated subsequently, laying a foundation for subsequent beamforming processing.

[0031] Step S3, based on the target number of data points, perform frequency-domain beamforming operations on the two linear arrays in the passive double linear array respectively to determine the beam outputs in each beam direction.

[0032] Specifically, in the passive double linear array, based on the target number of data points L BF , performing frequency-domain beamforming operations on the two linear arrays is a key step to achieve direction resolution and target positioning. Specifically, first perform a discrete Fourier transform (DFT) on the time-domain signals received by each element of the two linear arrays to convert the signals from the time domain to the frequency domain. Then, according to the predefined number of beam directions M and each beam direction θ m , calculate the beam output BF l,m [k] at each frequency point k in each beam direction. This process forms the beam output in a specific direction by weighted superposition of the frequency-domain signals of different elements, thereby achieving direction resolution. Finally, by selectively accumulating the energy outputs of each frequency point, the total energy output in each beam direction is obtained, providing data support for subsequent target azimuth judgment. This process not only improves the direction resolution ability but also optimizes the efficiency and accuracy of signal processing.

[0033] Step S5, based on the beam output, determine the energy outputs corresponding to different target positions; among them, the energy outputs include the port energy output corresponding to the target at the port position and the starboard energy output corresponding to the target at the starboard position.

[0034] Specifically, by calculating the beam outputs at each frequency point in each beam direction, the energy outputs corresponding to the target at the port and starboard positions can be obtained. For each frequency point k and beam direction θ m , calculate the port energy output P m [k] and the starboard energy output S m[k]. The port energy output P m [k] is obtained by multiplying the conjugate transpose of the beamforming weighting coefficient and the combined vector [BF 0,m [k], BF 1,m [k]] when assuming the target is on the port side; the starboard energy output S m [k] is obtained by the beamforming weighting coefficient and the same combined vector when assuming the target is on the starboard side. By comparing the port and starboard energy outputs, the specific azimuth of the target can be determined, thus realizing the port-starboard discrimination of the target. This process not only improves the accuracy of direction discrimination but also provides key data support for subsequent target positioning and tracking.

[0035] Step S7, selectively accumulate the port energy output and the starboard energy output to obtain the corresponding total energy output, and judge the port-starboard azimuth of the target according to the total energy output.

[0036] Specifically, for each beam direction θ m , at each frequency point k within the working frequency band, compare the port energy output P m [k] and the starboard energy output S m [k]. If P m [k] > S m [k], then accumulate P m [k] into the port total energy output BF p [m]; if S m [k] > P m [k], then accumulate S m [k] into the starboard total energy output BF s [m]. In this way, the port and starboard total energy outputs in each beam direction can be obtained. Finally, by comparing the port total energy output and the starboard total energy output, the specific azimuth of the target is judged. This method effectively improves the accuracy of direction discrimination and the robustness of the system by selectively accumulating energy outputs, providing a reliable technical means for passive acoustic positioning and tracking.

[0037] A method for judging the left and right side targets of a passive double-line array provided by this embodiment determines the number of target data points required for beamforming based on the obtained array length of the passive double-line array, providing data support for subsequent beamforming operations. Then, according to the number of target data points, frequency-domain beamforming operations are respectively performed on the two line arrays in the passive double-line array to generate beam outputs in different beam directions. Then, according to the beam outputs, the corresponding energy outputs when the target is at different positions are calculated, especially the energy outputs on the left and right sides, providing a basis for azimuth judgment. Finally, the energy outputs on the left and right sides are selectively accumulated to obtain the total energy output, and the left and right side azimuths of the target are judged by analyzing the total energy output. This enables stable operation in a complex marine environment, effectively improving the azimuth resolution, ensuring the accuracy of target positioning, and thus enhancing the detection stability and reliability.

[0038] Figure 2 The flowchart of step S1 provided by the embodiment of this application may include the following steps: Step S11, according to the obtained array length of the passive double-line array, determine the initial number of data points required for beamforming through the sound propagation speed and the sampling frequency.

[0039] Specifically, in beamforming, the initial number of data points determines the resolution of the signal in the frequency domain and the length of the processing window. Sufficient data points can improve the frequency resolution, thereby more accurately analyzing the frequency characteristics of the signal. In addition, the selection of the number of data points also affects the accuracy of beamforming and the direction resolution ability. The initial number of data points is determined by the following formula: Where, is the initial number of data points; α is a coefficient with a value of 10; is the array length l; c is the sound propagation speed, with the unit of m / s, usually taking 1530 m / s; F s is the sampling frequency; Step S13, use the number of data points of each single array element transmission to fine-tune the initial number of data points to obtain the number of target data points required for beamforming.

[0040] Specifically, the number of data points of a single array element represents the number of data points of the signal of a single array element transmitted by the data interface module each time. In actual operation, data transmission and processing usually need to be carried out according to a fixed data block size. To ensure efficiency and consistency, the initial number of data points needs to be adjusted to a value that can be divided evenly by the number of data points N blocksize of a single array element. This can avoid incomplete data blocks in data transmission and improve the overall performance of transmission. The calculation formula for the number of target data points after fine-tuning is as follows: Among them, L BF is the number of target data points; is the number of initial data points; N blocksize is the number of data points of a single array element; is the ceiling function. The fine-tuned number of target data points ensures the stability of data transmission, avoids incomplete data blocks, and reduces possible errors or data loss during transmission.

[0041] In this embodiment, by calculating the number of initial data points according to the array length, sound propagation speed, and sampling frequency, it is ensured that the beamforming process can obtain sufficient signal details, thereby improving the frequency resolution and further enhancing the azimuth resolution. It can accurately distinguish targets in different azimuths in a complex marine environment. By fine-tuning the number of initial data points, it is ensured that the transmission capacity is adapted to each data transmission, avoiding data loss or errors and ensuring the stability of data transmission. This fine-tuning helps to reduce processing errors caused by incomplete data and improves the stability and anti-interference ability in complex environments.

[0042] Figure 3 The following is a flowchart of step S3 provided by the embodiment of the present application, and this process may include the following steps: Step S31, perform time-frequency transformation on the time-domain signals received by each array element of the two linear arrays in the passive double linear array to obtain corresponding frequency-domain signals.

[0043] Specifically, in beamforming, the frequency-domain signals are used to calculate the beam output in a specific direction, thereby achieving direction resolution and target positioning. The process of converting the time-domain signals into frequency-domain signals here is usually implemented through the discrete Fourier transform (DFT).

[0044] For the time-domain signals received by each array element of the two linear arrays , perform DFT transformation to obtain corresponding frequency-domain signals . Where i = 0, 1, …, 2N−1, the first N are the array elements of the 0# linear array, and the last N array elements are the array elements of the 1# linear array. Specifically, in the passive double linear array, there are two linear arrays, and each linear array contains N array elements. These two linear arrays can be regarded as two independent sensor arrays, which are respectively used to receive or transmit signals. For the convenience of processing and distinction, these two linear arrays are usually numbered as the 0# linear array and the 1# linear array respectively, and N is the number of array elements of a single linear array. represents the time-domain signal received by the i-th array element, represents the frequency-domain signal after DFT transformation of the i-th array element.

[0045] Step S33, determine the beam direction corresponding to each beam output according to the predefined number of beamformings.

[0046] Specifically, the beam direction refers to the direction of the beamforming output, usually represented by the beam angle θ m denoted as. θ m is the direction of the m-th beamforming, in degrees. The selection of the beam direction can be based on different distribution methods: If the beamforming is uniformly distributed in the angular space, then ; If the beamforming is uniformly distributed in the cosine domain, then ; where m is the index of beamforming, taking values 0, 1, …, M - 1; M is the predefined number of beamformings.

[0047] Step S35: Determine the spectral index according to the operating frequency band range of the beamforming.

[0048] Specifically, the process of determining the spectral index according to the operating frequency band range of the beamforming can effectively delimit the frequency range to be processed. Then, by accurately determining the minimum and maximum frequency point indices, it can be clear which frequency points belong to the effective operating range, thereby precisely dividing the frequency domain of the signal. This process ensures that only the target frequency components are retained during signal processing, while the irrelevant frequency components are filtered out, avoiding the influence of interference and noise on signal processing. Finally, through the precise delimitation of the spectral index, the accuracy and resolution of signal processing can be improved, thereby enhancing the ability of target positioning and detection.

[0049] Step S37: For any linear array in the passive double linear array, based on the frequency-domain signal and the beam direction, determine the beam output of each frequency point in the spectral index in each beam direction.

[0050] Specifically, the contribution of each array element is affected by its relative position (through pos l [i]) and the beam direction (through θ m ). Different array element positions will result in different time delays of the received signals, thereby affecting their phases. By weighted summing the contributions of all array elements, the beam output BF l,m [k] at each frequency point k is obtained: where BF l,m [k] is the beam output of the l-th linear array, the m-th beamforming at the k-th frequency point; l = 0, 1 for the 0 / 1# linear array; θ m is the beam direction corresponding to the m-th beamforming; m is the m-th beamforming, m = 0, 1, …, M - 1, M is the number of beamformings; i is the i-th array element; N is the number of array elements in a single linear array; X i [k] is the frequency-domain signal of the i-th array element at the k-th frequency point; j is the imaginary unit, ; Fs is the sampling frequency; pos l [i] is the coordinate position of the i-th element in the l-th linear array; c is the sound propagation speed, with the unit of m / s, usually taken as 1530 m / s; L BF is the number of target data points.

[0051] Repeat the above process for different beam directions θ m to generate different beam outputs.

[0052] In this embodiment, by performing time-frequency transformation on the time-domain signals in the passive dual linear array, the signals can be converted into frequency-domain signals, thereby improving the frequency resolution and effectively distinguishing interferences such as noise and echoes, providing higher azimuth resolution and signal stability. Further, by pre-defining the beam direction and selecting an appropriate frequency band range, multiple beam outputs can be accurately configured to ensure that the target signals can be received and analyzed in multiple directions. This not only helps to distinguish targets with similar directions but also improves the signal stability, especially in a dynamically changing ocean environment. In addition, the calculation based on the frequency-domain signals and beam directions can effectively enhance the stability and accuracy, enabling the ocean detection system to maintain high efficiency in complex environments and providing stronger target positioning and tracking capabilities.

[0053] Figure 4 is the flowchart of step S35 provided by the embodiment of the present application, and this process may include the following steps: Step S351, obtain the working frequency band range of beamforming; wherein, the working frequency band range includes the lowest working frequency and the highest working frequency.

[0054] Step S353, round up the result of dividing the product of the number of target data points and the lowest working frequency by the sampling frequency to determine the minimum frequency point index corresponding to the lowest working frequency.

[0055] Step S355, round up the result of dividing the product of the number of target data points and the highest working frequency by the sampling frequency to determine the maximum frequency point index corresponding to the highest working frequency.

[0056] Step S357, determine the spectrum index according to the minimum frequency point index and the maximum frequency point index.

[0057] Specifically, the working frequency band range [B L , B H of beamforming can be obtained according to the characteristics of the signals or the needs of the users, and the frequency components related to the target signals can be centrally processed to improve the effect and efficiency of beamforming, where B L is the lowest working frequency, and B His the highest operating frequency. During signal processing, the frequency is discretized into individual frequency points, and the indices of these frequency points are the frequency point indices. The minimum frequency point index represents the position corresponding to the lowest operating frequency among the discrete frequencies, which helps to determine the starting frequency position of beamforming. Similarly, since the frequency is discretized in signal processing, the maximum frequency point index represents the upper limit position of the frequency components in the signal, which helps to precisely define the upper limit of the frequency during the beamforming process. The minimum frequency point index k min and the maximum frequency point index k max are determined as follows: where round(•) is the round-off operator, L BF is the number of target data points; B L is the lowest operating frequency; F s is the sampling frequency.

[0058] Therefore, the range of the spectral line index k is [k min , k max , and the total number of spectral lines N bins = k max - k min + 1.

[0059] In this embodiment, by accurately determining the operating frequency band range of beamforming, irrelevant frequency components can be filtered out, enhancing the efficiency and stability of signal processing. On this basis, calculating the minimum and maximum frequency point indices can ensure that the signal is accurately discretized in the frequency domain and effectively capture low-frequency and high-frequency signals. Precise calculation of the frequency point index helps to improve the capture ability of low-frequency signals and increase the azimuth resolution. At the same time, reasonably controlling the frequency band range can avoid high-frequency noise interference, enhancing the anti-interference ability and stability. Furthermore, it can significantly improve the resolution and stability of the marine detection system in complex environments, effectively improving the target detection accuracy. Especially in an environment with multiple targets or strong interference, it can more accurately identify and locate targets.

[0060] Figure 5 The following is a flowchart of step S5 provided by the embodiment of the present application, and this process may include the following steps: Step S51, construct a noise covariance matrix based on the number of target data points and the distance between two line arrays in the passive double line array.

[0061] Specifically, constructing a noise covariance matrix is used to describe the correlation of noise between different array elements. Through the noise covariance matrix, noise suppression can be achieved, thereby improving the effect of beamforming. The noise covariance matrix R nis a 2×2 matrix that describes the correlation of noise between two linear arrays and is specifically expressed as follows: where c is the sound propagation speed in m / s, usually taken as 1530 m / s; L BF is the number of target data points; k is the k-th frequency point; F s is the sampling frequency; d is the distance between the two linear arrays.

[0062] Step S53: Determine the interference signal steering vectors corresponding to different target positions, and obtain the corresponding beamforming weighting coefficients based on the weighting of the interference signal steering vectors and the noise covariance matrix.

[0063] Specifically, the interference signal steering vector represents the phase difference of the signals from the interference direction on different array elements when the target is at a specific position (port or starboard). The beamforming weighting coefficients are used to weight the signals of different array elements in beamforming to enhance the signal in a specific direction and suppress the signal in other directions.

[0064] Please refer to Figure 6 which is a schematic diagram of a passive dual linear array. Figure 6 In it, H represents a hydrophone, which can also be understood as a sensor. The first number (0 or 1) in the subscript represents the linear array number, where 0 represents the 0th linear array and 1 represents the 1st linear array. The second number in the subscript represents the element number in that linear array. When the target is on the port side, the target on the starboard side is regarded as interference, and the corresponding interference signal steering vector at this time is the right interference signal steering vector : When the target is on the starboard side, the target on the port side is regarded as interference, and the corresponding interference signal steering vector at this time is the left interference signal steering vector : where d is the distance between the two linear arrays; j is the imaginary unit, ; k is the k-th frequency point; F s is the sampling frequency; c is the sound propagation speed in m / s, usually taken as 1530 m / s; L BF is the number of target data points; θ m is the beam direction corresponding to the m-th beamforming.

[0065] The calculation of the beamforming weighting coefficients is based on the interference signal steering vectors and the noise covariance matrix. Specifically, for the beamforming weighting coefficient corresponding to the target on the port side, it is the left beamforming weighting coefficient : When the target is on the starboard side, the corresponding beamforming weighting coefficient is the right beamforming weighting coefficient : where ρ is the synthetic interference background noise ratio, which can be adjusted according to the actual situation, and the default value can be set to 10; R n is the noise covariance matrix; is the interference noise covariance matrix.

[0066] Step S55, in the beam direction, combine the beam outputs corresponding to the two linear arrays in the passive double linear array into a combined vector.

[0067] Specifically, by scanning all beam directions and frequency points one by one, the characteristics of the target signal in different directions and frequencies can be systematically analyzed, so as to realize the discrimination of the left and right sides of the target. For each beam direction θ m and each frequency point k (k min ≤k≤k max ), calculate the beam outputs of the two linear arrays, and combine these outputs into a vector. Then, based on this vector, calculate the energy outputs when the target is on the left side and the right side.

[0068] Obtain the beam outputs BF m [k] and BF 0,m [k] at the k-th frequency point in the beam direction θ from the 0# linear array and the 1# linear array respectively, and form a combined vector [BF 1,m [k], BF 0,m [k], BF 1,m [k]].

[0069] Step S57, multiply the beamforming weighting coefficient by the conjugate transpose of the combined vector to obtain the corresponding energy output.

[0070] Specifically, the calculation of the energy output is based on the multiplication of the beamforming weighting coefficient by the conjugate transpose of the combined vector. Specifically, for the cases where the target is on the left side and the right side, calculate the energy outputs of each frequency point respectively. When the target is on the left side, the energy output at the corresponding k-th frequency point is P m [k]: When the target is on the left side, the energy output at the corresponding k-th frequency point is S m [k]: Calculating the energy output at each frequency point can analyze the characteristics of the signal in different frequencies and directions, and improve the effect and efficiency of beamforming.

[0071] This embodiment helps to accurately estimate the noise characteristics by constructing the noise covariance matrix, provides a basis for subsequent beam weighting, reduces the influence of noise on the signal, and thus improves the stability and signal-to-noise ratio of the signal. Secondly, by weighting the interference signal steering vectors, the interference signals from different directions can be effectively suppressed, further improving the stability in complex environments. Combining the beam outputs of two linear arrays enhances the directivity and spatial resolution of the beam, and can more accurately identify the azimuth of the target. On this basis, calculating the energy output and performing weighting further optimize the beam formation and enhance the recognition of the target signal. Furthermore, higher azimuth resolution and stability can be achieved in complex marine environments, thereby improving the detection accuracy and reliability.

[0072] Figure 7 The flowchart for obtaining the corresponding total energy output provided by the embodiment of the present application may include the following steps: Step S711, obtain the working frequency band range of beamforming.

[0073] Step S713, for each frequency point within the working frequency band range, if the energy output on the port side is greater than the energy output on the starboard side, accumulate the energy output on the port side to obtain the corresponding total energy output.

[0074] Step S715, for each frequency point within the working frequency band range, if the energy output on the port side is less than the energy output on the starboard side, accumulate the energy output on the starboard side to obtain the corresponding total energy output.

[0075] Specifically, for each frequency point k within the working frequency band range, compare the energy output P m [k] of the m-th beam direction and k frequency points when the target is on the port side and the energy output S m [k] of the m-th beam direction and k frequency points when the target is on the starboard side: If P m [k] > S m [k], then accumulate P m [k] to the total energy output BF p [m] on the port side; if S m [k] > P m [k], then accumulate S m [k] to the total energy output BF s [m] on the starboard side.

[0076] Total energy output on the port side: Total energy output on the starboard side: By comparing the energy outputs on the port and starboard sides, energy can be selectively accumulated, enabling a more accurate determination of whether the target is on the port or starboard side. This method can effectively improve the direction discrimination ability and reduce misjudgments.

[0077] In this embodiment, by determining the working frequency band range, a frequency selection basis is provided for beamforming, optimizing signal reception and processing, reducing noise interference, and ensuring signal clarity. Then, based on the difference in energy outputs between the port and starboard sides, the energy output of the stronger side is selectively accumulated. When the energy output on the port side is greater than that on the starboard side, the port-side energy is accumulated; conversely, when the energy output on the starboard side is stronger, the starboard-side energy is accumulated. In this way, the signal strength in the direction of the stronger signal can be enhanced, suppressing interference or noise from the other direction, thereby improving the recognizability of the target signal and the direction discrimination ability. This dynamically adjusted energy output method effectively copes with signal strength variations and environmental interference, ultimately enhancing the detection accuracy and stability.

[0078] Figure 8 The flowchart for determining the port and starboard azimuths of the target provided by the embodiment of this application, where the total energy output includes the total port-side energy output and the total starboard-side energy output; this process may include the following steps: Step S731: Obtain the port-starboard energy ratio coefficient based on the comparison between the total port-side energy output and the total starboard-side energy output.

[0079] Step S733: When the port-starboard energy ratio coefficient is greater than or equal to the first preset port-starboard discrimination threshold, determine that the target is in the port-side azimuth.

[0080] Step S735: When the port-starboard energy ratio coefficient is less than or equal to the second preset port-starboard discrimination threshold, determine that the target is in the starboard-side azimuth.

[0081] Specifically, the port-starboard energy ratio coefficient represents the ratio of the total port-side energy output to the total starboard-side energy output, usually in decibels (dB).

[0082] Then, based on the comparison between the port-starboard energy ratio coefficient γ and the preset threshold thr, the azimuth of the target is judged. Here, the first preset port-starboard discrimination threshold is thr, such as 3 dB, and the second preset port-starboard discrimination threshold is -thr, such as -3 dB.

[0083] If γ ≥ thr, then it is judged that the target is in the port-side azimuth.

[0084] If γ ≥ -thr, then it is judged that the target is in the starboard-side azimuth.

[0085] If -thr < γ < thr, then wait for the processing results of more batches for further judgment, that is: In this embodiment, by comparing the total energy output on the starboard side and the total energy output on the port side, the energy ratio coefficient between the port side and the starboard side is calculated. This process provides an accurate basis for subsequent azimuth determination. When the energy ratio coefficient between the port side and the starboard side is greater than or equal to the first preset threshold, it is determined that the target is located in the port side azimuth; when the energy ratio coefficient between the port side and the starboard side is less than or equal to the second preset threshold, the system determines that the target is located in the starboard side azimuth. Through this judgment method based on the energy ratio, it can flexibly adapt to complex marine environments, effectively avoid the influence of signal interference and weak signals, and ensure the accuracy of azimuth determination. This not only improves the azimuth resolution but also enhances the stability and reliability in complex environments, thus achieving more accurate target positioning and detection results.

[0086] In some alternative embodiments, this method can also be applied to the history graph, directly sending it to the display control module for display processing. In this way, the energy distribution of the port side and the starboard side of the target in different beam directions can be intuitively displayed on the history graph, providing intuitive visual information for the operator and helping them quickly understand the azimuth change of the target.

[0087] Correspondingly, please refer to Figure 9 the block diagram of a passive dual-line array port and starboard target judgment device provided by an embodiment of the present application. The device includes: A data point number determination unit 101, configured to determine the number of target data points required for beamforming based on the obtained array length of the passive dual-line array; A beam output determination unit 103, configured to perform frequency-domain beamforming operations on the two line arrays in the passive dual-line array respectively based on the number of target data points, and determine the beam output in each beam direction; An energy output determination unit 105, configured to determine the energy output corresponding to the target at different positions based on the beam output; wherein, the energy output includes the port side energy output corresponding to the target at the port side position and the starboard side energy output corresponding to the target at the starboard side position; A target azimuth judgment unit 107, configured to selectively accumulate the port side energy output and the starboard side energy output to obtain the corresponding total energy output, and judge the port and starboard azimuths of the target according to the total energy output.

[0088] In some alternative embodiments, the data point number determination unit 101 includes: Determining the initial number of data points required for beamforming based on the obtained array length of the passive dual-line array through the sound propagation speed and the sampling frequency; Fine-tuning the initial number of data points by using the number of single-array element data points transmitted each time to obtain the number of target data points required for beamforming.

[0089] In some alternative embodiments, the beam output determination unit 103 includes: Perform time-frequency transformation on the time-domain signals received by each element of the two linear arrays in the passive dual-linear array to obtain corresponding frequency-domain signals; Determine the beam direction corresponding to each beam output according to the predefined number of beam formations; Determine the spectral line index according to the working frequency band range of beam forming; For any one of the linear arrays in the passive dual-linear array, based on the frequency-domain signals and the beam directions, determine the beam output of each frequency point in the spectral line index in each beam direction.

[0090] In some alternative embodiments, determining the spectral line index according to the working frequency band range of beam forming includes: Obtain the working frequency band range of beam forming; wherein, the working frequency band range includes the lowest working frequency and the highest working frequency; Round the result of multiplying the target number of data points by the lowest working frequency and dividing by the sampling frequency to determine the minimum frequency point index corresponding to the lowest working frequency; Round the result of multiplying the target number of data points by the highest working frequency and dividing by the sampling frequency to determine the maximum frequency point index corresponding to the highest working frequency; Determine the spectral line index according to the minimum frequency point index and the maximum frequency point index.

[0091] In some alternative embodiments, the energy output determination unit 105 includes: Construct a noise covariance matrix based on the target number of data points and the distance between the two linear arrays in the passive dual-linear array; Determine the steering vectors of the interference signals corresponding to different positions of the target, and obtain the corresponding beam-forming weighting coefficients according to the weighting of the steering vectors of the interference signals and the noise covariance matrix; On the beam direction, combine the beam outputs corresponding to the two linear arrays in the passive dual-linear array into a combined vector; Obtain the corresponding energy output by multiplying the beam-forming weighting coefficient by the conjugate transpose of the combined vector.

[0092] In some alternative embodiments, the target azimuth determination unit 107 includes: Obtain the working frequency band range of beam forming; For each frequency point within the working frequency band range, if the starboard energy output is greater than the port energy output, accumulate the starboard energy output to obtain the corresponding total energy output; For each frequency point within the working frequency band range, if the starboard energy output is less than the port energy output, accumulate the port energy output to obtain the corresponding total energy output.

[0093] In some alternative embodiments, the target azimuth determination unit 107 includes: Obtaining a left-right energy ratio coefficient based on the comparison of the total energy output on the port side and the total energy output on the starboard side; When the left-right energy ratio coefficient is greater than or equal to a first preset left-right discrimination threshold, determining that the target is located in the port side azimuth; When the left-right energy ratio coefficient is less than or equal to a second preset left-right discrimination threshold, determining that the target is located in the starboard side azimuth.

[0094] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0095] A passive double-line array port-starboard target determination device in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0096] Please refer to Figure 10 , Figure 10 which is a schematic structural diagram of a computer device provided by an embodiment of the present application. As Figure 10 shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system). Figure 10 In

[0097] Processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, processor 10 can further include a hardware chip. The above hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0098] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0099] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0100] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0101] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0102] The embodiments of the present application further provide a computer-readable storage medium. The method according to the embodiments of the present application may be implemented in hardware, firmware, or may be implemented as computer code that can be recorded on a storage medium, or may be implemented as computer code originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium may also include a combination of the above types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0103] The devices and units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0104] For the convenience of description, when describing the above devices, they are divided into various units according to their functions and described separately. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0105] Those skilled in the art should understand that the embodiments of the present application can be provided as methods and devices. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices, and apparatuses according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0107] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the functions in the processFigure 1 one process or multiple processes and / or blocks Figure 1 the steps of the functions specified in one block or multiple blocks.

[0109] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the said element.

[0110] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference can be made to the relevant part of the method embodiment for the related content.

[0111] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

[0112] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for judging left and right side targets of a passive double-line array, characterized in that, The method includes: Based on the obtained array length of the passive dual-line array, determining the number of target data points required for beamforming; Based on the number of target data points, performing frequency-domain beamforming operations on the two linear arrays in the passive dual-line array respectively, and determining the beam outputs in each beam direction; Based on the beam outputs, determining the energy outputs corresponding to different positions of the target; wherein, the energy outputs include the starboard energy output corresponding to the target at the starboard position and the port energy output corresponding to the target at the port position; Selectively accumulating the starboard energy output and the port energy output to obtain the corresponding total energy output, and judging the port-starboard azimuth of the target according to the total energy output.

2. The method according to claim 1, wherein The determining the number of target data points required for beamforming based on the obtained array length of the passive dual-line array includes: According to the obtained array length of the passive dual-line array, determining the initial number of data points required for beamforming through the sound propagation speed and the sampling frequency; Using the number of data points of each single array element transmitted each time to fine-tune the initial number of data points to obtain the number of target data points required for beamforming.

3. The method according to claim 1, characterized in that, The performing frequency-domain beamforming operations on the two linear arrays in the passive dual-line array respectively based on the number of target data points and determining the beam outputs in each beam direction includes: Performing time-frequency transformation on the time-domain signals received by each array element of the two linear arrays in the passive dual-line array to obtain the corresponding frequency-domain signals; Determining the beam direction corresponding to each beam output according to the predefined number of beamformings; Determining the spectral index according to the working frequency band range of beamforming; For any one of the linear arrays in the passive dual-line array, based on the frequency-domain signals and the beam directions, determining the beam outputs of each frequency point in the spectral index in each beam direction.

4. The method according to claim 3, wherein The determining the spectral index according to the working frequency band range of beamforming includes: Obtaining the working frequency band range of beamforming; wherein, the working frequency band range includes the lowest working frequency and the highest working frequency; Rounding the result of the product of the number of target data points and the lowest working frequency divided by the sampling frequency to determine the minimum frequency point index corresponding to the lowest working frequency; Rounding the result of the product of the number of target data points and the highest working frequency divided by the sampling frequency to determine the maximum frequency point index corresponding to the highest working frequency; Determining the spectral index according to the minimum frequency point index and the maximum frequency point index.

5. The method according to claim 1, wherein The determining the energy outputs corresponding to different positions of the target based on the beam outputs includes: Based on the number of target data points and the distance between the two linear arrays in the passive dual-line array, constructing a noise covariance matrix; Determining the interference signal steering vectors corresponding to different positions of the target, and obtaining the corresponding beamforming weighting coefficients according to the weighting of the interference signal steering vectors and the noise covariance matrix; On the beam direction, combining the beam outputs corresponding to the two linear arrays in the passive dual-line array into a combined vector; Multiplying the beamforming weighting coefficient by the conjugate transpose of the combined vector to obtain the corresponding energy output.

6. The method according to claim 1, wherein Selectively accumulate the starboard energy output and the port energy output to obtain the corresponding total energy output, including: Obtain the operating frequency band range of beamforming; For each frequency point within the operating frequency band range, if the port energy output is greater than the starboard energy output, accumulate the port energy output to obtain the corresponding total energy output; For each frequency point within the operating frequency band range, if the port energy output is less than the starboard energy output, accumulate the starboard energy output to obtain the corresponding total energy output.

7. The method according to claim 1, wherein The total energy output includes the total port energy output and the total starboard energy output; determining the port and starboard azimuths of the target according to the total energy output includes: Obtain the port-starboard energy ratio coefficient according to the comparison between the total port energy output and the total starboard energy output; When the port-starboard energy ratio coefficient is greater than or equal to the first preset port-starboard resolution threshold, determine that the target is located in the port azimuth; When the port-starboard energy ratio coefficient is less than or equal to the second preset port-starboard resolution threshold, determine that the target is located in the starboard azimuth.

8. A device for judging left and right side targets of a passive double-line array, characterized in that The device includes: A data point number determination unit, configured to determine the number of target data points required for beamforming based on the obtained array length of the passive dual-line array; A beam output determination unit, configured to perform frequency-domain beamforming operations on the two line arrays in the passive dual-line array respectively based on the number of target data points, and determine the beam outputs in each beam direction; An energy output determination unit, configured to determine the energy outputs corresponding to different positions of the target based on the beam outputs; wherein, the energy outputs include the port energy output corresponding to the target located at the port position and the starboard energy output corresponding to the target located at the starboard position; A target azimuth determination unit, configured to selectively accumulate the port energy output and the starboard energy output to obtain the corresponding total energy output, and determine the port and starboard azimuths of the target according to the total energy output.

9. A computer device, characterized in that, Including: A memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the passive dual-line array port and starboard target determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the passive dual-line array port and starboard target determination method according to any one of claims 1 to 7.

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